ZumoIMU.h

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// Copyright Pololu Corporation.  For more information, see http://www.pololu.com/
 
#pragma once
 
#define LSM303DLHC_ACC_ADDR 0b0011001
#define LSM303DLHC_MAG_ADDR 0b0011110
#define LSM303D_ADDR        0b0011101
#define L3GD20H_ADDR        0b1101011
#define LSM6DS33_ADDR       0b1101011
#define LIS3MDL_ADDR        0b0011110
 
#define LSM303DLHC_REG_CTRL_REG1_A  0x20
#define LSM303DLHC_REG_CTRL_REG4_A  0x23
#define LSM303DLHC_REG_STATUS_REG_A 0x27
#define LSM303DLHC_REG_OUT_X_L_A    0x28
 
#define LSM303DLHC_REG_CRA_REG_M    0x00
#define LSM303DLHC_REG_CRB_REG_M    0x01
#define LSM303DLHC_REG_MR_REG_M     0x02
#define LSM303DLHC_REG_OUT_X_H_M    0x03
#define LSM303DLHC_REG_SR_REG_M     0x09
 
#define LSM303D_REG_STATUS_M  0x07
#define LSM303D_REG_OUT_X_L_M 0x08
#define LSM303D_REG_WHO_AM_I  0x0F
#define LSM303D_REG_CTRL1     0x20
#define LSM303D_REG_CTRL2     0x21
#define LSM303D_REG_CTRL5     0x24
#define LSM303D_REG_CTRL6     0x25
#define LSM303D_REG_CTRL7     0x26
#define LSM303D_REG_STATUS_A  0x27
#define LSM303D_REG_OUT_X_L_A 0x28
 
#define L3GD20H_REG_WHO_AM_I 0x0F
#define L3GD20H_REG_CTRL1    0x20
#define L3GD20H_REG_CTRL4    0x23
#define L3GD20H_REG_STATUS   0x27
#define L3GD20H_REG_OUT_X_L  0x28
 
#define LSM6DS33_REG_WHO_AM_I   0x0F
#define LSM6DS33_REG_CTRL1_XL   0x10
#define LSM6DS33_REG_CTRL2_G    0x11
#define LSM6DS33_REG_CTRL3_C    0x12
#define LSM6DS33_REG_STATUS_REG 0x1E
#define LSM6DS33_REG_OUTX_L_G   0x22
#define LSM6DS33_REG_OUTX_L_XL  0x28
 
#define LIS3MDL_REG_WHO_AM_I   0x0F
#define LIS3MDL_REG_CTRL_REG1  0x20
#define LIS3MDL_REG_CTRL_REG2  0x21
#define LIS3MDL_REG_CTRL_REG3  0x22
#define LIS3MDL_REG_CTRL_REG4  0x23
#define LIS3MDL_REG_STATUS_REG 0x27
#define LIS3MDL_REG_OUT_X_L    0x28
 
enum class ZumoIMUType : uint8_t {
  Unknown,
  LSM303DLHC,
  LSM303D_L3GD20H,
  LSM6DS33_LIS3MDL
};
 
class ZumoIMU
{
public:
 
  template <typename T> struct vector
  {
    T x, y, z;
  };
 
  vector<int16_t> a = {0, 0, 0};
 
  vector<int16_t> g = {0, 0, 0};
 
  vector<int16_t> m = {0, 0, 0};
 
  uint8_t getLastError() { return lastError; }
 
  bool init();
 
  ZumoIMUType getType() { return type; }
 
  void enableDefault();
 
  void configureForCompassHeading();
 
  void writeReg(uint8_t addr, uint8_t reg, uint8_t value);
 
  uint8_t readReg(uint8_t addr, uint8_t reg);
 
  void readAcc();
 
  void readGyro();
 
  void readMag();
 
  void read();
 
  bool accDataReady();
 
  bool gyroDataReady();
 
  bool magDataReady();
 
private:
 
  uint8_t lastError = 0;
  ZumoIMUType type = ZumoIMUType::Unknown;
 
  int16_t testReg(uint8_t addr, uint8_t reg);
  void readAxes16Bit(uint8_t addr, uint8_t firstReg, vector<int16_t> & v);
  uint16_t swapBytes(uint16_t value);
};