Revision 7:704790280bbe, committed 2021-09-30

Comitter:

gr66

Date:

Thu Sep 30 09:37:35 2021 +0000

Parent:

6:132a63741359

Commit message:

Fusion3

Changed in this revision

--- a/LSM6DS33_GR1.cpp	Fri Jul 02 18:15:15 2021 +0000
+++ b/LSM6DS33_GR1.cpp	Thu Sep 30 09:37:35 2021 +0000
@@ -397,9 +397,9 @@
         CTRL2_G,
         0
     };
-
+/*
     // Set low power based on ODR, else keep sensor on high performance
-    if(gRate == G_ODR_13_BW_0 | gRate == G_ODR_26_BW_2 | gRate == G_ODR_52_BW_16) {
+    if(gRate == G_ODR_13 | gRate == G_ODR_26 | gRate == G_ODR_52) {
         char cmdLow[2] = {
             CTRL7_G,
             1
@@ -414,7 +414,7 @@
 
         i2c.write(xgAddress, cmdLow, 2);
     }
-
+*/
     // Write the address we are going to read from and don't end the transaction
     i2c.write(xgAddress, cmd, 1, true);
     // Read in all the 8 bits of data
@@ -436,7 +436,7 @@
         CTRL1_XL,
         0
     };
-
+/*
     // Set low power based on ODR, else keep sensor on high performance
     if(aRate == A_ODR_13 | aRate == A_ODR_26 | aRate == A_ODR_52) {
         char cmdLow[2] = {
@@ -453,7 +453,7 @@
 
         i2c.write(xgAddress, cmdLow, 2);
     }
-
+*/
     // Write the address we are going to read from and don't end the transaction
     i2c.write(xgAddress, cmd, 1, true);
     // Read in all the 8 bits of data
@@ -519,12 +519,12 @@
         gy_off=gy_off+gy;
         gz_off=gz_off+gz;
         //
-        
+
         gxoll=gxoll+(int32_t)gx_raw;
         gyoll=gyoll+(int32_t)gy_raw;
         gzoll=gzoll+(int32_t)gz_raw;
-        
-        
+
+
         //wait(0.01);
     }
     gx_off=gx_off/iter;
@@ -534,7 +534,7 @@
     gxoll=gxoll/iter;
     gyoll=gyoll/iter;
     gzoll=gzoll/iter;
-    
+
     //
     gxol=(gxoll&0x00FF);
     gxoh=(gxoll>>8);
@@ -542,6 +542,24 @@
     gyoh=(gyoll>>8);
     gzol=(gzoll&0x00FF);
     gzoh=(gzoll>>8);
-    
+
 }
+char LSM6DS33::readReg(char add_reg)
+{
+    char data[1];
+    char subAddress = add_reg;
 
+    i2c.write(xgAddress, &subAddress, 1, true);
+    i2c.read(xgAddress, data, 1);
+
+    return data[0];
+}
+void LSM6DS33::writeReg(char add_reg,char data)
+{
+    // The start of the addresses we want to read from
+    char cmd[2] = {
+        add_reg,
+        data
+    };
+    i2c.write(xgAddress, cmd, 2);
+}

--- a/LSM6DS33_GR1.h	Fri Jul 02 18:15:15 2021 +0000
+++ b/LSM6DS33_GR1.h	Thu Sep 30 09:37:35 2021 +0000
@@ -95,9 +95,9 @@
     enum gyro_odr
     {                               // ODR (Hz) --- Cutoff
         G_POWER_DOWN     = 0x00,    //  0           0
-        G_ODR_13_BW_0    = 0x10,    //  12.5        0.0081      low power
-        G_ODR_26_BW_2    = 0x20,    //  26          2.07        low power
-        G_ODR_52_BW_16   = 0x30,    //  52          16.32       low power
+        G_ODR_13         = 0x10,    //  12.5        0.0081      low power
+        G_ODR_26         = 0x20,    //  26          2.07        low power
+        G_ODR_52         = 0x30,    //  52          16.32       low power
         G_ODR_104        = 0x40,    //  104         
         G_ODR_208        = 0x50,    //  208         
         G_ODR_416        = 0x60,    //  416         
@@ -257,6 +257,9 @@
     /**  calibration() -- Calculate the offset of the accel and the gyro
     */
     void calibration( int16_t iter);
+    //
+    char readReg(char add_reg);
+    void writeReg(char add_reg,char data);
 
 private:    
     /**  xgAddress store the I2C address