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IMU Class Reference 
This is a device driver class for the ST LSM9DS1 inertial measurement unit.  
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#include <IMU.h >
Detailed Description 
This is a device driver class for the ST LSM9DS1 inertial measurement unit. 
Definition at line 19  of file IMU.h .
Constructor & Destructor Documentation 
      
        
          IMU  ( 
          SPI &  
           spi ,  
         
        
          DigitalOut &  
           csAG ,  
         
        
          DigitalOut &  
           csM   
         
        
          ) 
           
      
 
Creates an IMU  object. 
Parameters: 
  
    spi a reference to an spi controller to use.  csAG the chip select output for the accelerometer and the gyro sensor.  csM the chip select output for the magnetometer.  
   
Definition at line 27  of file IMU.cpp .
 
 
Deletes the IMU  object. 
Definition at line 77  of file IMU.cpp .
 
 
Member Function Documentation 
      
        
          float readAccelerationX  
          ( 
           ) 
           
      
 
Reads the acceleration in x-direction. 
Returns: the acceleration in x-direction, given in [m/s2].  Definition at line 164  of file IMU.cpp .
 
 
      
        
          float readAccelerationY  
          ( 
           ) 
           
      
 
Reads the acceleration in y-direction. 
Returns: the acceleration in y-direction, given in [m/s2].  Definition at line 179  of file IMU.cpp .
 
 
      
        
          float readAccelerationZ  
          ( 
           ) 
           
      
 
Reads the acceleration in z-direction. 
Returns: the acceleration in z-direction, given in [m/s2].  Definition at line 194  of file IMU.cpp .
 
 
Reads the gyroscope about the x-axis. 
Returns: the rotational speed about the x-axis given in [rad/s].  Definition at line 119  of file IMU.cpp .
 
 
Reads the gyroscope about the y-axis. 
Returns: the rotational speed about the y-axis given in [rad/s].  Definition at line 134  of file IMU.cpp .
 
 
Reads the gyroscope about the z-axis. 
Returns: the rotational speed about the z-axis given in [rad/s].  Definition at line 149  of file IMU.cpp .
 
 
      
        
          float readMagnetometerX  
          ( 
           ) 
           
      
 
Reads the magnetic field in x-direction. 
Returns: the magnetic field in x-direction, given in [Gauss].  Definition at line 209  of file IMU.cpp .
 
 
      
        
          float readMagnetometerY  
          ( 
           ) 
           
      
 
Reads the magnetic field in x-direction. 
Returns: the magnetic field in x-direction, given in [Gauss].  Definition at line 224  of file IMU.cpp .
 
 
      
        
          float readMagnetometerZ  
          ( 
           ) 
           
      
 
Reads the magnetic field in x-direction. 
Returns: the magnetic field in x-direction, given in [Gauss].  Definition at line 239  of file IMU.cpp .