LSM9DS1.h

00001 /******************************************************************************
00002 SFE_LSM9DS1.h
00003 SFE_LSM9DS1 Library Header File
00004 Jim Lindblom @ SparkFun Electronics
00005 Original Creation Date: February 27, 2015
00006 https://github.com/sparkfun/LSM9DS1_Breakout
00007 
00008 This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
00009 addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
00010 Magnetometer registers).
00011 
00012 Development environment specifics:
00013     IDE: Arduino 1.6.0
00014     Hardware Platform: Arduino Uno
00015     LSM9DS1 Breakout Version: 1.0
00016 
00017 This code is beerware; if you see me (or any other SparkFun employee) at the
00018 local, and you've found our code helpful, please buy us a round!
00019 
00020 Distributed as-is; no warranty is given.
00021 ******************************************************************************/
00022 #ifndef __SparkFunLSM9DS1_H__
00023 #define __SparkFunLSM9DS1_H__
00024 
00025 //#if defined(ARDUINO) && ARDUINO >= 100
00026 //  #include "Arduino.h"
00027 //#else
00028 //  #include "WProgram.h"
00029 //  #include "pins_arduino.h"
00030 //#endif
00031 
00032 #include "mbed.h"
00033 #include <stdint.h>
00034 #include "LSM9DS1_Registers.h"
00035 #include "LSM9DS1_Types.h"
00036 #include <vector>
00037 using std::vector;
00038 
00039 #define PI 3.1415926
00040 #define G  9.81
00041 
00042 #define LSM9DS1_AG_ADDR(sa0)    ((sa0) == 0 ? 0x6A : 0x6B)
00043 #define LSM9DS1_M_ADDR(sa1)     ((sa1) == 0 ? 0x1C : 0x1E)
00044 
00045 enum lsm9ds1_axis {
00046     X_AXIS,
00047     Y_AXIS,
00048     Z_AXIS,
00049     ALL_AXIS
00050 };
00051 
00052 class LSM9DS1
00053 {
00054 public:
00055     IMUSettings settings;
00056     
00057     // We'll store the gyro, accel, and magnetometer readings in a series of
00058     // public class variables. Each sensor gets three variables -- one for each
00059     // axis. Call readGyro(), readAccel(), and readMag() first, before using
00060     // these variables!
00061     // These values are the RAW signed 16-bit readings from the sensors.
00062     int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
00063     int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
00064     int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
00065     int16_t temperature; // Chip temperature
00066     float gBias[3], aBias[3], mBias[3];
00067     int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
00068     
00069     // Unit transformation
00070     float deg2rad; // = 3.1415926/180.0;
00071     float rad2deg; // = 180.0/3.1415926;
00072     
00073     // LSM9DS1 -- LSM9DS1 class constructor
00074     // The constructor will set up a handful of private variables, and set the
00075     // communication mode as well.
00076     /**Input:
00077     *  - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
00078     *              to talk to the IC.
00079     *  - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
00080     *              If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
00081     *  - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
00082     *              If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
00083     
00084     */
00085     LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
00086     //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
00087     //LSM9DS1();
00088        
00089     
00090     /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
00091     *This will set up the scale and output rate of each sensor. The values set
00092     * in the IMUSettings struct will take effect after calling this function.
00093     */
00094     uint16_t begin();
00095     
00096     void calibrate(bool autoCalc = true);
00097     void calibrateMag(bool loadIn = true);
00098     void magOffset(uint8_t axis, int16_t offset);
00099     
00100     /** accelAvailable() -- Polls the accelerometer status register to check
00101     * if new data is available.
00102     * Output:  1 - New data available
00103     *          0 - No new data available
00104     */
00105     uint8_t accelAvailable();
00106     
00107     /** gyroAvailable() -- Polls the gyroscope status register to check
00108     * if new data is available.
00109     * Output:  1 - New data available
00110     *          0 - No new data available
00111     */
00112     uint8_t gyroAvailable();
00113     
00114     /** gyroAvailable() -- Polls the temperature status register to check
00115     * if new data is available.
00116     * Output:  1 - New data available
00117     *          0 - No new data available
00118     */
00119     uint8_t tempAvailable();
00120     
00121     /** magAvailable() -- Polls the accelerometer status register to check
00122     * if new data is available.
00123     * Input:
00124     *  - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
00125     *    on one specific axis. Or ALL_AXIS (default) to check for new data
00126     *    on all axes.
00127     * Output:  1 - New data available
00128     *          0 - No new data available
00129     */
00130     uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
00131     
00132     /** readGyro() -- Read the gyroscope output registers.
00133     * This function will read all six gyroscope output registers.
00134     * The readings are stored in the class' gx, gy, and gz variables. Read
00135     * those _after_ calling readGyro().
00136     */
00137     void readGyro();
00138     
00139     /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
00140     * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
00141     * Input:
00142     *  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
00143     * Output:
00144     *  A 16-bit signed integer with sensor data on requested axis.
00145     */
00146     int16_t readGyro(lsm9ds1_axis axis);
00147     
00148     /** readGyroFloatVectorRad() -- Read the gyroscope output registers.
00149     * This function will read all six gyroscope output registers and 
00150     * transform the data into rad/s^2 unit.
00151     * The readings are stored in the class' gx, gy, and gz variables. Read
00152     * those _after_ calling readGyro().
00153     */
00154     void readGyroFloatVectorRad(vector<float> &v_out);
00155     
00156     /** readGyroFloatVectorDeg() -- Read the gyroscope output registers.
00157     * This function will read all six gyroscope output registers and 
00158     * transform the data into rad/s^2 unit.
00159     * The readings are stored in the class' gx, gy, and gz variables. Read
00160     * those _after_ calling readGyro().
00161     */
00162     void readGyroFloatVectorDeg(vector<float> &v_out);
00163     
00164     /** float readGyroFloatRad(axis) -- Read a specific axis of the gyroscope in rad/s^2 unit.
00165     * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
00166     * Input:
00167     *  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
00168     * Output:
00169     *  A float with sensor data on requested axis.
00170     */
00171     float readGyroFloatRad(lsm9ds1_axis axis);
00172     
00173     /** float readGyroFloatDeg(axis) -- Read a specific axis of the gyroscope in rad/s^2 unit.
00174     * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
00175     * Input:
00176     *  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
00177     * Output:
00178     *  A float with sensor data on requested axis.
00179     */
00180     float readGyroFloatDeg(lsm9ds1_axis axis);
00181     
00182     /** readAccel() -- Read the accelerometer output registers.
00183     * This function will read all six accelerometer output registers.
00184     * The readings are stored in the class' ax, ay, and az variables. Read
00185     * those _after_ calling readAccel().
00186     */
00187     void readAccel();
00188     
00189     /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
00190     * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
00191     * Input:
00192     *  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
00193     * Output:
00194     *  A 16-bit signed integer with sensor data on requested axis.
00195     */
00196     int16_t readAccel(lsm9ds1_axis axis);
00197     
00198     /** readAccel() -- Read the accelerometer output registers.
00199     * This function will read all six accelerometer output registers and 
00200     * transform the data into m/s^2 unit.
00201     * The readings are stored in the class' ax, ay, and az variables. Read
00202     * those _after_ calling readAccel().
00203     */
00204     void readAccelFloatVector(vector<float> &v_out);
00205     
00206     /** float readAccelFloat(axis) -- Read a specific axis of the accelerometer.
00207     * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
00208     * Input:
00209     *  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
00210     * Output:
00211     *  A float with sensor data on requested axis.
00212     */
00213     float readAccelFloat(lsm9ds1_axis axis);
00214     
00215     
00216     /** readMag() -- Read the magnetometer output registers.
00217     * This function will read all six magnetometer output registers.
00218     * The readings are stored in the class' mx, my, and mz variables. Read
00219     * those _after_ calling readMag().
00220     */
00221     void readMag();
00222         
00223     /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
00224     * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
00225     * Input:
00226     *  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
00227     * Output:
00228     *  A 16-bit signed integer with sensor data on requested axis.
00229     */
00230     int16_t readMag(lsm9ds1_axis axis);
00231 
00232     /** readTemp() -- Read the temperature output register.
00233     * This function will read two temperature output registers.
00234     * The combined readings are stored in the class' temperature variables. Read
00235     * those _after_ calling readTemp().
00236     */
00237     void readTemp();
00238     
00239     /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
00240     * This function reads in a signed 16-bit value and returns the scaled
00241     * DPS. This function relies on gScale and gRes being correct.
00242     * Input:
00243     *  - gyro = A signed 16-bit raw reading from the gyroscope.
00244     */
00245     float calcGyro(int16_t gyro);
00246     
00247     /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
00248     * This function reads in a signed 16-bit value and returns the scaled
00249     * g's. This function relies on aScale and aRes being correct.
00250     * Input:
00251     *  - accel = A signed 16-bit raw reading from the accelerometer.
00252     */
00253     float calcAccel(int16_t accel);
00254     
00255     /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
00256     * This function reads in a signed 16-bit value and returns the scaled
00257     * Gs. This function relies on mScale and mRes being correct.
00258     * Input:
00259     *  - mag = A signed 16-bit raw reading from the magnetometer.
00260     */
00261     float calcMag(int16_t mag);
00262     
00263     /** setGyroScale() -- Set the full-scale range of the gyroscope.
00264     * This function can be called to set the scale of the gyroscope to 
00265     * 245, 500, or 200 degrees per second.
00266     * Input:
00267     *  - gScl = The desired gyroscope scale. Must be one of three possible
00268     *      values from the gyro_scale.
00269     */
00270     void setGyroScale(uint16_t gScl);
00271     
00272     /** setAccelScale() -- Set the full-scale range of the accelerometer.
00273     * This function can be called to set the scale of the accelerometer to
00274     * 2, 4, 6, 8, or 16 g's.
00275     * Input:
00276     *  - aScl = The desired accelerometer scale. Must be one of five possible
00277     *      values from the accel_scale.
00278     */
00279     void setAccelScale(uint8_t aScl);
00280     
00281     /** setMagScale() -- Set the full-scale range of the magnetometer.
00282     * This function can be called to set the scale of the magnetometer to
00283     * 2, 4, 8, or 12 Gs.
00284     * Input:
00285     *  - mScl = The desired magnetometer scale. Must be one of four possible
00286     *      values from the mag_scale.
00287     */
00288     void setMagScale(uint8_t mScl);
00289     
00290     /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
00291     * Input:
00292     *  - gRate = The desired output rate and cutoff frequency of the gyro.
00293     */
00294     void setGyroODR(uint8_t gRate);
00295     
00296     // setAccelODR() -- Set the output data rate of the accelerometer
00297     // Input:
00298     //  - aRate = The desired output rate of the accel.
00299     void setAccelODR(uint8_t aRate);    
00300     
00301     // setMagODR() -- Set the output data rate of the magnetometer
00302     // Input:
00303     //  - mRate = The desired output rate of the mag.
00304     void setMagODR(uint8_t mRate);
00305     
00306     // configInactivity() -- Configure inactivity interrupt parameters
00307     // Input:
00308     //  - duration = Inactivity duration - actual value depends on gyro ODR
00309     //  - threshold = Activity Threshold
00310     //  - sleepOn = Gyroscope operating mode during inactivity.
00311     //    true: gyroscope in sleep mode
00312     //    false: gyroscope in power-down
00313     void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
00314     
00315     // configAccelInt() -- Configure Accelerometer Interrupt Generator
00316     // Input:
00317     //  - generator = Interrupt axis/high-low events
00318     //    Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
00319     //  - andInterrupts = AND/OR combination of interrupt events
00320     //    true: AND combination
00321     //    false: OR combination
00322     void configAccelInt(uint8_t generator, bool andInterrupts = false);
00323     
00324     // configAccelThs() -- Configure the threshold of an accelereomter axis
00325     // Input:
00326     //  - threshold = Interrupt threshold. Possible values: 0-255.
00327     //    Multiply by 128 to get the actual raw accel value.
00328     //  - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
00329     //  - duration = Duration value must be above or below threshold to trigger interrupt
00330     //  - wait = Wait function on duration counter
00331     //    true: Wait for duration samples before exiting interrupt
00332     //    false: Wait function off
00333     void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
00334     
00335     // configGyroInt() -- Configure Gyroscope Interrupt Generator
00336     // Input:
00337     //  - generator = Interrupt axis/high-low events
00338     //    Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
00339     //  - aoi = AND/OR combination of interrupt events
00340     //    true: AND combination
00341     //    false: OR combination
00342     //  - latch: latch gyroscope interrupt request.
00343     void configGyroInt(uint8_t generator, bool aoi, bool latch);
00344     
00345     // configGyroThs() -- Configure the threshold of a gyroscope axis
00346     // Input:
00347     //  - threshold = Interrupt threshold. Possible values: 0-0x7FF.
00348     //    Value is equivalent to raw gyroscope value.
00349     //  - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
00350     //  - duration = Duration value must be above or below threshold to trigger interrupt
00351     //  - wait = Wait function on duration counter
00352     //    true: Wait for duration samples before exiting interrupt
00353     //    false: Wait function off
00354     void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
00355     
00356     // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
00357     // Input:
00358     //  - interrupt = Select INT1 or INT2
00359     //    Possible values: XG_INT1 or XG_INT2
00360     //  - generator = Or'd combination of interrupt generators.
00361     //    Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
00362     //    INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
00363     //  - activeLow = Interrupt active configuration
00364     //    Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
00365     //  - pushPull =  Push-pull or open drain interrupt configuration
00366     //    Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
00367     void configInt(interrupt_select interupt, uint8_t generator,
00368                    h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
00369                    
00370     /** configMagInt() -- Configure Magnetometer Interrupt Generator
00371     * Input:
00372     *  - generator = Interrupt axis/high-low events
00373     *    Any OR'd combination of ZIEN, YIEN, XIEN
00374     *  - activeLow = Interrupt active configuration
00375     *    Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
00376     *  - latch: latch gyroscope interrupt request.
00377     */
00378     void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
00379     
00380     /** configMagThs() -- Configure the threshold of a gyroscope axis
00381     * Input:
00382     *  - threshold = Interrupt threshold. Possible values: 0-0x7FF.
00383     *    Value is equivalent to raw magnetometer value.
00384     */
00385     void configMagThs(uint16_t threshold);
00386     
00387     //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
00388     uint8_t getGyroIntSrc();
00389     
00390     //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
00391     uint8_t getAccelIntSrc();
00392     
00393     //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
00394     uint8_t getMagIntSrc();
00395     
00396     //! getGyroIntSrc() -- Get status of inactivity interrupt
00397     uint8_t getInactivity();
00398     
00399     /** sleepGyro() -- Sleep or wake the gyroscope
00400     * Input:
00401     *  - enable: True = sleep gyro. False = wake gyro.
00402     */
00403     void sleepGyro(bool enable = true);
00404     
00405     /** enableFIFO() - Enable or disable the FIFO
00406     * Input:
00407     *  - enable: true = enable, false = disable.
00408     */
00409     void enableFIFO(bool enable = true);
00410     
00411     /** setFIFO() - Configure FIFO mode and Threshold
00412     * Input:
00413     *  - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
00414     *    Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
00415     *  - fifoThs: FIFO threshold level setting
00416     *    Any value from 0-0x1F is acceptable.
00417     */
00418     void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
00419     
00420     //! getFIFOSamples() - Get number of FIFO samples
00421     uint8_t getFIFOSamples();
00422         
00423 
00424 protected:  
00425     // x_mAddress and gAddress store the I2C address or SPI chip select pin
00426     // for each sensor.
00427     uint8_t _mAddress, _xgAddress;
00428     
00429     // gRes, aRes, and mRes store the current resolution for each sensor. 
00430     // Units of these values would be DPS (or g's or Gs's) per ADC tick.
00431     // This value is calculated as (sensor scale) / (2^15).
00432     float gRes, aRes, mRes;
00433     
00434     // _autoCalc keeps track of whether we're automatically subtracting off
00435     // accelerometer and gyroscope bias calculated in calibrate().
00436     bool _autoCalc;
00437     
00438     // init() -- Sets up gyro, accel, and mag settings to default.
00439     // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
00440     // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip 
00441     //   select pin connected to the CS_XG pin.
00442     // - mAddr - Sets either the I2C address of the magnetometer or SPI chip 
00443     //   select pin connected to the CS_M pin.
00444     void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
00445     
00446     // initGyro() -- Sets up the gyroscope to begin reading.
00447     // This function steps through all five gyroscope control registers.
00448     // Upon exit, the following parameters will be set:
00449     //  - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. 
00450     //      95 Hz ODR, 12.5 Hz cutoff frequency.
00451     //  - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
00452     //      set to 7.2 Hz (depends on ODR).
00453     //  - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
00454     //      active high). Data-ready output enabled on DRDY_G.
00455     //  - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
00456     //      address. Scale set to 245 DPS. SPI mode set to 4-wire.
00457     //  - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
00458     void initGyro();
00459     
00460     // initAccel() -- Sets up the accelerometer to begin reading.
00461     // This function steps through all accelerometer related control registers.
00462     // Upon exit these registers will be set as:
00463     //  - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
00464     //  - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
00465     //      all axes enabled.
00466     //  - CTRL_REG2_XM = 0x00:  2g scale. 773 Hz anti-alias filter BW.
00467     //  - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
00468     void initAccel();
00469     
00470     // initMag() -- Sets up the magnetometer to begin reading.
00471     // This function steps through all magnetometer-related control registers.
00472     // Upon exit these registers will be set as:
00473     //  - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
00474     //  - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
00475     //      requests don't latch. Temperature sensor disabled.
00476     //  - CTRL_REG6_XM = 0x00:  2 Gs scale.
00477     //  - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
00478     //  - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
00479     void initMag();
00480     
00481     // gReadByte() -- Reads a byte from a specified gyroscope register.
00482     // Input:
00483     //  - subAddress = Register to be read from.
00484     // Output:
00485     //  - An 8-bit value read from the requested address.
00486     uint8_t mReadByte(uint8_t subAddress);
00487     
00488     // gReadBytes() -- Reads a number of bytes -- beginning at an address
00489     // and incrementing from there -- from the gyroscope.
00490     // Input:
00491     //  - subAddress = Register to be read from.
00492     //  - * dest = A pointer to an array of uint8_t's. Values read will be
00493     //      stored in here on return.
00494     //  - count = The number of bytes to be read.
00495     // Output: No value is returned, but the `dest` array will store
00496     //  the data read upon exit.
00497     void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
00498     
00499     // gWriteByte() -- Write a byte to a register in the gyroscope.
00500     // Input:
00501     //  - subAddress = Register to be written to.
00502     //  - data = data to be written to the register.
00503     void mWriteByte(uint8_t subAddress, uint8_t data);
00504     
00505     // xmReadByte() -- Read a byte from a register in the accel/mag sensor
00506     // Input:
00507     //  - subAddress = Register to be read from.
00508     // Output:
00509     //  - An 8-bit value read from the requested register.
00510     uint8_t xgReadByte(uint8_t subAddress);
00511     
00512     // xmReadBytes() -- Reads a number of bytes -- beginning at an address
00513     // and incrementing from there -- from the accelerometer/magnetometer.
00514     // Input:
00515     //  - subAddress = Register to be read from.
00516     //  - * dest = A pointer to an array of uint8_t's. Values read will be
00517     //      stored in here on return.
00518     //  - count = The number of bytes to be read.
00519     // Output: No value is returned, but the `dest` array will store
00520     //  the data read upon exit.
00521     void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
00522     
00523     // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
00524     // Input:
00525     //  - subAddress = Register to be written to.
00526     //  - data = data to be written to the register.
00527     void xgWriteByte(uint8_t subAddress, uint8_t data);
00528     
00529     // calcgRes() -- Calculate the resolution of the gyroscope.
00530     // This function will set the value of the gRes variable. gScale must
00531     // be set prior to calling this function.
00532     void calcgRes();
00533     
00534     // calcmRes() -- Calculate the resolution of the magnetometer.
00535     // This function will set the value of the mRes variable. mScale must
00536     // be set prior to calling this function.
00537     void calcmRes();
00538     
00539     // calcaRes() -- Calculate the resolution of the accelerometer.
00540     // This function will set the value of the aRes variable. aScale must
00541     // be set prior to calling this function.
00542     void calcaRes();
00543     
00544     //////////////////////
00545     // Helper Functions //
00546     //////////////////////
00547     void constrainScales();
00548     
00549     ///////////////////
00550     // SPI Functions //
00551     ///////////////////
00552     // initSPI() -- Initialize the SPI hardware.
00553     // This function will setup all SPI pins and related hardware.
00554     void initSPI();
00555     
00556     // SPIwriteByte() -- Write a byte out of SPI to a register in the device
00557     // Input:
00558     //  - csPin = The chip select pin of the slave device.
00559     //  - subAddress = The register to be written to.
00560     //  - data = Byte to be written to the register.
00561     void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
00562     
00563     // SPIreadByte() -- Read a single byte from a register over SPI.
00564     // Input:
00565     //  - csPin = The chip select pin of the slave device.
00566     //  - subAddress = The register to be read from.
00567     // Output:
00568     //  - The byte read from the requested address.
00569     uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
00570     
00571     // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
00572     // Input:
00573     //  - csPin = The chip select pin of a slave device.
00574     //  - subAddress = The register to begin reading.
00575     //  - * dest = Pointer to an array where we'll store the readings.
00576     //  - count = Number of registers to be read.
00577     // Output: No value is returned by the function, but the registers read are
00578     //      all stored in the *dest array given.
00579     void SPIreadBytes(uint8_t csPin, uint8_t subAddress, 
00580                             uint8_t * dest, uint8_t count);
00581     
00582     ///////////////////
00583     // I2C Functions //
00584     ///////////////////
00585     // initI2C() -- Initialize the I2C hardware.
00586     // This function will setup all I2C pins and related hardware.
00587     void initI2C();
00588     
00589     // I2CwriteByte() -- Write a byte out of I2C to a register in the device
00590     // Input:
00591     //  - address = The 7-bit I2C address of the slave device.
00592     //  - subAddress = The register to be written to.
00593     //  - data = Byte to be written to the register.
00594     void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
00595     
00596     // I2CreadByte() -- Read a single byte from a register over I2C.
00597     // Input:
00598     //  - address = The 7-bit I2C address of the slave device.
00599     //  - subAddress = The register to be read from.
00600     // Output:
00601     //  - The byte read from the requested address.
00602     uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
00603     
00604     // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
00605     // Input:
00606     //  - address = The 7-bit I2C address of the slave device.
00607     //  - subAddress = The register to begin reading.
00608     //  - * dest = Pointer to an array where we'll store the readings.
00609     //  - count = Number of registers to be read.
00610     // Output: No value is returned by the function, but the registers read are
00611     //      all stored in the *dest array given.
00612     uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
00613     
00614 private:
00615     I2C i2c;
00616 };
00617 
00618 #endif // SFE_LSM9DS1_H //