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[driver] IMU LSM6DSO #950

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Feb 1, 2023
Merged

[driver] IMU LSM6DSO #950

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e3e6a2d
[driver] Add ST LSM6DSO imu driver
rleh Jan 31, 2023
13ea578
[example] Add LSM6DSO imu example on Nucleo-G474RE
rleh Jan 31, 2023
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15 changes: 8 additions & 7 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -712,52 +712,53 @@ you specific needs.
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6dso">LSM6DSO</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31855">MAX31855</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23x17</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp990x">MCP990X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5611">MS5611</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7789">ST7789</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
</tr>
</table>
<!--/drivertable-->
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118 changes: 118 additions & 0 deletions examples/nucleo_g474re/imu_lsm6dso/main.cpp
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/*
* Copyright (c) 2023, Raphael Lehmann
*
* This file is part of the modm project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
// ----------------------------------------------------------------------------

#include <modm/board.hpp>
#include <modm/platform/spi/spi_master_1.hpp>
#include <modm/driver/inertial/lsm6dso.hpp>
#include <optional>

using namespace Board;

using SpiMaster = SpiMaster1;
using Mosi = GpioA7;
using Miso = GpioA6;
using Sck = GpioA5;
using Cs = GpioC5;
using Int1 = GpioC4;
using ImuVdd = GpioA10;

using Lsm6dso = modm::Lsm6dso<modm::Lsm6TransportSpi<SpiMaster, Cs>>;

Lsm6dso imu{};

int
main()
{
Board::initialize();
Leds::setOutput();

MODM_LOG_INFO << "LSM6DSO IMU demo on Nucleo-G474RE\n" << modm::endl;

SpiMaster::initialize<Board::SystemClock, 5300_kHz>();
SpiMaster::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();
Int1::setInput(Gpio::InputType::PullUp);

// The imu behaves weird when the pins are temporarily unconnected (e.g.
// while changing jumper wires) or after reprogramming the nucleo board,
// and a software reset does not work.
// Therefore the IMU can be powered through a GPIO pin (Vdd) which we
// switch on and off to reboot it completely.
ImuVdd::reset();
ImuVdd::setOutput();
modm::delay(10ms);
// Power up imu
ImuVdd::set();

// Give the sensor some time to boot...
modm::delay(10ms);

MODM_LOG_INFO << "Resetting and rebooting imu (BOOT | SW_RESET)..." << modm::endl;
// Write bits BOOT | SW_RESET (and IF_INC, because it default to 1) to reboot imu
if(!RF_CALL_BLOCKING(imu.writeRegister(modm::lsm6dso::Register::CTRL3_C, 0b1000'0101))) {
MODM_LOG_INFO.printf(" ... failed.");
Board::Leds::set();
}
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MODM_LOG_INFO << "Initializing IMU..." << modm::endl;
RF_CALL_BLOCKING(imu.initialize());

MODM_LOG_INFO << "Enable IMU by configuring data rate and range" << modm::endl;
if(!RF_CALL_BLOCKING(imu.setOutputDataRateAndRange<12_Hz, 5_pct>(
modm::lsm6dso::LinearRange::G2,
modm::lsm6dso::AngularRange::dps125))) {
MODM_LOG_INFO.printf(" ... failed.");
Board::Leds::set();
}

// Reading CTRL1_XL register
std::optional<uint8_t> reg = RF_CALL_BLOCKING(imu.readRegister(modm::lsm6dso::Register::CTRL1_XL));
if (reg.has_value()) {
MODM_LOG_INFO << "Reading CTRL1_XL register = " << *reg << modm::endl;
}
else {
MODM_LOG_INFO << "Unable to CTRL1_XL register." << modm::endl;
}

MODM_LOG_INFO << "Enable accelerometer and gyroscope data-ready interrupts on INT1 pin" << modm::endl;
if(!RF_CALL_BLOCKING(imu.writeRegister(modm::lsm6dso::Register::INT1_CTRL, 0b0000'0011))) {
MODM_LOG_INFO.printf(" ... failed.");
Board::Leds::set();
}

std::array<uint8_t, 14> data;

while (true)
{
MODM_LOG_INFO.printf("\n\nIMU data: ");

// Wait for rising edge
while (Int1::read()) {}
while (!Int1::read()) {}

if(!RF_CALL_BLOCKING(imu.readRegisters(modm::lsm6dso::Register::OUT_TEMP_L, data))) {
MODM_LOG_INFO.printf("failed. ");
Board::Leds::set();
}

// print data anyways
MODM_LOG_INFO.printf("TEMP=%+2.1f degC, ", (static_cast<int16_t>(data[0] | data[1] << 8) / 256.f) + 25.f);
MODM_LOG_INFO.printf("G_X=%+05i, ", static_cast<int16_t>(data[ 2] | data[ 3] << 8));
MODM_LOG_INFO.printf("G_Y=%+05i, ", static_cast<int16_t>(data[ 4] | data[ 5] << 8));
MODM_LOG_INFO.printf("G_Z=%+05i, ", static_cast<int16_t>(data[ 6] | data[ 7] << 8));
MODM_LOG_INFO.printf("A_X=%+05i, ", static_cast<int16_t>(data[ 8] | data[ 9] << 8));
MODM_LOG_INFO.printf("A_Y=%+05i, ", static_cast<int16_t>(data[10] | data[11] << 8));
MODM_LOG_INFO.printf("A_Z=%+05i, ", static_cast<int16_t>(data[12] | data[13] << 8));

Board::Leds::toggle();
}

return 0;
}
11 changes: 11 additions & 0 deletions examples/nucleo_g474re/imu_lsm6dso/project.xml
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<library>
<extends>modm:nucleo-g474re</extends>
<options>
<option name="modm:build:build.path">../../../build/nucleo_g474re/imu_lsm6dso</option>
</options>
<modules>
<module>modm:build:scons</module>
<module>modm:platform:spi:1</module>
<module>modm:driver:lsm6dso</module>
</modules>
</library>
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