Diff: LSM9DS1.cpp

Revision:

3:9ed8bc1d0da3

Parent:

1:87d535bf8c53

diff -r e8c2301f7523 -r 9ed8bc1d0da3 LSM9DS1.cpp
--- a/LSM9DS1.cpp	Wed Feb 03 18:24:29 2016 +0000
+++ b/LSM9DS1.cpp	Tue Jun 13 03:51:56 2017 +0000
@@ -42,6 +42,10 @@
     :i2c(sda, scl)
 {
     init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B
+    
+    // Unit transformation
+    deg2rad = PI/180.0;
+    rad2deg = 180.0/PI;
 }
 /*
 LSM9DS1::LSM9DS1()
@@ -539,6 +543,26 @@
     return value;
 }
 
+// =========================================================================== //
+
+void LSM9DS1::readAccelFloatVector(vector<float> &v_out)
+{
+    readAccel();
+    
+    v_out[X_AXIS] = calcAccel(ax)*G;
+    v_out[Y_AXIS] = calcAccel(ay)*G;
+    v_out[Z_AXIS] = calcAccel(az)*G;
+}
+
+float LSM9DS1::readAccelFloat(lsm9ds1_axis axis)
+{
+    return calcAccel(readAccel(axis))*G;
+}
+// =========================================================================== //
+
+
+
+
 void LSM9DS1::readMag()
 {
     uint8_t temp[6]; // We'll read six bytes from the mag into temp 
@@ -592,6 +616,38 @@
     return value;
 }
 
+// =========================================================================== //
+
+void LSM9DS1::readGyroFloatVectorRad(vector<float> &v_out)
+{
+    readGyro();
+    
+    v_out[X_AXIS] = calcGyro(gx)*deg2rad;
+    v_out[Y_AXIS] = calcGyro(gy)*deg2rad;
+    v_out[Z_AXIS] = calcGyro(gz)*deg2rad;
+}
+
+void LSM9DS1::readGyroFloatVectorDeg(vector<float> &v_out)
+{
+    readGyro();
+    
+    v_out[X_AXIS] = calcGyro(gx);
+    v_out[Y_AXIS] = calcGyro(gy);
+    v_out[Z_AXIS] = calcGyro(gz);
+}
+
+float LSM9DS1::readGyroFloatRad(lsm9ds1_axis axis)
+{
+    return calcGyro(readGyro(axis))*deg2rad;    
+}
+
+float LSM9DS1::readGyroFloatDeg(lsm9ds1_axis axis)
+{
+    return calcGyro(readGyro(axis));    
+}
+
+// =========================================================================== //
+
 float LSM9DS1::calcGyro(int16_t gyro)
 {
     // Return the gyro raw reading times our pre-calculated DPS / (ADC tick):