Hi everybody.
I'm using LSM6DSO32 6dof sensor from Adafruit. I'm connecting the sensor to a teensy board and it works just fine on SDA0 SCL0. However when I'm trying to use it on wire2 -> SDA2, SCL2 it doesn't work. I checked the library provided by the adafruit, and didn't see anything about wire library. (Also checked bno055 library from adafruit and I saw the expected wire commands)
I have to use this sensor on wire2 asap. And I don't have any experience on coding a library. Can I make this sensor work on wire2 by maybe copying some of the codes on bno055's library ?
Or maybe you have a different idea that could help me. Thanks a lot !
Library Codes cpp:`
/*!
- @file Adafruit_LSM6DSO32.cpp
- Adafruit LSM6DSO32 6-DoF Accelerometer and Gyroscope library
- Bryan Siepert for Adafruit Industries
- BSD (see license.txt)
*/
#include "Arduino.h"
#include <Wire.h>
#include "Adafruit_LSM6DSO32.h"
#include "Adafruit_LSM6DSOX.h"
/*!
-
@brief Instantiates a new LSM6DSO32 class
*/
Adafruit_LSM6DSO32::Adafruit_LSM6DSO32(void) {}
bool Adafruit_LSM6DSO32::_init(int32_t sensor_id) {
Adafruit_BusIO_Register chip_id = Adafruit_BusIO_Register(
i2c_dev, spi_dev, ADDRBIT8_HIGH_TOREAD, LSM6DS_WHOAMI);
// make sure we're talking to the right chip
if (chip_id.read() != LSM6DSO32_CHIP_ID) {
return false;
}
_sensorid_accel = sensor_id;
_sensorid_gyro = sensor_id + 1;
_sensorid_temp = sensor_id + 2;
reset();
Adafruit_BusIO_Register ctrl3 = Adafruit_BusIO_Register(
i2c_dev, spi_dev, ADDRBIT8_HIGH_TOREAD, LSM6DSOX_CTRL3_C);
Adafruit_BusIO_RegisterBits bdu = Adafruit_BusIO_RegisterBits(&ctrl3, 1, 6);
bdu.write(true);
// Disable I3C
Adafruit_BusIO_Register ctrl_9 = Adafruit_BusIO_Register(
i2c_dev, spi_dev, ADDRBIT8_HIGH_TOREAD, LSM6DSOX_CTRL9_XL);
Adafruit_BusIO_RegisterBits i3c_disable_bit =
Adafruit_BusIO_RegisterBits(&ctrl_9, 1, 1);
i3c_disable_bit.write(true);
// call base class _init()
Adafruit_LSM6DS::_init(sensor_id);
return true;
}
/******************* Adafruit_Sensor functions *****************/
/*!
-
@brief Updates the measurement data for all sensors simultaneously
*/
/**************************************************************************/
// works for now, should refactor
void Adafruit_LSM6DSO32::_read(void) {
// get raw readings
Adafruit_BusIO_Register data_reg = Adafruit_BusIO_Register(
i2c_dev, spi_dev, ADDRBIT8_HIGH_TOREAD, LSM6DS_OUT_TEMP_L, 14);
uint8_t buffer[14];
data_reg.read(buffer, 14);
rawTemp = buffer[1] << 8 | buffer[0];
temperature = (rawTemp / 256.0) + 25.0;
rawGyroX = buffer[3] << 8 | buffer[2];
rawGyroY = buffer[5] << 8 | buffer[4];
rawGyroZ = buffer[7] << 8 | buffer[6];
rawAccX = buffer[9] << 8 | buffer[8];
rawAccY = buffer[11] << 8 | buffer[10];
rawAccZ = buffer[13] << 8 | buffer[12];
lsm6ds_gyro_range_t gyro_range = getGyroRange();
float gyro_scale = 1; // range is in milli-dps per bit!
if (gyro_range == ISM330DHCX_GYRO_RANGE_4000_DPS)
gyro_scale = 140.0;
if (gyro_range == LSM6DS_GYRO_RANGE_2000_DPS)
gyro_scale = 70.0;
if (gyro_range == LSM6DS_GYRO_RANGE_1000_DPS)
gyro_scale = 35.0;
if (gyro_range == LSM6DS_GYRO_RANGE_500_DPS)
gyro_scale = 17.50;
if (gyro_range == LSM6DS_GYRO_RANGE_250_DPS)
gyro_scale = 8.75;
if (gyro_range == LSM6DS_GYRO_RANGE_125_DPS)
gyro_scale = 4.375;
gyroX = rawGyroX * gyro_scale * SENSORS_DPS_TO_RADS / 1000.0;
gyroY = rawGyroY * gyro_scale * SENSORS_DPS_TO_RADS / 1000.0;
gyroZ = rawGyroZ * gyro_scale * SENSORS_DPS_TO_RADS / 1000.0;
lsm6dso32_accel_range_t accel_range = getAccelRange();
float accel_scale = 1; // range is in milli-g per bit!
if (accel_range == LSM6DSO32_ACCEL_RANGE_32_G)
accel_scale = 0.976;
if (accel_range == LSM6DSO32_ACCEL_RANGE_16_G)
accel_scale = 0.488;
if (accel_range == LSM6DSO32_ACCEL_RANGE_8_G)
accel_scale = 0.244;
if (accel_range == LSM6DSO32_ACCEL_RANGE_4_G)
accel_scale = 0.122;
accX = rawAccX * accel_scale * SENSORS_GRAVITY_STANDARD / 1000;
accY = rawAccY * accel_scale * SENSORS_GRAVITY_STANDARD / 1000;
accZ = rawAccZ * accel_scale * SENSORS_GRAVITY_STANDARD / 1000;
}
/**************************************************************************/
/*!
@brief Gets the accelerometer measurement range.
@returns The the accelerometer measurement range.
*/
lsm6dso32_accel_range_t Adafruit_LSM6DSO32::getAccelRange(void) {
Adafruit_BusIO_Register ctrl1 = Adafruit_BusIO_Register(
i2c_dev, spi_dev, ADDRBIT8_HIGH_TOREAD, LSM6DS_CTRL1_XL);
Adafruit_BusIO_RegisterBits accel_range =
Adafruit_BusIO_RegisterBits(&ctrl1, 2, 2);
return (lsm6dso32_accel_range_t)accel_range.read();
}
/**************************************************************************/
/*!
@brief Sets the accelerometer measurement range.
@param new_range The lsm6dso32_accel_range_t range to set.
*/
void Adafruit_LSM6DSO32::setAccelRange(lsm6dso32_accel_range_t new_range) {
Adafruit_BusIO_Register ctrl1 = Adafruit_BusIO_Register(
i2c_dev, spi_dev, ADDRBIT8_HIGH_TOREAD, LSM6DS_CTRL1_XL);
Adafruit_BusIO_RegisterBits accel_range =
Adafruit_BusIO_RegisterBits(&ctrl1, 2, 2);
accel_range.write(new_range);
delay(20);
}`
Blok alıntı
Library Codes .h: `/*!
- @file Adafruit_LSM6DSO32.h
- I2C Driver for the Adafruit LSM6DSO32 6-DoF Accelerometer and Gyroscope
*library - This is a library for the Adafruit LSM6DSO32 breakout:
- https://www.adafruit.com/products/PID_HERE
- Adafruit invests time and resources providing this open source code,
- please support Adafruit and open-source hardware by purchasing products from
- Adafruit!
- BSD license (see license.txt)
*/
#ifndef _ADAFRUIT_LSM6DSO32_H
#define _ADAFRUIT_LSM6DSO32_H
#include "Adafruit_LSM6DS.h"
#include "Adafruit_LSM6DSOX.h"
#define LSM6DSO32_CHIP_ID 0x6C ///< LSM6DSO32 default device id from WHOAMI
/** The accelerometer data range */
typedef enum dso32_accel_range {
LSM6DSO32_ACCEL_RANGE_4_G,
LSM6DSO32_ACCEL_RANGE_32_G,
LSM6DSO32_ACCEL_RANGE_8_G,
LSM6DSO32_ACCEL_RANGE_16_G
} lsm6dso32_accel_range_t;
/*!
- @brief Class that stores state and functions for interacting with
-
the LSM6DSO32 I2C Digital Potentiometer
*/
class Adafruit_LSM6DSO32 : public Adafruit_LSM6DSOX {
public:
Adafruit_LSM6DSO32();
lsm6dso32_accel_range_t getAccelRange(void);
void setAccelRange(lsm6dso32_accel_range_t new_range);
void _read(void);
private:
bool _init(int32_t sensor_id);
};
#endif`