Diff: LSM9DS1/LSM9DS1.cpp

Revision:

1:e97c56fb9629

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1/LSM9DS1.cpp	Wed Feb 14 21:16:43 2018 +0000
@@ -0,0 +1,169 @@
+#include "LSM9DS1.h"
+#include "mbed.h"
+#include "aconno_i2c.h"
+
+LSM9DS1::LSM9DS1(I2C *i2c_, char address) : i2c(i2c_, address){
+}
+
+/*uint8_t LSM9DS1::whoIAm(){
+    char regAddr = (char)WHO_AM_I;
+    char regData;
+    i2c.readFromReg(regAddr, &regData, 1);
+    return (uint8_t)regData;
+}
+*/
+uint8_t LSM9DS1::setMode(Mode mode){
+    char ctrl1Copy;
+    char ctrl4Copy;
+    uint8_t success;
+    
+    //i2c.readFromReg((char)CTRL_REG1, &ctrl1Copy, 1); 
+    //i2c.readFromReg((char)CTRL_REG4, &ctrl4Copy, 1);
+    
+/* DONT NEED TO SWITCH MODE CAUSE JUST USING ACCELERATION
+
+    switch(mode){
+        case HIGH_RES:
+            ctrl1Copy &= 0xF7;
+            ctrl4Copy |= 0x08;
+            break;
+        case NORMAL:
+            ctrl1Copy &= 0xF7;
+            ctrl4Copy &= 0xF7;
+            break;
+        case LOW_POWER:
+            ctrl1Copy |= 0x08;
+            ctrl4Copy &= 0xF7;
+            break;
+        default:
+            return 0;
+    }
+    i2c.writeToReg((char)CTRL_REG5_XL, &ctrl1Copy, 1);
+    success = i2c.writeToReg((char)CTRL_REG6_XL, &ctrl4Copy, 1);
+    return success;
+}
+
+*/
+
+uint8_t LSM9DS1::enableAxes(Axis axis){
+    char ctrl1Copy;
+    i2c.readFromReg((char)CTRL_REG5_XL, &ctrl1Copy, 1);
+    ctrl1Copy |= axis;
+    i2c.writeToReg((char)CTRL_REG6_XL, &ctrl1Copy, 1);
+    return 0;
+}
+
+uint8_t LSM9DS1::disableAxes(Axis axis){
+    char ctrl1Copy;
+    i2c.readFromReg((char)CTRL_REG5_XL, &ctrl1Copy, 1);
+    ctrl1Copy &= ~(1 << axis);
+    i2c.writeToReg((char)CTRL_REG6_XL, &ctrl1Copy, 1);
+    return 0;
+}
+
+int16_t LSM9DS1::readXAxis(){
+    int16_t rawData;
+    char tempData;
+    // Make sure new data is ready
+    do{
+        i2c.readFromReg((char)STATUS_REG_0, &tempData, 1);
+    }while(!(tempData & 0x08));
+    do{
+        i2c.readFromReg((char)STATUS_REG_0, &tempData, 1);
+    }while(!(tempData & 0x80));
+    // Same data have been overwritten
+    
+    i2c.readFromReg((char)OUT_X_H_XL, &tempData, 1);
+    rawData = (int8_t)tempData << 8;
+    i2c.readFromReg((char)OUT_X_L_XL, &tempData, 1);
+    rawData |= (int8_t)tempData;
+    return rawData;
+}
+
+int16_t LSM9DS1::readYAxis(){
+    int16_t rawData;
+    char tempData;
+    i2c.readFromReg((char)OUT_Y_H_XL, &tempData, 1);
+    rawData = (int8_t)tempData << 8;
+    i2c.readFromReg((char)OUT_Y_L_XL, &tempData, 1);
+    rawData |= (int8_t)tempData;
+    return rawData;
+}
+
+int16_t LSM9DS1::readZAxis(){
+    int16_t rawData;
+    char tempData;
+    i2c.readFromReg((char)OUT_Z_H_XL, &tempData, 1);
+    rawData = (int8_t)tempData << 8;
+    i2c.readFromReg((char)OUT_Z_L_XL, &tempData, 1);
+    rawData |= (int8_t)tempData;
+    return rawData;
+}
+
+//uint8_t LSM9DS1::setODR(Odr odr){
+  //  char ctrl1Copy;
+    //i2c.readFromReg((char)CTRL_REG8, &ctrl1Copy, 1);
+    //ctrl1Copy |= (odr << 4);
+    //i2c.writeToReg((char)CTRL_REG8, &ctrl1Copy, 1);
+    //return 0;
+//}
+
+/*uint8_t LSM9DS1::setScale(Scale scale){
+    char ctrl4Copy;
+    i2c.readFromReg((char)CTRL_REG9, &ctrl4Copy, 1);
+    ctrl4Copy |= (scale << 4);
+    i2c.writeToReg((char)CTRL_REG9, &ctrl4Copy, 1);
+    return 0;
+}
+*?
+
+/* Interrupt activity 1 driven to INT1 pad */
+
+/*
+uint8_t LSM9DS1::int1Setup(uint8_t setup){
+    char data = setup;
+    i2c.writeToReg((char)CTRL_REG6_XL, &data, 1);
+    return 0;
+}
+
+
+*/
+
+
+/*uint8_t LSM9DS1::int1Latch(uint8_t enable){
+    char ctrl5Copy;
+    i2c.readFromReg((char)CTRL_REG5, &ctrl5Copy, 1); //reg for magnetometer
+    ctrl5Copy |= enable;
+    i2c.writeToReg((char)CTRL_REG5, &ctrl5Copy, 1);
+    return 0; 
+}
+*/
+
+/*uint8_t LSM9DS1::int1Duration(uint8_t duration){
+    char copy = duration;
+    i2c.writeToReg((char)INT1_DURATION, &copy, 1);//reg for magnetometer
+    return 0;
+}
+*/
+
+
+/*
+uint8_t LSM9DS1::int1Threshold(uint8_t threshold){
+    char copy = threshold;
+    i2c.writeToReg((char)INT1_THS, &copy, 1);
+    return 0;
+}
+
+uint8_t LSM9DS1::int1Config(uint8_t config){
+    char copy = config;
+    i2c.writeToReg((char)INT1_CFG, &copy, 1);
+    return 0;
+}
+
+void LSM9DS1::clearIntFlag(){
+    char data;
+    i2c.readFromReg((char)INT1_SRC, (char*)&data, 1);
+}
+
+*/
+ 
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