Revision 8:16e88babd42a, committed 2017-06-19

Comitter:

benson516

Date:

Mon Jun 19 02:25:48 2017 +0000

Parent:

7:e6e3d320eb6c

Commit message:

Fix bugs in setting resolutions

Changed in this revision

diff -r e6e3d320eb6c -r 16e88babd42a LSM9DS1.cpp
--- a/LSM9DS1.cpp	Thu Jun 15 08:42:23 2017 +0000
+++ b/LSM9DS1.cpp	Mon Jun 19 02:25:48 2017 +0000
@@ -7,7 +7,7 @@
     mAddress = mAddr;
 }
 
-uint16_t LSM9DS1::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl, 
+bool LSM9DS1::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
                         gyro_odr gODR, accel_odr aODR, mag_odr mODR)
 {
     // Store the given scales in class variables. These scale variables
@@ -15,14 +15,14 @@
     gScale = gScl;
     aScale = aScl;
     mScale = mScl;
-    
+
     // Once we have the scale values, we can calculate the resolution
     // of each sensor. That's what these functions are for. One for each sensor
     calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
     calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
     calcaRes(); // Calculate g / ADC tick, stored in aRes variable
-    
-    
+
+
     // To verify communication, we can read from the WHO_AM_I register of
     // each device. Store those in a variable so we can return them.
     // The start of the addresses we want to read from
@@ -36,7 +36,7 @@
     // Read in all the 8 bits of data
     i2c.read(xgAddress, cmd+1, 1);
     uint8_t xgTest = cmd[1];                    // Read the accel/gyro WHO_AM_I
-    
+
     // Reset to the address of the mag who am i
     cmd[0] = WHO_AM_I_M;
     // Write the address we are going to read from and don't end the transaction
@@ -44,46 +44,55 @@
     // Read in all the 8 bits of data
     i2c.read(mAddress, cmd+1, 1);
     uint8_t mTest = cmd[1];      // Read the mag WHO_AM_I
-    
+
     for(int ii = 0; ii < 3; ii++)
     {
         gBiasRaw[ii] = 0;
         aBiasRaw[ii] = 0;
         gBias[ii] = 0;
         aBias[ii] = 0;
-        autoCalib = false;   
     }
-    
-    // Gyro initialization stuff:
-    initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
-    setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
-    setGyroScale(gScale); // Set the gyro range
-    
+    autoCalib = false;
+
     // Accelerometer initialization stuff:
     initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
     setAccelODR(aODR); // Set the accel data rate.
     setAccelScale(aScale); // Set the accel range.
-    
+
+    // Gyro initialization stuff:
+    initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
+    setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
+    setGyroScale(gScale); // Set the gyro range
+
     // Magnetometer initialization stuff:
     initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
     setMagODR(mODR); // Set the magnetometer output data rate.
     setMagScale(mScale); // Set the magnetometer's range.
-    
+
     // Interrupt initialization stuff
     initIntr();
-    
+
     // Once everything is initialized, return the WHO_AM_I registers we read:
-    return (xgTest << 8) | mTest;
+    return ( ((xgTest << 8) | mTest) == (WHO_AM_I_AG_RSP << 8 | WHO_AM_I_M_RSP) );
 }
 
 void LSM9DS1::initGyro()
 {
+    /*
     char cmd[4] = {
         CTRL_REG1_G,
         gScale | G_ODR_119_BW_14,
         0,          // Default data out and int out
         0           // Default power mode and high pass settings
     };
+    */
+
+    char cmd[4] = {
+        CTRL_REG1_G,
+        gScale | G_ODR_119_BW_14,
+        0x03,          // Data pass througn HPF and LPF2, default int out
+        0x80           // Low-power mode, disable high-pass filter, default cut-off frequency
+    };
 
     // Write the data to the gyro control registers
     i2c.write(xgAddress, cmd, 4);
@@ -103,7 +112,7 @@
 }
 
 void LSM9DS1::initMag()
-{   
+{
     char cmd[4] = {
         CTRL_REG1_M,
         0x10,       // Default data rate, xy axes mode, and temp comp
@@ -116,14 +125,14 @@
 }
 
 void LSM9DS1::initIntr()
-{   
+{
     char cmd[2];
     uint16_t thresholdG = 500;
     uint8_t durationG = 10;
     uint8_t thresholdX = 20;
     uint8_t durationX = 1;
     uint16_t thresholdM = 10000;
-    
+
     // 1. Configure the gyro interrupt generator
     cmd[0] = INT_GEN_CFG_G;
     cmd[1] = (1 << 5);
@@ -138,7 +147,7 @@
     cmd[0] = INT_GEN_DUR_G;
     cmd[1] = (durationG & 0x7F) | 0x80;
     i2c.write(xgAddress, cmd, 2);
-    
+
     // 3. Configure accelerometer interrupt generator
     cmd[0] = INT_GEN_CFG_XL;
     cmd[1] = (1 << 1);
@@ -150,7 +159,7 @@
     cmd[0] = INT_GEN_DUR_XL;
     cmd[1] = (durationX & 0x7F);
     i2c.write(xgAddress, cmd, 2);
-    
+
     // 5. Configure INT1 - assign it to gyro interrupt
     cmd[0] = INT1_CTRL;
 //    cmd[1] = 0xC0;
@@ -160,7 +169,7 @@
 //    cmd[1] = 0x04;
     cmd[1] = (1 << 2) | (1 << 5) | (1 << 4);
     i2c.write(xgAddress, cmd, 2);
-    
+
     // Configure interrupt 2 to fire whenever new accelerometer
     // or gyroscope data is available.
     cmd[0] = INT2_CTRL;
@@ -169,12 +178,12 @@
     cmd[0] = CTRL_REG8;
     cmd[1] = (1 << 2) | (1 << 5) | (1 << 4);
     i2c.write(xgAddress, cmd, 2);
-    
+
     // Configure magnetometer interrupt
     cmd[0] = INT_CFG_M;
     cmd[1] = (1 << 7) | (1 << 0);
     i2c.write(xgAddress, cmd, 2);
-    
+
     // Configure magnetometer threshold
     cmd[0] = INT_THS_H_M;
     cmd[1] = uint8_t((thresholdM & 0x7F00) >> 8);
@@ -186,65 +195,75 @@
 
 void LSM9DS1::calibration()
 {
-    
+
     uint16_t samples = 0;
     int32_t aBiasRawTemp[3] = {0, 0, 0};
     int32_t gBiasRawTemp[3] = {0, 0, 0};
-    /*
-    // Turn on FIFO and set threshold to 32 samples
-    enableXgFIFO(true);
-    setXgFIFO( 1, 0x1F);
-    while (samples < 0x1F)
-    {
-        samples = (i2c.read(FIFO_SRC) & 0x3F); // Read number of stored samples
-    }
-    for(int ii = 0; ii < samples ; ii++) 
-    {   // Read the gyro data stored in the FIFO
-        readGyro();
-        gBiasRawTemp[0] += gx_raw;
-        gBiasRawTemp[1] += gy_raw;
-        gBiasRawTemp[2] += gz_raw;
-        readAccel();
-        aBiasRawTemp[0] += ax_raw;
-        aBiasRawTemp[1] += ay_raw;
-        aBiasRawTemp[2] += az_raw - (int16_t)(1./aRes); // Assumes sensor facing up!
-    }  
-    for (int ii = 0; ii < 3; ii++)
-    {
-        gBias_raw[ii] = gBiasRawTemp[ii] / samples;
-        gBias[ii] = gBias_raw[ii] * gRes;
-        aBias_raw[ii] = aBiasRawTemp[ii] / samples;
-        aBias[ii] = aBias_raw[ii] * aRes;
-    }
-    
-    
-    
-    enableXgFIFO(false);
-    setXgFIFO(0, 0x00);
-    */
-    while(samples < 300)
+    int32_t gDeltaBiasRaw[3] = {0, 0, 0};
+
+    // Turn off the autoCalib first to get the raw data
+    autoCalib = false;
+
+    while(samples < 200)
     {
         readGyro();
         gBiasRawTemp[0] += gx_raw;
         gBiasRawTemp[1] += gy_raw;
         gBiasRawTemp[2] += gz_raw;
+        /*
         readAccel();
         aBiasRawTemp[0] += ax_raw;
         aBiasRawTemp[1] += ay_raw;
         aBiasRawTemp[2] += az_raw;
-        wait_us(1000);
-        samples++;    
+        */
+        wait_ms(1); // 1 ms
+        samples++;
     }
-    
+
+    //
     for(int ii = 0; ii < 3; ii++)
     {
         gBiasRaw[ii] = gBiasRawTemp[ii] / samples;
-        aBiasRaw[ii] = aBiasRawTemp[ii] / samples;
-        
+        // aBiasRaw[ii] = aBiasRawTemp[ii] / samples;
+        aBiasRaw[ii] = 0;
+
+        /*
         gBias[ii] = gBiasRaw[ii] * gRes;
-        aBias[ii] = aBiasRaw[ii] * aRes;    
+        aBias[ii] = aBiasRaw[ii] * aRes;
+        */
+        gBiasRawTemp[ii] = 0;
     }
-    
+
+    // Re-calculate the bias
+    int bound_bias = 10;
+    int32_t samples_axis[3] = {0, 0, 0};
+    for (size_t i = 0; i < 500; ++i){
+        readGyro();
+        gDeltaBiasRaw[0] = gx_raw - gBiasRaw[0];
+        gDeltaBiasRaw[1] = gy_raw - gBiasRaw[1];
+        gDeltaBiasRaw[2] = gz_raw - gBiasRaw[2];
+        for (size_t k = 0; k < 3; ++k){
+            if (gDeltaBiasRaw[k] >= -bound_bias && gDeltaBiasRaw[k] <= bound_bias){
+                gBiasRawTemp[k] += gDeltaBiasRaw[k] + gBiasRaw[k];
+                samples_axis[k]++;
+            }
+        }
+        //
+        wait_ms(1); // 1 ms
+    }
+
+    //
+    for(int ii = 0; ii < 3; ii++)
+    {
+        gBiasRaw[ii] = gBiasRawTemp[ii] / samples_axis[ii];
+        // aBiasRaw[ii] = aBiasRawTemp[ii] / samples;
+        aBiasRaw[ii] = 0;
+
+        gBias[ii] = gBiasRaw[ii] * gRes;
+        aBias[ii] = aBiasRaw[ii] * aRes;
+    }
+
+    // Turn on the autoCalib
     autoCalib = true;
 }
 
@@ -265,20 +284,18 @@
     ax_raw = data[0] | (data[1] << 8);
     ay_raw = data[2] | (data[3] << 8);
     az_raw = data[4] | (data[5] << 8);
-    ax = ax_raw * aRes;
-    ay = ay_raw * aRes;
-    az = az_raw * aRes;
-    
-    if(autoCalib == true)
+
+    //
+    if(autoCalib)
     {
         ax_raw -= aBiasRaw[0];
         ay_raw -= aBiasRaw[1];
         az_raw -= aBiasRaw[2];
-        
-        ax = ax_raw * aRes;
-        ay = ay_raw * aRes;
-        az = az_raw * aRes;   
     }
+    //
+    ax = ax_raw * aRes;
+    ay = ay_raw * aRes;
+    az = az_raw * aRes;
 }
 
 void LSM9DS1::readMag()
@@ -327,7 +344,7 @@
     // Read in all 8 bit registers containing the axes data
     i2c.read(xgAddress, data, 2);
 
-    // Temperature is a 12-bit signed integer   
+    // Temperature is a 12-bit signed integer
     temperature_raw = data[0] | (data[1] << 8);
 
     temperature_c = (float)temperature_raw / 8.0 + 25;
@@ -352,21 +369,19 @@
     gx_raw = data[0] | (data[1] << 8);
     gy_raw = data[2] | (data[3] << 8);
     gz_raw = data[4] | (data[5] << 8);
-    gx = gx_raw * gRes;
-    gy = gy_raw * gRes;
-    gz = gz_raw * gRes;
-    
-    if(autoCalib == true)
+
+    //
+    if(autoCalib)
     {
         gx_raw -= gBiasRaw[0];
         gy_raw -= gBiasRaw[1];
         gz_raw -= gBiasRaw[2];
-        
-        gx = gx_raw * gRes;
-        gy = gy_raw * gRes;
-        gz = gz_raw * gRes;   
     }
-    
+    //
+    gx = gx_raw * gRes;
+    gy = gy_raw * gRes;
+    gz = gz_raw * gRes;
+
 }
 
 void LSM9DS1::setGyroScale(gyro_scale gScl)
@@ -389,7 +404,7 @@
 
     // Write the gyroscale out to the gyro
     i2c.write(xgAddress, cmd, 2);
-    
+
     // We've updated the sensor, but we also need to update our class variables
     // First update gScale:
     gScale = gScl;
@@ -417,7 +432,7 @@
 
     // Write the accelscale out to the accel
     i2c.write(xgAddress, cmd, 2);
-    
+
     // We've updated the sensor, but we also need to update our class variables
     // First update aScale:
     aScale = aScl;
@@ -445,7 +460,7 @@
 
     // Write the magscale out to the mag
     i2c.write(mAddress, cmd, 2);
-    
+
     // We've updated the sensor, but we also need to update our class variables
     // First update mScale:
     mScale = mScl;
@@ -457,14 +472,15 @@
 {
     char cmd[2];
     char cmdLow[2];
-    
+
+    // Enable the low-power mode
     if(gRate == G_ODR_15_BW_0 | gRate == G_ODR_60_BW_16 | gRate == G_ODR_119_BW_14 | gRate == G_ODR_119_BW_31) {
         cmdLow[0] = CTRL_REG3_G;
-        cmdLow[1] = 1;
-        
+        cmdLow[1] = 1<<7; // LP_mode
+
         i2c.write(xgAddress, cmdLow, 2);
     }
-    
+
     // The start of the addresses we want to read from
     cmd[0] = CTRL_REG1_G;
     cmd[1] = 0;
@@ -534,13 +550,16 @@
     switch (gScale)
     {
         case G_SCALE_245DPS:
-            gRes = 245.0 / 32768.0;
+            // gRes = 245.0 / 32768.0;
+            gRes = 8.75*0.001; // deg./sec.
             break;
         case G_SCALE_500DPS:
-            gRes = 500.0 / 32768.0;
+            // gRes = 500.0 / 32768.0;
+            gRes = 17.50*0.001; // deg./sec.
             break;
         case G_SCALE_2000DPS:
-            gRes = 2000.0 / 32768.0;
+            // gRes = 2000.0 / 32768.0;
+            gRes = 70.0*0.001; // deg./sec.
             break;
     }
 }
@@ -561,7 +580,8 @@
             aRes = 8.0 / 32768.0;
             break;
         case A_SCALE_16G:
-            aRes = 16.0 / 32768.0;
+            // aRes = 16.0 / 32768.0;
+            aRes = 0.732*0.001; // g (gravity)
             break;
     }
 }
@@ -569,20 +589,24 @@
 void LSM9DS1::calcmRes()
 {
     // Possible magnetometer scales (and their register bit settings) are:
-    // 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11). 
+    // 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11).
     switch (mScale)
     {
         case M_SCALE_4GS:
-            mRes = 4.0 / 32768.0;
+            // mRes = 4.0 / 32768.0;
+            mRes = 0.14*0.001; // gauss
             break;
         case M_SCALE_8GS:
-            mRes = 8.0 / 32768.0;
+            // mRes = 8.0 / 32768.0;
+            mRes = 0.29*0.001; // gauss
             break;
         case M_SCALE_12GS:
-            mRes = 12.0 / 32768.0;
+            // mRes = 12.0 / 32768.0;
+            mRes = 0.43*0.001; // gauss
             break;
         case M_SCALE_16GS:
-            mRes = 16.0 / 32768.0;
+            // mRes = 16.0 / 32768.0;
+            mRes = 0.58*0.001; // gauss
             break;
     }
 }
@@ -592,13 +616,13 @@
 void LSM9DS1::enableXgFIFO(bool enable)
 {
     char cmd[2] = {CTRL_REG9, 0};
-    
+
     i2c.write(xgAddress, cmd, 1);
     cmd[1] = i2c.read(CTRL_REG9);
-    
+
     if (enable) cmd[1] |= (1<<1);
     else cmd[1] &= ~(1<<1);
-    
+
     i2c.write(xgAddress, cmd, 2);
 }
 
@@ -611,4 +635,4 @@
     cmd[1] = ((fifoMode & 0x7) << 5) | (threshold & 0x1F);
     i2c.write(xgAddress, cmd, 2);
 }
-*/
\ No newline at end of file
+*/

diff -r e6e3d320eb6c -r 16e88babd42a LSM9DS1.h
--- a/LSM9DS1.h	Thu Jun 15 08:42:23 2017 +0000
+++ b/LSM9DS1.h	Mon Jun 19 02:25:48 2017 +0000
@@ -104,12 +104,20 @@
 public:
 
     /// gyro_scale defines the possible full-scale ranges of the gyroscope:
+    /*
     enum gyro_scale
     {
         G_SCALE_245DPS = 0x0 << 3,     // 00 << 3: +/- 245 degrees per second
         G_SCALE_500DPS = 0x1 << 3,     // 01 << 3: +/- 500 dps
         G_SCALE_2000DPS = 0x3 << 3     // 11 << 3: +/- 2000 dps
     };
+    */
+    enum gyro_scale
+    {
+        G_SCALE_245DPS = 0x0,     // 00: +/- 245 degrees per second
+        G_SCALE_500DPS = 0x1,     // 01: +/- 500 dps
+        G_SCALE_2000DPS = 0x3     // 11: +/- 2000 dps
+    };
 
     /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
     enum gyro_odr
@@ -195,7 +203,7 @@
     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]; 
+    int16_t gBiasRaw[3], aBiasRaw[3];
 
     // floating-point values of scaled data in real-world units
     float gx, gy, gz;
@@ -206,7 +214,7 @@
     float gBias[3], aBias[3];
 
     bool autoCalib;
-    
+
     /**  LSM9DS1 -- LSM9DS1 class constructor
     *  The constructor will set up a handful of private variables, and set the
     *  communication mode as well.
@@ -219,7 +227,7 @@
     *               If MODE_SPI, this is the cs pin of the mag (CS_M)
     */
     LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr = LSM9DS1_AG_I2C_ADDR(1), uint8_t mAddr = LSM9DS1_M_I2C_ADDR(1));
-    
+
     /**  begin() -- Initialize the gyro, accelerometer, and magnetometer.
     *  This will set up the scale and output rate of each sensor. It'll also
     *  "turn on" every sensor and every axis of every sensor.
@@ -234,59 +242,59 @@
     *       bytes of the output are the WHO_AM_I reading of the accel/gyro. The
     *       least significant two bytes are the WHO_AM_I reading of the mag.
     *  All parameters have a defaulted value, so you can call just "begin()".
-    *  Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for 
+    *  Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
     *  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_500DPS, 
-                accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_4GS,
-                gyro_odr gODR = G_ODR_952_BW_100, accel_odr aODR = A_ODR_119, 
+    bool begin(gyro_scale gScl = G_SCALE_2000DPS,
+                accel_scale aScl = A_SCALE_8G, mag_scale mScl = M_SCALE_4GS,
+                gyro_odr gODR = G_ODR_119_BW_31, accel_odr aODR = A_ODR_119,
                 mag_odr mODR = M_ODR_80);
-    
+
     /**  readGyro() -- Read the gyroscope output registers.
     *  This function will read all six gyroscope output registers.
     *  The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
     *  those _after_ calling readGyro().
     */
     void readGyro();
-    
+
     /**  readAccel() -- Read the accelerometer output registers.
     *  This function will read all six accelerometer output registers.
     *  The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
     *  those _after_ calling readAccel().
     */
     void readAccel();
-    
+
     /**  readMag() -- Read the magnetometer output registers.
     *  This function will read all six magnetometer output registers.
     *  The readings are stored in the class' mx_raw, my_raw, and mz_raw variables. Read
     *  those _after_ calling readMag().
     */
     void readMag();
-    
+
     /** Read Interrupt **/
     void readIntr();
-    
+
     /**  readTemp() -- Read the temperature output register.
     *  This function will read two temperature output registers.
     *  The combined readings are stored in the class' temperature variables. Read
     *  those _after_ calling readTemp().
     */
     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 
+    *  This function can be called to set the scale of the gyroscope to
     *  245, 500, or 2000 degrees per second.
     *  Input:
     *   - gScl = The desired gyroscope scale. Must be one of three possible
     *       values from the gyro_scale enum.
     */
     void setGyroScale(gyro_scale gScl);
-    
+
     /**  setAccelScale() -- Set the full-scale range of the accelerometer.
     *  This function can be called to set the scale of the accelerometer to
     *  2, 4, 8, or 16 g's.
@@ -295,7 +303,7 @@
     *       values from the accel_scale enum.
     */
     void setAccelScale(accel_scale aScl);
-    
+
     /**  setMagScale() -- Set the full-scale range of the magnetometer.
     *  This function can be called to set the scale of the magnetometer to
     *  4, 8, 12, or 16 Gs.
@@ -304,29 +312,29 @@
     *       values from the mag_scale enum.
     */
     void setMagScale(mag_scale mScl);
-    
+
     /**  setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
     *  Input:
     *   - gRate = The desired output rate and cutoff frequency of the gyro.
     *       Must be a value from the gyro_odr enum (check above).
     */
     void setGyroODR(gyro_odr gRate);
-    
+
     /**  setAccelODR() -- Set the output data rate of the accelerometer
     *  Input:
     *   - aRate = The desired output rate of the accel.
     *       Must be a value from the accel_odr enum (check above).
     */
     void setAccelODR(accel_odr aRate);
-    
+
     /**  setMagODR() -- Set the output data rate of the magnetometer
     *  Input:
     *   - mRate = The desired output rate of the mag.
     *       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
@@ -342,58 +350,58 @@
     */
     void setXgFIFO(uint8_t fifoMode, uint8_t fifoThs);
 
-private:    
+private:
     /**  xgAddress and mAddress store the I2C address
     *  for each sensor.
     */
     uint8_t xgAddress, mAddress;
-    
+
     // I2C bus
     I2C i2c;
 
-    /**  gScale, aScale, and mScale store the current scale range for each 
+    /**  gScale, aScale, and mScale store the current scale range for each
     *  sensor. Should be updated whenever that value changes.
     */
     gyro_scale gScale;
     accel_scale aScale;
     mag_scale mScale;
-    
-    /**  gRes, aRes, and mRes store the current resolution for each sensor. 
+
+    /**  gRes, aRes, and mRes store the current resolution for each sensor.
     *  Units of these values would be DPS (or g's or Gs's) per ADC tick.
     *  This value is calculated as (sensor scale) / (2^15).
     */
     float gRes, aRes, mRes;
-    
+
     /**  initGyro() -- Sets up the gyroscope to begin reading.
     *  This function steps through all three gyroscope control registers.
     */
     void initGyro();
-    
+
     /**  initAccel() -- Sets up the accelerometer to begin reading.
     *  This function steps through all accelerometer related control registers.
     */
     void initAccel();
-    
+
     /** Initialize Interrupts **/
     void initIntr();
-    
+
     /**  initMag() -- Sets up the magnetometer to begin reading.
     *  This function steps through all magnetometer-related control registers.
     */
     void initMag();
-    
+
     /**  calcgRes() -- Calculate the resolution of the gyroscope.
     *  This function will set the value of the gRes variable. gScale must
     *  be set prior to calling this function.
     */
     void calcgRes();
-    
+
     /**  calcmRes() -- Calculate the resolution of the magnetometer.
     *  This function will set the value of the mRes variable. mScale must
     *  be set prior to calling this function.
     */
     void calcmRes();
-    
+
     /**  calcaRes() -- Calculate the resolution of the accelerometer.
     *  This function will set the value of the aRes variable. aScale must
     *  be set prior to calling this function.

diff -r e6e3d320eb6c -r 16e88babd42a main.cpp
--- a/main.cpp	Thu Jun 15 08:42:23 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,62 +0,0 @@
-#include "LSM9DS1.h"
-
-Serial pc(USBTX, USBRX);
-
-DigitalOut myled(LED1);
-
-Ticker timer1;
-void initTimer();
-void timer1_interrupt();
-
-float gyroZCounter = 0;
-LSM9DS1 imu(D14, D15, 0xD6, 0x3C);
-
-unsigned long long sysTime = 0;
-unsigned long long last_time = 0;
-#define Period 10  // 10 ms
-
-
-int main() 
-{
-    
-    pc.baud(115200);
-    
-    pc.printf("Begin LSM9DS1.\n\r");
-    
-    if (!imu.begin()) 
-    {
-        pc.printf("Failed to communicate with LSM9DS1.\n\r");
-    }
-    
-    imu.calibration();
-    pc.printf("calibration: %d\n\r", imu.autoCalib); 
-    
-    initTimer();
-    
-    while(1) 
-    {
-        if (sysTime - last_time >= Period)
-        {
-            last_time = sysTime;
-            
-            myled = 0;
-            imu.readGyro();
-            myled = 1;
-            
-            gyroZCounter += imu.gz * 0.01; 
-            
-            pc.printf("g: %f, cnt: %f\n\r", imu.gz, gyroZCounter);  
-            
-        }
-    }
-}
-
-void initTimer()
-{
-    timer1.attach_us(&timer1_interrupt, 1000); // 1ms interrupt period (1 KHz)    
-}
-
-void timer1_interrupt()
-{
-    sysTime++;
-}
\ No newline at end of file

diff -r e6e3d320eb6c -r 16e88babd42a mbed.bld
--- a/mbed.bld	Thu Jun 15 08:42:23 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://mbed.org/users/mbed_official/code/mbed/builds/0f02307a0877
\ No newline at end of file