Diff: LSM6DS3.cpp

Revision:

1:cc2caaf5536c

Parent:

0:301b2cb34ead

Child:

2:c19d384b2896

--- a/LSM6DS3.cpp	Fri Feb 19 09:50:40 2016 +0000
+++ b/LSM6DS3.cpp	Tue Feb 23 07:26:58 2016 +0000
@@ -32,8 +32,8 @@
 #include "stdint.h"
 #include "math.h"
 
-I2C i2c(D14,D15);
-SPI spi(D11,D12,D13);
+//I2C i2c(D14,D15);
+//SPI spi(D11,D12,D13);
 //****************************************************************************//
 //
 //  LSM6DS3Core functions.
@@ -54,7 +54,7 @@
 
 //=================================
 //****************************************************************************//
-LSM6DS3Core::LSM6DS3Core( uint8_t busType, uint8_t inputArg) : commInterface(SPI_MODE), I2CAddress(0x6B), chipSelectPin(D10)
+LSM6DS3Core::LSM6DS3Core( uint8_t busType, uint8_t inputArg) : commInterface(SPI_MODE), I2CAddress(0x6B), chipSelectPin(PB_6), spi(D11,D12,D13), i2c(D14,D15), cs((PinName)chipSelectPin)
 {
     commInterface = busType;
     if( commInterface == I2C_MODE ) {
@@ -80,7 +80,7 @@
         case SPI_MODE:
             // start the SPI library:
 
-            DigitalOut cs(chipSelectPin);
+            //DigitalOut cs((PinName)chipSelectPin);
             // Maximum SPI frequency is 10MHz, could divide by 2 here:
             spi.frequency(5000000);
             // Data is read and written MSb first.
@@ -153,7 +153,7 @@
     switch (commInterface) {
 
         case I2C_MODE:
-
+/*
             i2c.write(offset);
             if( i2c.stop() != 0 ) {
                 returnError = IMU_HW_ERROR;
@@ -167,15 +167,16 @@
                     i++;
                 }
             }
+            */
             break;
 
         case SPI_MODE:
             // take the chip select low to select the device:
-            digitalWrite(chipSelectPin, LOW);
+            cs = 0;
             // send the device the register you want to read:
-            SPI.transfer(offset | 0x80);  //Ored with "read request" bit
+            spi.write(offset | 0x80);  //Ored with "read request" bit
             while ( i < length ) { // slave may send less than requested
-                c = SPI.transfer(0x00); // receive a byte as character
+                c = spi.write(0x00); // receive a byte as character
                 if( c == 0xFF ) {
                     //May have problem
                     tempFFCounter++;
@@ -189,7 +190,7 @@
                 returnError = IMU_ALL_ONES_WARNING;
             }
             // take the chip select high to de-select:
-            digitalWrite(chipSelectPin, HIGH);
+            cs = 1; //digitalWrite(chipSelectPin, HIGH);
             break;
 
         default:
@@ -218,7 +219,7 @@
     switch (commInterface) {
 
         case I2C_MODE:
-            Wire.beginTransmission(I2CAddress);
+  /*          Wire.beginTransmission(I2CAddress);
             Wire.write(offset);
             if( Wire.endTransmission() != 0 ) {
                 returnError = IMU_HW_ERROR;
@@ -227,17 +228,18 @@
             while ( Wire.available() ) { // slave may send less than requested
                 result = Wire.read(); // receive a byte as a proper uint8_t
             }
+            */
             break;
 
         case SPI_MODE:
             // take the chip select low to select the device:
-            digitalWrite(chipSelectPin, LOW);
+            cs = 0; //digitalWrite(chipSelectPin, LOW);
             // send the device the register you want to read:
-            SPI.transfer(offset | 0x80);  //Ored with "read request" bit
+            spi.write(offset | 0x80);  //Ored with "read request" bit
             // send a value of 0 to read the first byte returned:
-            result = SPI.transfer(0x00);
+            result = spi.write(0x00);
             // take the chip select high to de-select:
-            digitalWrite(chipSelectPin, HIGH);
+            cs = 1; //digitalWrite(chipSelectPin, HIGH);
 
             if( result == 0xFF ) {
                 //we've recieved all ones, report
@@ -286,25 +288,25 @@
     status_t returnError = IMU_SUCCESS;
     switch (commInterface) {
         case I2C_MODE:
-            //Write the byte
+/*            //Write the byte
             Wire.beginTransmission(I2CAddress);
             Wire.write(offset);
             Wire.write(dataToWrite);
             if( Wire.endTransmission() != 0 ) {
                 returnError = IMU_HW_ERROR;
             }
-            break;
+  */          break;
 
         case SPI_MODE:
             // take the chip select low to select the device:
-            digitalWrite(chipSelectPin, LOW);
+            cs = 0; //digitalWrite(chipSelectPin, LOW);
             // send the device the register you want to read:
-            SPI.transfer(offset);
+            spi.write(offset);
             // send a value of 0 to read the first byte returned:
-            SPI.transfer(dataToWrite);
+            spi.write(dataToWrite);
             // decrement the number of bytes left to read:
             // take the chip select high to de-select:
-            digitalWrite(chipSelectPin, HIGH);
+            cs = 1;//digitalWrite(chipSelectPin, HIGH);
             break;
 
             //No way to check error on this write (Except to read back but that's not reliable)