ENSMM / Mbed 2 deprecated IMU

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Dependencies:   mbed USBDevice

Diff: LSM9DS1.h

Revision:
4:681443188833
Parent:
2:e8c2301f7523
--- a/LSM9DS1.h	Sun Mar 13 21:40:10 2016 +0000
+++ b/LSM9DS1.h	Mon Jan 27 10:47:24 2020 +0000
@@ -34,8 +34,11 @@
 #include "LSM9DS1_Registers.h"
 #include "LSM9DS1_Types.h"
 
-#define LSM9DS1_AG_ADDR(sa0)    ((sa0) == 0 ? 0x6A : 0x6B)
-#define LSM9DS1_M_ADDR(sa1)     ((sa1) == 0 ? 0x1C : 0x1E)
+#define LSM9DS1_AG_ADDR 0xD4  //  Device address when ADO = 1
+#define LSM9DS1_M_ADDR  0x38  //  Address of magnetometer
+
+//#define LSM9DS1_AG_ADDR(sa0)    ((sa0) == 0 ? 0x6A : 0x6B)
+//#define LSM9DS1_M_ADDR(sa1)     ((sa1) == 0 ? 0x1C : 0x1E)
 
 enum lsm9ds1_axis {
     X_AXIS,
@@ -83,7 +86,8 @@
     * in the IMUSettings struct will take effect after calling this function.
     */
     uint16_t begin();
-    
+    void selftestLSM9DS1();
+    void accelgyrocalLSM9DS1(float * dest1, float * dest2);
     void calibrate(bool autoCalc = true);
     void calibrateMag(bool loadIn = true);
     void magOffset(uint8_t axis, int16_t offset);
@@ -550,6 +554,7 @@
     //      all stored in the *dest array given.
     uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
     
+    
 private:
     I2C i2c;
 };