Add support for the LSM6DSO and change the version number to 4.0.0.

DavidEGrayson · Jul 11, 2023 · fc601d3 · fc601d3
1 parent 36407a6
commit fc601d3
Show file tree

Hide file tree

Showing 6 changed files with 26 additions and 53 deletions.
diff --git a/README.md b/README.md
@@ -3,6 +3,7 @@
 **minimu9-ahrs** is a program for reading sensor data from the Pololu MinIMU-9
 and similar boards over I²C.  It supports the following sensor chips:
 
+* LSM6DSO
 * LSM6DS33 accelerometer and gyro
 * LIS3MDL magnetometer
 * LSM303D magnetometer and accelerometer
@@ -16,8 +17,8 @@ and similar boards over I²C.  It supports the following sensor chips:
 This program works with any board that has a magnetometer, acceleromter, and a
 gyro from the list above.  This includes the following Pololu products:
 
-* MinIMU-9 [v0][mv0], [v1][mv1], [v2][mv2], [v3][mv3], [v5][mv5]
-* AltIMU-10 [v3][av3], [v4][av4], [v5][av5]
+* MinIMU-9 [v0][mv0], [v1][mv1], [v2][mv2], [v3][mv3], [v5][mv5], [v6][mv6]
+* AltIMU-10 [v3][av3], [v4][av4], [v5][av5], [v6][av6]
 * [Balboa 32U4 Balancing Robot Kit][balboa]
 
 The program can output the raw sensor data from the magnetometor, accelerometer,
@@ -51,8 +52,8 @@ distribution.
 Here are some other related resources that might be useful for you when
 figuring out how to enable I²C:
 
-* [Configuring Your Pi for I²C by Adafruit](http://learn.adafruit.com/adafruit-16-channel-servo-driver-with-raspberry-pi/configuring-your-pi-for-i2c/)
-* [Guide to interfacing a Gyro and Accelerometer with a Raspberry Pi](http://ozzmaker.com/berryimu/)
+* [Configuring Your Pi for I²C by Adafruit](https://learn.adafruit.com/adafruit-16-channel-servo-driver-with-raspberry-pi/configuring-your-pi-for-i2c/)
+* [Guide to interfacing a Gyro and Accelerometer with a Raspberry Pi](https://ozzmaker.com/berryimu/)
 
 ### Managing device permissions
 
@@ -279,19 +280,27 @@ and a precise description of its output format, view the man page by running
 
 ## Version history
 
+- 4.0.0 (2023-07-11):
+  - Added support for the MinIMU-9 v6 (LSM6DSO and LIS3MDL).
+  - Changed the default I²C bus to /dev/i2c-1 to better serve Raspberry Pi users.
+  - Updated the minimu9-ahrs-calibrator script to use Python 3.
 - 3.0.0 (2017-04-15):
   - Added support for the MinIMU-9 v5 (LSM6DS33 and LIS3MDL).
   - Added support for a configuration file at `~/.minimu9-ahrs`.
   - Fixed a bug that resulted in corrections from the accelerometer always being applied
     even if the acceleration magnitude was not close to 1 g (thanks nxdefiant).
   - Use a Linux timerfd for more accurate timing (thanks to nxdefiant for the idea).
   - Made the `minimu9-ahrs-calibrate` script store the raw data in `~/.minimu9-ahrs-cal-data`.
-  - Changed the minimu9-ahrs-calibrator Python script to just do simple minima/maxima because the fancy optimization algorithm was not reliable.
+  - Changed the minimu9-ahrs-calibrator Python script to just do simple minima/maxima
+    because the fancy optimization algorithm was not reliable.
   - Fixed the way boost_program_options is linked.
   - Expanded the README so it can replace the wiki.
 - 2.0.0 (2014-07-08):
   - Added support for the MinIMU-9 v3 (LSM303D and L3GD20H)
-  - Removed the right-shifting of raw accelerometer outputs; the raw readings are now signed 16-bit numbers that can range from -32768 to 32767.  Previously the readings were signed 12-bit numbers, so this new version effectively gives readings that are greater by a factor of 16.
+  - Removed the right-shifting of raw accelerometer outputs; the raw readings are now
+    signed 16-bit numbers that can range from -32768 to 32767.  Previously the readings
+    were signed 12-bit numbers, so this new version effectively gives readings that
+    are greater by a factor of 16.
   - Changed the minimu9-ahrs-calibrator Python script to use SciPy instead of the old optimization algorithm.
   - Changed the minimu9-ahrs-calibrator script to print a warning if there are fewer than 300 input vectors instead of exiting.
   - Changed the minimu9-ahrs-calibrator script to print a warning if the calibration looks wrong.
@@ -306,11 +315,13 @@ and a precise description of its output format, view the man page by running
 [av3]: https://www.pololu.com/product/2469
 [av4]: https://www.pololu.com/product/2470
 [av5]: https://www.pololu.com/product/2739
+[av6]: https://www.pololu.com/product/2863
 [mv0]: https://www.pololu.com/product/1264
 [mv1]: https://www.pololu.com/product/1265
 [mv2]: https://www.pololu.com/product/1268
 [mv3]: https://www.pololu.com/product/2468
 [mv5]: https://www.pololu.com/product/2738
+[mv6]: https://www.pololu.com/product/2862
 [balboa]: https://www.pololu.com/product/3575
 [ffwires]: https://www.pololu.com/catalog/category/66
 [wiring_pic]: http://www.davidegrayson.com/minimu9-ahrs/wiring.jpg

diff --git a/lsm6.cpp b/lsm6.cpp
@@ -14,9 +14,9 @@ void lsm6::handle::open(const comm_config & config)
 
 void lsm6::handle::enable()
 {
-  if (config.device == LSM6DS33)
+  if (config.device == LSM6DS33 || config.device == LSM6DSO)
   {
-    //// LSM6DS33 gyro
+    //// LSM6DS33/LSM6DSO gyro
 
     // ODR = 1000 (1.66 kHz (high performance))
     // FS_G = 11 (2000 dps)
@@ -25,11 +25,10 @@ void lsm6::handle::enable()
     // defaults
     write_reg(CTRL7_G, 0b00000000);
 
-    //// LSM6DS33 accelerometer
+    //// LSM6DS33/LSM6DSO accelerometer
 
     // ODR = 1000 (1.66 kHz (high performance))
     // FS_XL = 11 (8 g full scale)
-    // BW_XL = 00 (400 Hz filter bandwidth)
     write_reg(CTRL1_XL, 0b10001100);
 
     //// common
@@ -51,8 +50,7 @@ void lsm6::handle::write_reg(reg_addr addr, uint8_t value)
 void lsm6::handle::read_gyro()
 {
   uint8_t block[6];
-  i2c.write_byte_and_read(config.i2c_address,
-    OUTX_L_G, block, sizeof(block));
+  i2c.write_byte_and_read(config.i2c_address, OUTX_L_G, block, sizeof(block));
   g[0] = (int16_t)(block[0] | block[1] << 8);
   g[1] = (int16_t)(block[2] | block[3] << 8);
   g[2] = (int16_t)(block[4] | block[5] << 8);
@@ -61,10 +59,8 @@ void lsm6::handle::read_gyro()
 void lsm6::handle::read_acc()
 {
   uint8_t block[6];
-  i2c.write_byte_and_read(config.i2c_address,
-    OUTX_L_XL, block, sizeof(block));
+  i2c.write_byte_and_read(config.i2c_address, OUTX_L_XL, block, sizeof(block));
   a[0] = (int16_t)(block[0] | block[1] << 8);
   a[1] = (int16_t)(block[2] | block[3] << 8);
   a[2] = (int16_t)(block[4] | block[5] << 8);
 }
-
diff --git a/lsm6.h b/lsm6.h
@@ -8,6 +8,7 @@ namespace lsm6
   enum device_type
   {
     LSM6DS33 = 0x69,
+    LSM6DSO = 0x6C,
   };
 
   enum i2c_addr
@@ -18,15 +19,6 @@ namespace lsm6
 
   enum reg_addr
   {
-    FUNC_CFG_ACCESS   = 0x01,
-
-    FIFO_CTRL1        = 0x06,
-    FIFO_CTRL2        = 0x07,
-    FIFO_CTRL3        = 0x08,
-    FIFO_CTRL4        = 0x09,
-    FIFO_CTRL5        = 0x0A,
-    ORIENT_CFG_G      = 0x0B,
-
     INT1_CTRL         = 0x0D,
     INT2_CTRL         = 0x0E,
     WHO_AM_I          = 0x0F,
@@ -41,9 +33,6 @@ namespace lsm6
     CTRL9_XL          = 0x18,
     CTRL10_C          = 0x19,
 
-    WAKE_UP_SRC       = 0x1B,
-    TAP_SRC           = 0x1C,
-    D6D_SRC           = 0x1D,
     STATUS_REG        = 0x1E,
 
     OUT_TEMP_L        = 0x20,
@@ -63,29 +52,6 @@ namespace lsm6
 
     FIFO_STATUS1      = 0x3A,
     FIFO_STATUS2      = 0x3B,
-    FIFO_STATUS3      = 0x3C,
-    FIFO_STATUS4      = 0x3D,
-    FIFO_DATA_OUT_L   = 0x3E,
-    FIFO_DATA_OUT_H   = 0x3F,
-    TIMESTAMP0_REG    = 0x40,
-    TIMESTAMP1_REG    = 0x41,
-    TIMESTAMP2_REG    = 0x42,
-
-    STEP_TIMESTAMP_L  = 0x49,
-    STEP_TIMESTAMP_H  = 0x4A,
-    STEP_COUNTER_L    = 0x4B,
-    STEP_COUNTER_H    = 0x4C,
-
-    FUNC_SRC          = 0x53,
-
-    TAP_CFG           = 0x58,
-    TAP_THS_6D        = 0x59,
-    INT_DUR2          = 0x5A,
-    WAKE_UP_THS       = 0x5B,
-    WAKE_UP_DUR       = 0x5C,
-    FREE_FALL         = 0x5D,
-    MD1_CFG           = 0x5E,
-    MD2_CFG           = 0x5F,
   };
 
   struct comm_config {

diff --git a/minimu9-ahrs.1 b/minimu9-ahrs.1
@@ -5,7 +5,7 @@ minimu9-ahrs - read data from the Pololu MinIMU-9 over I²C
 .B minimu9-ahrs [\fIOPTIONS\fP]
 .SH DESCRIPTION
 minimu9-ahrs is a program for reading data from the Pololu MinIMU-9 over I²C.
-It supports MinIMU-9 versions v0, v1, v2, v3, and v5.
+It supports MinIMU-9 versions v0, v1, v2, v3, v5, and v6.
 The program can output the raw sensor data from the magnetometer, accelerometer,
 and gyro or it can use that raw data to compute the orientation of the IMU.
 .P

diff --git a/minimu9.cpp b/minimu9.cpp
@@ -18,7 +18,7 @@ minimu9::comm_config minimu9::auto_detect(const std::string & i2c_bus_name)
     for (uint8_t addr : addrs)
     {
       int result = bus.try_write_byte_and_read_byte(addr, lsm6::WHO_AM_I);
-      if (result == lsm6::LSM6DS33)
+      if (result == lsm6::LSM6DS33 || result == lsm6::LSM6DSO)
       {
         config.lsm6.use_sensor = true;
         config.lsm6.device = (lsm6::device_type)result;

diff --git a/version.h b/version.h
@@ -1 +1 @@
-#define VERSION "3.0.0"
+#define VERSION "4.0.0"