1stprototype

.vscode/settings.json

@@ -0,0 +1,7 @@
+{
+    "files.associations": {
+        "array": "cpp",
+        "string": "cpp",
+        "string_view": "cpp"
+    }
+}

include/gyro.h

@@ -0,0 +1,36 @@
+#ifndef __gyro__h__
+#define __gyro__h__
+#include <SPI.h>
+#include <Arduino.h>
+
+#define LSM6S3_WHO_AM_I 0x0F
+
+#define LSM6DS3_OUTX_L_G 0X22  //Angular rate sensor pitch axis (X) angular rate output register (r). The value is expressed as a 16-bit word in two’s complement
+//#define LSM6DS3_OUTY_L_G 0x24 //Angular rate sensor roll axis (Y) angular rate output register (r). The value is expressed as a 16-bit word in two’s complement
+
+#define LSM6DS3_OUTX_L_XL 0x28 //Linear acceleration sensor X-axis output register (r). The value is expressed as a 16-bit word in two’s complement
+#define LSM6DS3_OUT_TEMP_L 0x20 //Temperature data output register (r). L and H registers together express a 16-bit word in two’s complement.
+
+#define SPI_CS PA4  //Need to use this instead of A3 because A3 is mapped to something else
+#define SPI_SCLK D13  // OR D13
+#define SPI_MOSI D11 //OR D11
+#define SPI_MISO D12  //OR D12
+
+extern SPIClass SPI_gyro;
+
+class LSM6DS3 {
+    public:   
+        void readRegisters(uint8_t address, uint8_t* data, size_t length);
+
+        bool whoAmICheck();
+
+        void readGyroData(float* x, float* y, float* z);
+        //void readRollData(float* x, float* y, float* z);
+
+        void readAccelData(float* x, float* y, float* z);
+        void readTempData(float* t);
+};
+
+
+
+#endif

platformio.ini

@@ -13,3 +13,4 @@ platform = ststm32
 board = nucleo_l432kc
 framework = arduino
 lib_extra_dirs = ./embedded-pio
+lib_deps = adafruit/Adafruit LSM6DS@^4.7.4

src/gyro.cpp

@@ -0,0 +1,77 @@
+#include "gyro.h"
+
+SPIClass SPI_gyro(SPI_MOSI, SPI_MISO, SPI_SCLK, SPI_CS);
+
+
+void LSM6DS3::readRegisters(uint8_t address, uint8_t * data, size_t length){
+
+  SPI_gyro.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
+  digitalWrite(SPI_CS, LOW);
+  SPI_gyro.transfer(address | 0x80);
+
+  for (size_t i = 0; i < length; i++){
+    data[i] = SPI_gyro.transfer(0x00); // Send dummy bytes to keep SPI happy
+  }
+
+  digitalWrite(SPI_CS, HIGH);
+  SPI_gyro.endTransaction();
+}
+
+bool LSM6DS3::whoAmICheck(){
+  uint8_t data[1] = {0};
+  Serial.printf("verified: %x \n", data[0]);
+  readRegisters(LSM6S3_WHO_AM_I, data, sizeof(data));
+
+  int verified = data[0];
+  Serial.printf("verified: %x \n", verified);
+
+  if (verified == 0b01101010) {
+    return true;
+  } else {
+    return false;
+  }
+}
+
+void LSM6DS3::readGyroData(float* x, float* y, float* z){
+
+  int16_t data[3];
+  readRegisters(LSM6DS3_OUTX_L_G, (uint8_t*)data, sizeof(data));
+
+  *x = data[0] * 2000.0 / 32768.0;
+  *y = data[1] * 2000.0 / 32768.0;
+  *z = data[2] * 2000.0 / 32768.0;
+
+}
+
+/*
+void LSM6DS3::readRollData(float* x, float* y, float* z){
+
+  int16_t data[3];
+  readRegisters(LSM6DS3_OUTY_L_G, (uint8_t*)data, sizeof(data));
+
+  *x = data[0] * 2000.0 / 32768.0;
+  *y = data[1] * 2000.0 / 32768.0;
+  *z = data[2] * 2000.0 / 32768.0;
+
+}
+*/
+
+void LSM6DS3::readAccelData(float* x, float* y, float* z){
+
+  int16_t data[3];
+  readRegisters(LSM6DS3_OUTX_L_XL, (uint8_t*)data, sizeof(data));
+
+  *x = data[0] * 4.0 / 32768.0;
+  *y = data[1] * 4.0 / 32768.0;
+  *z = data[2] * 4.0 / 32768.0;
+
+}
+
+void LSM6DS3::readTempData(float* t){
+
+  int16_t data[1];
+
+  readRegisters(LSM6DS3_OUT_TEMP_L, (uint8_t*)data, sizeof(data));
+  *t = data[0] / 16.0 + 2;
+
+}

src/main.cpp

@@ -1,18 +1,198 @@
-#include <Arduino.h>
+// Basic demo for accelerometer/gyro readings from Adafruit ISM330DHCX
 
-// put function declarations here:
-int myFunction(int, int);
+#include <Adafruit_ISM330DHCX.h>
 
-void setup() {
-  // put your setup code here, to run once:
-  int result = myFunction(2, 3);
+// For SPI mode, we need a CS pin
+#define LSM_CS PA4
+// For software-SPI mode we need SCK/MOSI/MISO pins
+#define LSM_SCK D13
+#define LSM_MISO D12
+#define LSM_MOSI D11
+
+Adafruit_ISM330DHCX ism330dhcx;
+void setup(void) {
+  Serial.begin(115200);
+  while (!Serial)
+    delay(10); // will pause Zero, Leonardo, etc until serial console opens
+
+  Serial.println("Adafruit ISM330DHCX test!");
+
+  // if (!ism330dhcx.begin_I2C()) {
+    // if (!ism330dhcx.begin_SPI(LSM_CS)) {
+    if (!ism330dhcx.begin_SPI(LSM_CS, LSM_SCK, LSM_MISO, LSM_MOSI)) {
+    Serial.println("Failed to find ISM330DHCX chip1");
+    while (1) {
+      delay(10);
+    }
+  }
+
+  Serial.println("ISM330DHCX Found!");
+
+  // ism330dhcx.setAccelRange(LSM6DS_ACCEL_RANGE_2_G);
+  Serial.print("Accelerometer range set to: ");
+  switch (ism330dhcx.getAccelRange()) {
+  case LSM6DS_ACCEL_RANGE_2_G:
+    Serial.println("+-2G");
+    break;
+  case LSM6DS_ACCEL_RANGE_4_G:
+    Serial.println("+-4G");
+    break;
+  case LSM6DS_ACCEL_RANGE_8_G:
+    Serial.println("+-8G");
+    break;
+  case LSM6DS_ACCEL_RANGE_16_G:
+    Serial.println("+-16G");
+    break;
+  }
+
+  // ism330dhcx.setGyroRange(LSM6DS_GYRO_RANGE_250_DPS);
+  Serial.print("Gyro range set to: ");
+  switch (ism330dhcx.getGyroRange()) {
+  case LSM6DS_GYRO_RANGE_125_DPS:
+    Serial.println("125 degrees/s");
+    break;
+  case LSM6DS_GYRO_RANGE_250_DPS:
+    Serial.println("250 degrees/s");
+    break;
+  case LSM6DS_GYRO_RANGE_500_DPS:
+    Serial.println("500 degrees/s");
+    break;
+  case LSM6DS_GYRO_RANGE_1000_DPS:
+    Serial.println("1000 degrees/s");
+    break;
+  case LSM6DS_GYRO_RANGE_2000_DPS:
+    Serial.println("2000 degrees/s");
+    break;
+  case ISM330DHCX_GYRO_RANGE_4000_DPS:
+    Serial.println("4000 degrees/s");
+    break;
+  }
+
+  // ism330dhcx.setAccelDataRate(LSM6DS_RATE_12_5_HZ);
+  Serial.print("Accelerometer data rate set to: ");
+  switch (ism330dhcx.getAccelDataRate()) {
+  case LSM6DS_RATE_SHUTDOWN:
+    Serial.println("0 Hz");
+    break;
+  case LSM6DS_RATE_12_5_HZ:
+    Serial.println("12.5 Hz");
+    break;
+  case LSM6DS_RATE_26_HZ:
+    Serial.println("26 Hz");
+    break;
+  case LSM6DS_RATE_52_HZ:
+    Serial.println("52 Hz");
+    break;
+  case LSM6DS_RATE_104_HZ:
+    Serial.println("104 Hz");
+    break;
+  case LSM6DS_RATE_208_HZ:
+    Serial.println("208 Hz");
+    break;
+  case LSM6DS_RATE_416_HZ:
+    Serial.println("416 Hz");
+    break;
+  case LSM6DS_RATE_833_HZ:
+    Serial.println("833 Hz");
+    break;
+  case LSM6DS_RATE_1_66K_HZ:
+    Serial.println("1.66 KHz");
+    break;
+  case LSM6DS_RATE_3_33K_HZ:
+    Serial.println("3.33 KHz");
+    break;
+  case LSM6DS_RATE_6_66K_HZ:
+    Serial.println("6.66 KHz");
+    break;
+  }
+
+  // ism330dhcx.setGyroDataRate(LSM6DS_RATE_12_5_HZ);
+  Serial.print("Gyro data rate set to: ");
+  switch (ism330dhcx.getGyroDataRate()) {
+  case LSM6DS_RATE_SHUTDOWN:
+    Serial.println("0 Hz");
+    break;
+  case LSM6DS_RATE_12_5_HZ:
+    Serial.println("12.5 Hz");
+    break;
+  case LSM6DS_RATE_26_HZ:
+    Serial.println("26 Hz");
+    break;
+  case LSM6DS_RATE_52_HZ:
+    Serial.println("52 Hz");
+    break;
+  case LSM6DS_RATE_104_HZ:
+    Serial.println("104 Hz");
+    break;
+  case LSM6DS_RATE_208_HZ:
+    Serial.println("208 Hz");
+    break;
+  case LSM6DS_RATE_416_HZ:
+    Serial.println("416 Hz");
+    break;
+  case LSM6DS_RATE_833_HZ:
+    Serial.println("833 Hz");
+    break;
+  case LSM6DS_RATE_1_66K_HZ:
+    Serial.println("1.66 KHz");
+    break;
+  case LSM6DS_RATE_3_33K_HZ:
+    Serial.println("3.33 KHz");
+    break;
+  case LSM6DS_RATE_6_66K_HZ:
+    Serial.println("6.66 KHz");
+    break;
+  }
+
+  ism330dhcx.configInt1(false, false, true); // accelerometer DRDY on INT1
+  ism330dhcx.configInt2(false, true, false); // gyro DRDY on INT2
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
-}
+  //  /* Get a new normalized sensor event */
+  sensors_event_t accel;
+  sensors_event_t gyro;
+  sensors_event_t temp;
+  ism330dhcx.getEvent(&accel, &gyro, &temp);
+
+  Serial.print("\t\tTemperature ");
+  Serial.print(temp.temperature);
+  Serial.println(" deg C");
+
+  /* Display the results (acceleration is measured in m/s^2) */
+  Serial.print("\t\tAccel X: ");
+  Serial.print(accel.acceleration.x);
+  Serial.print(" \tY: ");
+  Serial.print(accel.acceleration.y);
+  Serial.print(" \tZ: ");
+  Serial.print(accel.acceleration.z);
+  Serial.println(" m/s^2 ");
+
+  /* Display the results (rotation is measured in rad/s) */
+  Serial.print("\t\tGyro X: ");
+  Serial.print(gyro.gyro.x);
+  Serial.print(" \tY: ");
+  Serial.print(gyro.gyro.y);
+  Serial.print(" \tZ: ");
+  Serial.print(gyro.gyro.z);
+  Serial.println(" radians/s ");
+  Serial.println();
+
+  delay(100);
+
+  //  // serial plotter friendly format
+
+  //  Serial.print(temp.temperature);
+  //  Serial.print(",");
+
+  //  Serial.print(accel.acceleration.x);
+  //  Serial.print(","); Serial.print(accel.acceleration.y);
+  //  Serial.print(","); Serial.print(accel.acceleration.z);
+  //  Serial.print(",");
 
-// put function definitions here:
-int myFunction(int x, int y) {
-  return x + y;
+  // Serial.print(gyro.gyro.x);
+  // Serial.print(","); Serial.print(gyro.gyro.y);
+  // Serial.print(","); Serial.print(gyro.gyro.z);
+  // Serial.println();
+  //  delayMicroseconds(10000);
 }