Diff: LSM9DS1.h

Revision:

6:28c4b3c8b43d

Parent:

4:7ffcb378cfd4

Child:

8:16e88babd42a

--- a/LSM9DS1.h	Wed Jun 14 03:28:09 2017 +0000
+++ b/LSM9DS1.h	Thu Jun 15 07:17:11 2017 +0000
@@ -195,6 +195,7 @@
     int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
     int16_t mx_raw, my_raw, mz_raw; // x, y, and z axis readings of the magnetometer
     int16_t temperature_raw;
+    int16_t gBiasRaw[3], aBiasRaw[3]; 
 
     // floating-point values of scaled data in real-world units
     float gx, gy, gz;
@@ -202,7 +203,9 @@
     float mx, my, mz;
     float temperature_c, temperature_f; // temperature in celcius and fahrenheit
     float intr;
+    float gBias[3], aBias[3];
 
+    bool autoCalib;
     
     /**  LSM9DS1 -- LSM9DS1 class constructor
     *  The constructor will set up a handful of private variables, and set the
@@ -235,9 +238,9 @@
     *  gyro, 119 Hz for accelerometer, 80 Hz for magnetometer.
     *  Use the return value of this function to verify communication.
     */
-    uint16_t begin(gyro_scale gScl = G_SCALE_245DPS, 
+    uint16_t begin(gyro_scale gScl = G_SCALE_500DPS, 
                 accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_4GS,
-                gyro_odr gODR = G_ODR_119_BW_14, accel_odr aODR = A_ODR_119, 
+                gyro_odr gODR = G_ODR_952_BW_100, accel_odr aODR = A_ODR_119, 
                 mag_odr mODR = M_ODR_80);
     
     /**  readGyro() -- Read the gyroscope output registers.
@@ -271,6 +274,10 @@
     */
     void readTemp();
     
+    /** calibration() -- Calibrate Accel and Gyro sensor
+    */
+    void calibration();
+    
     /**  setGyroScale() -- Set the full-scale range of the gyroscope.
     *  This function can be called to set the scale of the gyroscope to 
     *  245, 500, or 2000 degrees per second.
@@ -318,7 +325,22 @@
     *       Must be a value from the mag_odr enum (check above).
     */
     void setMagODR(mag_odr mRate);
+    
+    
+    /**  enableFIFO() -- Turn on FIFO state (CTRL_REG9)
+    *  Input:
+    *   - enable = true - turn on FIFO
+    *              false - turn off FIFO
+    */
+    void enableXgFIFO(bool enable);
 
+    /**  setFIFO() -- Set FIFO mode and FIFO threshold(FIFO_CTRL)
+    *  Input:
+    *    - fifoMode = 0: Bypass mode. FIFO turned off
+    *                 1: FIFO mode. Stops collecting data when FIFO is full
+    *    - fifoThs = maximum threshold is 0x1F(31)
+    */
+    void setXgFIFO(uint8_t fifoMode, uint8_t fifoThs);
 
 private:    
     /**  xgAddress and mAddress store the I2C address