Merge pull request #32 from LiquidCGS/31-add-lsm6ds3tr-c

Add support for LSM6DS3TR-C
LiquidCGS · Nov 12, 2024 · 2c8480d · 2c8480d
2 parents 5a92d75 + c2a536f
commit 2c8480d
Show file tree

Hide file tree

Showing 5 changed files with 22 additions and 6 deletions.
diff --git a/README.md b/README.md
@@ -13,7 +13,7 @@ Supported IMUS:
 * BMI055 
 * BMX055 (Magnetometer currently untested)
 * BMI160
-* LSM6DS3 
+* LSM6DS3 (And some of it's variants)
 * LSM6DSL (currently untested)
 * QMI8658
 

diff --git a/datasheets/LSM6DS3TR-C-Datasheet.pdf b/datasheets/LSM6DS3TR-C-Datasheet.pdf
diff --git a/examples/IMUIdentifier/IMUIdentifier.ino b/examples/IMUIdentifier/IMUIdentifier.ino
@@ -33,7 +33,7 @@ const IMU IMUList[NUM_IMUS] =
   {0x68, 0x69, 0x75, 0x19, "MPU6886",   "3A,3G",	true},
   {0x69, 0x68, 0x00, 0xD1, "BMI160",    "3A,3G",	true},
   {0x6B, 0x6A, 0x0F, 0x69, "LSM6DS3",   "3A,3G",	true},
-  {0x6B, 0x6A, 0x0F, 0x6A, "LSM6DSL",   "3A,3G",	true},
+  {0x6B, 0x6A, 0x0F, 0x6A, "LSM6DSL or LSM6DS3TR-C",   "3A,3G",	true},
   {0x68, 0x69, 0x75, 0x98, "ICM20689",  "3A,3G",	true},
   {0x68, 0x69, 0x75, 0x20, "ICM20690",  "3A,3G",	true},
   {0x6B, 0x6A, 0x00, 0x05, "QMI8658",   "3A,3G",	true},

diff --git a/src/F_LSM6DS3.cpp b/src/F_LSM6DS3.cpp
@@ -15,14 +15,17 @@ int LSM6DS3::init(calData cal, uint8_t address)
 	{
 		calibration = cal;
 	}
-
-	if (!(readByte(IMUAddress, LSM6DS3_WHO_AM_I) == LSM6DS3_WHOAMI_DEFAULT_VALUE)) {
-		return -1;
+
+	uint8_t IMUWhoAmI = checkReady(IMUAddress, 500);
+	if (!(IMUWhoAmI == LSM6DS3_WHOAMI_DEFAULT_VALUE)) {
+		if (!(IMUWhoAmI == LSM6DS3TR_C_WHOAMI_DEFAULT_VALUE)) {
+			return -1;
+		}
 	}
 
 	// reset device
 	writeByte(IMUAddress, LSM6DS3_CTRL3_C, 0x01);   // Toggle softreset
-	delay(100);										// wait for reset
+	while (!checkReady(IMUAddress, 100));			// wait for reset
 
 	writeByte(IMUAddress, LSM6DS3_CTRL1_XL, 0x47);	// Start up accelerometer, set range to +-16g, set output data rate to 104hz, BW_XL bits to 11.
 	writeByte(IMUAddress, LSM6DS3_CTRL2_G, 0x4C);	// Start up gyroscope, set range to -+2000dps, output data rate to 104hz.

diff --git a/src/F_LSM6DS3.hpp b/src/F_LSM6DS3.hpp
@@ -51,6 +51,7 @@
 #define LSM6DS3_OUTZ_H_XL			0x2D
 
 #define LSM6DS3_WHOAMI_DEFAULT_VALUE	0x69
+#define LSM6DS3TR_C_WHOAMI_DEFAULT_VALUE 0x6A
 
 class LSM6DS3 : public IMUBase {
 public:
@@ -135,5 +136,17 @@ class LSM6DS3 : public IMUBase {
 			dest[i++] = Wire.read();
 		}         // Put read results in the Rx buffer
 	}
+
+	uint8_t checkReady(uint8_t address, uint8_t timeout)
+	{
+		uint8_t IMUWhoAmI = 0;
+		// Wait until a valid byte is returned, up until timeout value.
+		for (uint8_t checkCount = timeout; checkCount > 0; checkCount--) {
+			IMUWhoAmI = readByte(address, LSM6DS3_WHO_AM_I);
+			if (IMUWhoAmI == 0xFF) { delay(1); } else { break; }
+		}
+		// Return IMU identifier if found.
+		return IMUWhoAmI;
+	}
 };
 #endif /* _F_LSM6DS3_H_ */