File content as of revision 5:993011c773be:

//Original author
/******************************************************************************
SFE_LSM9DS0.cpp
SFE_LSM9DS0 Library Source File
Jim Lindblom @ SparkFun Electronics
Original Creation Date: February 14, 2014 (Happy Valentines Day!)
https://github.com/sparkfun/LSM9DS0_Breakout

This file implements all functions of the LSM9DS0 class. Functions here range
from higher level stuff, like reading/writing LSM9DS0 registers to low-level,
hardware reads and writes. Both SPI and I2C handler functions can be found
towards the bottom of this file.

Development environment specifics:
    IDE: Arduino 1.0.5
    Hardware Platform: Arduino Pro 3.3V/8MHz
    LSM9DS0 Breakout Version: 1.0

This code is beerware; if you see me (or any other SparkFun employee) at the
local, and you've found our code helpful, please buy us a round!

Distributed as-is; no warranty is given.
******************************************************************************/

#include "LSM9DS0.h"
#include "mbed.h"

//I2C i2c(D14,D15);
//SPI spi(D4,D5,D3);
//****************************************************************************//
//
//  LSM9DS0 functions.
//
//  Construction arguments:
//  (interface_mode interface, uint8_t gAddr, uint8_t xmAddr ),
//
//    where gAddr and xmAddr are addresses for I2C_MODE and chip select pin
//    number for SPI_MODE
//
//  For SPI, construct LSM6DS3 myIMU(SPI_MODE, D9, D6);
//
//=================================

LSM9DS0::LSM9DS0(interface_mode interface, uint8_t gAddr, uint8_t xmAddr) : interfaceMode(SPI_MODE), spi_(D4,D5,D3), i2c_(I2C_SDA,I2C_SCL), csG_(D9), csXM_(D6)
{
    // interfaceMode will keep track of whether we're using SPI or I2C:
    interfaceMode = interface;
    
    // xmAddress and gAddress will store the 7-bit I2C address, if using I2C.
    // If we're using SPI, these variables store the chip-select pins.
    gAddress = gAddr;
    xmAddress = xmAddr;
}

uint16_t LSM9DS0::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl, 
                        gyro_odr gODR, accel_odr aODR, mag_odr mODR)
{
    // Store the given scales in class variables. These scale variables
    // are used throughout to calculate the actual g's, DPS,and Gs's.
    gScale = gScl;
    aScale = aScl;
    mScale = mScl;
    
    // Once we have the scale values, we can calculate the resolution
    // of each sensor. That's what these functions are for. One for each sensor
    calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
    calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
    calcaRes(); // Calculate g / ADC tick, stored in aRes variable
    
    // Now, initialize our hardware interface.
    if (interfaceMode == I2C_MODE)  // If we're using I2C
        initI2C();                  // Initialize I2C
    else if (interfaceMode == SPI_MODE)     // else, if we're using SPI
        initSPI();                          // Initialize SPI
    
    // To verify communication, we can read from the WHO_AM_I register of
    // each device. Store those in a variable so we can return them.
    uint8_t gTest = gReadByte(WHO_AM_I_G);      // Read the gyro WHO_AM_I
    uint8_t xmTest = xmReadByte(WHO_AM_I_XM);   // Read the accel/mag WHO_AM_I
    
    // Gyro initialization stuff:
    initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
    setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
    setGyroScale(gScale); // Set the gyro range
    
    // Accelerometer initialization stuff:
    initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
    setAccelODR(aODR); // Set the accel data rate.
    setAccelScale(aScale); // Set the accel range.
    
    // Magnetometer initialization stuff:
    initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
    setMagODR(mODR); // Set the magnetometer output data rate.
    setMagScale(mScale); // Set the magnetometer's range.
    
    setGyroOffset(0,0,0);
    setAccelOffset(0,0,0);
    setMagOffset(0,0,0);
    
    // Once everything is initialized, return the WHO_AM_I registers we read:
    return (xmTest << 8) | gTest;
}

void LSM9DS0::initGyro()
{
    /* CTRL_REG1_G sets output data rate, bandwidth, power-down and enables
    Bits[7:0]: DR1 DR0 BW1 BW0 PD Zen Xen Yen
    DR[1:0] - Output data rate selection
        00=95Hz, 01=190Hz, 10=380Hz, 11=760Hz
    BW[1:0] - Bandwidth selection (sets cutoff frequency)
         Value depends on ODR. See datasheet table 21.
    PD - Power down enable (0=power down mode, 1=normal or sleep mode)
    Zen, Xen, Yen - Axis enable (o=disabled, 1=enabled) */
    gWriteByte(CTRL_REG1_G, 0xFF); // Normal mode, enable all axes
    
    /* CTRL_REG2_G sets up the HPF
    Bits[7:0]: 0 0 HPM1 HPM0 HPCF3 HPCF2 HPCF1 HPCF0
    HPM[1:0] - High pass filter mode selection
        00=normal (reset reading HP_RESET_FILTER, 01=ref signal for filtering,
        10=normal, 11=autoreset on interrupt
    HPCF[3:0] - High pass filter cutoff frequency
        Value depends on data rate. See datasheet table 26.
    */
    gWriteByte(CTRL_REG2_G, 0x09); // Normal mode, high cutoff frequency
    
    /* CTRL_REG3_G sets up interrupt and DRDY_G pins
    Bits[7:0]: I1_IINT1 I1_BOOT H_LACTIVE PP_OD I2_DRDY I2_WTM I2_ORUN I2_EMPTY
    I1_INT1 - Interrupt enable on INT_G pin (0=disable, 1=enable)
    I1_BOOT - Boot status available on INT_G (0=disable, 1=enable)
    H_LACTIVE - Interrupt active configuration on INT_G (0:high, 1:low)
    PP_OD - Push-pull/open-drain (0=push-pull, 1=open-drain)
    I2_DRDY - Data ready on DRDY_G (0=disable, 1=enable)
    I2_WTM - FIFO watermark interrupt on DRDY_G (0=disable 1=enable)
    I2_ORUN - FIFO overrun interrupt on DRDY_G (0=disable 1=enable)
    I2_EMPTY - FIFO empty interrupt on DRDY_G (0=disable 1=enable) */
    // Int1 enabled (pp, active low), data read on DRDY_G:
    gWriteByte(CTRL_REG3_G, 0x00); 
    
    /* CTRL_REG4_G sets the scale, update mode
    Bits[7:0] - BDU BLE FS1 FS0 - ST1 ST0 SIM
    BDU - Block data update (0=continuous, 1=output not updated until read
    BLE - Big/little endian (0=data LSB @ lower address, 1=LSB @ higher add)
    FS[1:0] - Full-scale selection
        00=245dps, 01=500dps, 10=2000dps, 11=2000dps
    ST[1:0] - Self-test enable
        00=disabled, 01=st 0 (x+, y-, z-), 10=undefined, 11=st 1 (x-, y+, z+)
    SIM - SPI serial interface mode select
        0=4 wire, 1=3 wire */
    gWriteByte(CTRL_REG4_G, 0x30); // Set scale to 245 dps
    
    /* CTRL_REG5_G sets up the FIFO, HPF, and INT1
    Bits[7:0] - BOOT FIFO_EN - HPen INT1_Sel1 INT1_Sel0 Out_Sel1 Out_Sel0
    BOOT - Reboot memory content (0=normal, 1=reboot)
    FIFO_EN - FIFO enable (0=disable, 1=enable)
    HPen - HPF enable (0=disable, 1=enable)
    INT1_Sel[1:0] - Int 1 selection configuration
    Out_Sel[1:0] - Out selection configuration */
    gWriteByte(CTRL_REG5_G, 0x00);
    
    // Temporary !!! For testing !!! Remove !!! Or make useful !!!
    configGyroInt(0x2A, 0, 0, 0, 0); // Trigger interrupt when above 0 DPS...
}

void LSM9DS0::initAccel()
{
    /* CTRL_REG0_XM (0x1F) (Default value: 0x00)
    Bits (7-0): BOOT FIFO_EN WTM_EN 0 0 HP_CLICK HPIS1 HPIS2
    BOOT - Reboot memory content (0: normal, 1: reboot)
    FIFO_EN - Fifo enable (0: disable, 1: enable)
    WTM_EN - FIFO watermark enable (0: disable, 1: enable)
    HP_CLICK - HPF enabled for click (0: filter bypassed, 1: enabled)
    HPIS1 - HPF enabled for interrupt generator 1 (0: bypassed, 1: enabled)
    HPIS2 - HPF enabled for interrupt generator 2 (0: bypassed, 1 enabled)   */
    xmWriteByte(CTRL_REG0_XM, 0x00);
    
    /* CTRL_REG1_XM (0x20) (Default value: 0x07)
    Bits (7-0): AODR3 AODR2 AODR1 AODR0 BDU AZEN AYEN AXEN
    AODR[3:0] - select the acceleration data rate:
        0000=power down, 0001=3.125Hz, 0010=6.25Hz, 0011=12.5Hz, 
        0100=25Hz, 0101=50Hz, 0110=100Hz, 0111=200Hz, 1000=400Hz,
        1001=800Hz, 1010=1600Hz, (remaining combinations undefined).
    BDU - block data update for accel AND mag
        0: Continuous update
        1: Output registers aren't updated until MSB and LSB have been read.
    AZEN, AYEN, and AXEN - Acceleration x/y/z-axis enabled.
        0: Axis disabled, 1: Axis enabled                                    */ 
    xmWriteByte(CTRL_REG1_XM, 0x97); // 100Hz data rate, x/y/z all enabled
    
    //Serial.println(xmReadByte(CTRL_REG1_XM));
    /* CTRL_REG2_XM (0x21) (Default value: 0x00)
    Bits (7-0): ABW1 ABW0 AFS2 AFS1 AFS0 AST1 AST0 SIM
    ABW[1:0] - Accelerometer anti-alias filter bandwidth
        00=773Hz, 01=194Hz, 10=362Hz, 11=50Hz
    AFS[2:0] - Accel full-scale selection
        000=+/-2g, 001=+/-4g, 010=+/-6g, 011=+/-8g, 100=+/-16g
    AST[1:0] - Accel self-test enable
        00=normal (no self-test), 01=positive st, 10=negative st, 11=not allowed
    SIM - SPI mode selection
        0=4-wire, 1=3-wire                                                   */
    xmWriteByte(CTRL_REG2_XM, 0xD8); // Set scale to 2g
    
    /* CTRL_REG3_XM is used to set interrupt generators on INT1_XM
    Bits (7-0): P1_BOOT P1_TAP P1_INT1 P1_INT2 P1_INTM P1_DRDYA P1_DRDYM P1_EMPTY
    */
    // Accelerometer data ready on INT1_XM (0x04)
    xmWriteByte(CTRL_REG3_XM, 0x00); 
}

void LSM9DS0::initMag()
{   
    /* CTRL_REG5_XM enables temp sensor, sets mag resolution and data rate
    Bits (7-0): TEMP_EN M_RES1 M_RES0 M_ODR2 M_ODR1 M_ODR0 LIR2 LIR1
    TEMP_EN - Enable temperature sensor (0=disabled, 1=enabled)
    M_RES[1:0] - Magnetometer resolution select (0=low, 3=high)
    M_ODR[2:0] - Magnetometer data rate select
        000=3.125Hz, 001=6.25Hz, 010=12.5Hz, 011=25Hz, 100=50Hz, 101=100Hz
    LIR2 - Latch interrupt request on INT2_SRC (cleared by reading INT2_SRC)
        0=interrupt request not latched, 1=interrupt request latched
    LIR1 - Latch interrupt request on INT1_SRC (cleared by readging INT1_SRC)
        0=irq not latched, 1=irq latched                                     */
    xmWriteByte(CTRL_REG5_XM, 0x74); // Mag data rate - 100 Hz, disable temperature sensor
    
    /* CTRL_REG6_XM sets the magnetometer full-scale
    Bits (7-0): 0 MFS1 MFS0 0 0 0 0 0
    MFS[1:0] - Magnetic full-scale selection
    00:+/-2Gauss, 01:+/-4Gs, 10:+/-8Gs, 11:+/-12Gs                           */
    xmWriteByte(CTRL_REG6_XM, 0x40); // Mag scale to +/- 2GS
    
    /* CTRL_REG7_XM sets magnetic sensor mode, low power mode, and filters
    AHPM1 AHPM0 AFDS 0 0 MLP MD1 MD0
    AHPM[1:0] - HPF mode selection
        00=normal (resets reference registers), 01=reference signal for filtering, 
        10=normal, 11=autoreset on interrupt event
    AFDS - Filtered acceleration data selection
        0=internal filter bypassed, 1=data from internal filter sent to FIFO
    MLP - Magnetic data low-power mode
        0=data rate is set by M_ODR bits in CTRL_REG5
        1=data rate is set to 3.125Hz
    MD[1:0] - Magnetic sensor mode selection (default 10)
        00=continuous-conversion, 01=single-conversion, 10 and 11=power-down */
    xmWriteByte(CTRL_REG7_XM, 0x00); // Continuous conversion mode
    
    /* CTRL_REG4_XM is used to set interrupt generators on INT2_XM
    Bits (7-0): P2_TAP P2_INT1 P2_INT2 P2_INTM P2_DRDYA P2_DRDYM P2_Overrun P2_WTM
    */
    xmWriteByte(CTRL_REG4_XM, 0x00); // Magnetometer data ready on INT2_XM (0x08)
    
    /* INT_CTRL_REG_M to set push-pull/open drain, and active-low/high
    Bits[7:0] - XMIEN YMIEN ZMIEN PP_OD IEA IEL 4D MIEN
    XMIEN, YMIEN, ZMIEN - Enable interrupt recognition on axis for mag data
    PP_OD - Push-pull/open-drain interrupt configuration (0=push-pull, 1=od)
    IEA - Interrupt polarity for accel and magneto
        0=active-low, 1=active-high
    IEL - Latch interrupt request for accel and magneto
        0=irq not latched, 1=irq latched
    4D - 4D enable. 4D detection is enabled when 6D bit in INT_GEN1_REG is set
    MIEN - Enable interrupt generation for magnetic data
        0=disable, 1=enable) */
    xmWriteByte(INT_CTRL_REG_M, 0x09); // Enable interrupts for mag, active-low, push-pull
}

// This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average
// them, scales them to  gs and deg/s, respectively, and then passes the biases to the main sketch
// for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store
// the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to
// subtract the biases ourselves. This results in a more accurate measurement in general and can
// remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
// is good practice.
void LSM9DS0::calLSM9DS0(float * gbias, float * abias)
{  
  uint8_t data[6] = {0, 0, 0, 0, 0, 0};
  int16_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
  int samples, ii;
  
  // First get gyro bias
  uint8_t c = gReadByte(CTRL_REG5_G);
  gWriteByte(CTRL_REG5_G, c | 0x40);         // Enable gyro FIFO  
  wait_ms(20);                                 // Wait for change to take effect
  gWriteByte(FIFO_CTRL_REG_G, 0x20 | 0x1F);  // Enable gyro FIFO stream mode and set watermark at 32 samples
  wait_ms(1000);  // delay 1000 milliseconds to collect FIFO samples
  
  samples = (gReadByte(FIFO_SRC_REG_G) & 0x1F); // Read number of stored samples

  for(ii = 0; ii < samples ; ii++) {            // Read the gyro data stored in the FIFO
    gReadBytes(OUT_X_L_G,  &data[0], 6);
    gyro_bias[0] += (((int16_t)data[1] << 8) | data[0]);
    gyro_bias[1] += (((int16_t)data[3] << 8) | data[2]);
    gyro_bias[2] += (((int16_t)data[5] << 8) | data[4]);
  }  

  gyro_bias[0] /= samples; // average the data
  gyro_bias[1] /= samples; 
  gyro_bias[2] /= samples; 
  
  gbias[0] = (float)gyro_bias[0]*gRes;  // Properly scale the data to get deg/s
  gbias[1] = (float)gyro_bias[1]*gRes;
  gbias[2] = (float)gyro_bias[2]*gRes;
  
  c = gReadByte(CTRL_REG5_G);
  gWriteByte(CTRL_REG5_G, c & ~0x40);  // Disable gyro FIFO  
  wait_ms(20);
  gWriteByte(FIFO_CTRL_REG_G, 0x00);   // Enable gyro bypass mode
  

  //  Now get the accelerometer biases
  c = xmReadByte(CTRL_REG0_XM);
  xmWriteByte(CTRL_REG0_XM, c | 0x40);      // Enable accelerometer FIFO  
  wait_ms(20);                                // Wait for change to take effect
  xmWriteByte(FIFO_CTRL_REG, 0x20 | 0x1F);  // Enable accelerometer FIFO stream mode and set watermark at 32 samples
  wait_ms(1000);  // delay 1000 milliseconds to collect FIFO samples

  samples = (xmReadByte(FIFO_SRC_REG) & 0x1F); // Read number of stored accelerometer samples

   for(ii = 0; ii < samples ; ii++) {          // Read the accelerometer data stored in the FIFO
    xmReadBytes(OUT_X_L_A, &data[0], 6);
    accel_bias[0] += (((int16_t)data[1] << 8) | data[0]);
    accel_bias[1] += (((int16_t)data[3] << 8) | data[2]);
    accel_bias[2] += (((int16_t)data[5] << 8) | data[4]) - (int16_t)(1.0f/aRes); // Assumes sensor facing up!
  }  

  accel_bias[0] /= samples; // average the data
  accel_bias[1] /= samples; 
  accel_bias[2] /= samples; 
  
  abias[0] = (float)accel_bias[0]*aRes; // Properly scale data to get gs
  abias[1] = (float)accel_bias[1]*aRes;
  abias[2] = (float)accel_bias[2]*aRes;

  c = xmReadByte(CTRL_REG0_XM);
  xmWriteByte(CTRL_REG0_XM, c & ~0x40);    // Disable accelerometer FIFO  
  wait_ms(20);
  xmWriteByte(FIFO_CTRL_REG, 0x00);       // Enable accelerometer bypass mode
}

//**********************
//  Gyro section
//**********************
void LSM9DS0::readGyro()
{
    uint8_t temp[6]; // We'll read six bytes from the gyro into temp
    gReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G
    gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx
    gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy
    gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz
}

void LSM9DS0::setGyroOffset(int16_t _gx, int16_t _gy, int16_t _gz)
{
    gyroOffset[0] = _gx;
    gyroOffset[1] = _gy;
    gyroOffset[2] = _gz;
}

int16_t LSM9DS0::readRawGyroX( void )
{
    uint8_t temp[2];
    gReadBytes(OUT_X_L_G, temp, 2);
    gx = (temp[1] << 8) | temp[0];
    return gx;
}

int16_t LSM9DS0::readRawGyroY( void )
{
    uint8_t temp[2];
    gReadBytes(OUT_Y_L_G, temp, 2);
    gy = (temp[1] << 8) | temp[0];
    return gy;
}

int16_t LSM9DS0::readRawGyroZ( void )
{
    uint8_t temp[2];
    gReadBytes(OUT_Z_L_G, temp, 2);
    gz = (temp[1] << 8) | temp[0];
    return gz;
}

float LSM9DS0::readFloatGyroX( void )
{
    float output = calcGyro(readRawGyroX() - gyroOffset[0]);
    return output;
}

float LSM9DS0::readFloatGyroY( void )
{
    float output = calcGyro(readRawGyroY() - gyroOffset[1]);
    return output;
}

float LSM9DS0::readFloatGyroZ( void )
{
    float output = calcGyro(readRawGyroZ() - gyroOffset[2]);
    return output;
}

//**********************
//  Accel section
//**********************
void LSM9DS0::readAccel()
{
    uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp   
    xmReadBytes(OUT_X_L_A, temp, 6); // Read 6 bytes, beginning at OUT_X_L_A
    ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
    ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
    az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
}

void LSM9DS0::setAccelOffset(int16_t _ax, int16_t _ay, int16_t _az)
{
    accelOffset[0] = _ax;
    accelOffset[1] = _ay;
    accelOffset[2] = _az;
}

int16_t LSM9DS0::readRawAccelX( void )
{
    uint8_t temp[2];
    xmReadBytes(OUT_X_L_A, temp, 2);
    ax = (temp[1] << 8) | temp[0];
    return ax;
}

int16_t LSM9DS0::readRawAccelY( void )
{
    uint8_t temp[2];
    xmReadBytes(OUT_Y_L_A, temp, 2);
    ay = (temp[1] << 8) | temp[0];
    return ay;
}

int16_t LSM9DS0::readRawAccelZ( void )
{
    uint8_t temp[2];
    xmReadBytes(OUT_Z_L_A, temp, 2);
    az = (temp[1] << 8) | temp[0];
    return az;
}

float LSM9DS0::readFloatAccelX( void )
{
    float output = calcAccel(readRawAccelX() - accelOffset[0]);
    return output;
}

float LSM9DS0::readFloatAccelY( void )
{
    float output = calcAccel(readRawAccelY() - accelOffset[1]);
    return output;
}

float LSM9DS0::readFloatAccelZ( void )
{
    float output = calcAccel(readRawAccelZ() - accelOffset[2]);
    return output;
}

//**********************
//  Mag section
//**********************
void LSM9DS0::readMag()
{
    uint8_t temp[6]; // We'll read six bytes from the mag into temp 
    xmReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
    mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
    my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
    mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
}

void LSM9DS0::setMagOffset(int16_t _mx, int16_t _my, int16_t _mz)
{
    magOffset[0] = _mx;
    magOffset[1] = _my;
    magOffset[2] = _mz;
}

int16_t LSM9DS0::readRawMagX( void )
{
    uint8_t temp[2];
    xmReadBytes(OUT_X_L_M, temp, 2);
    mx = (temp[1] << 8) | temp[0];
    return mx;
}

int16_t LSM9DS0::readRawMagY( void )
{
    uint8_t temp[2];
    xmReadBytes(OUT_Y_L_M, temp, 2);
    my = (temp[1] << 8) | temp[0];
    return my;
}

int16_t LSM9DS0::readRawMagZ( void )
{
    uint8_t temp[2];
    xmReadBytes(OUT_Z_L_M, temp, 2);
    mz = (temp[1] << 8) | temp[0];
    return mz;
}

float LSM9DS0::readFloatMagX( void )
{
    float output = calcMag(readRawMagX() - magOffset[0]);
    return output;
}

float LSM9DS0::readFloatMagY( void )
{
    float output = calcMag(readRawMagY() - magOffset[1]);
    return output;
}

float LSM9DS0::readFloatMagZ( void )
{
    float output = calcMag(readRawMagZ() - magOffset[2]);
    return output;
}

//**********************
//  Temp section
//**********************
void LSM9DS0::readTemp()
{
    uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp  
    xmReadBytes(OUT_TEMP_L_XM, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L_M
    temperature = (((int16_t) temp[1] << 12) | temp[0] << 4 ) >> 4; // Temperature is a 12-bit signed integer
}

float LSM9DS0::calcGyro(int16_t gyro)
{
    // Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
    return gRes * gyro; 
}

float LSM9DS0::calcAccel(int16_t accel)
{
    // Return the accel raw reading times our pre-calculated g's / (ADC tick):
    return aRes * accel;
}

float LSM9DS0::calcMag(int16_t mag)
{
    // Return the mag raw reading times our pre-calculated Gs / (ADC tick):
    return mRes * mag;
}

void LSM9DS0::setGyroScale(gyro_scale gScl)
{
    // We need to preserve the other bytes in CTRL_REG4_G. So, first read it:
    uint8_t temp = gReadByte(CTRL_REG4_G);
    // Then mask out the gyro scale bits:
    temp &= 0xFF^(0x3 << 4);
    // Then shift in our new scale bits:
    temp |= gScl << 4;
    // And write the new register value back into CTRL_REG4_G:
    gWriteByte(CTRL_REG4_G, temp);
    
    // We've updated the sensor, but we also need to update our class variables
    // First update gScale:
    gScale = gScl;
    // Then calculate a new gRes, which relies on gScale being set correctly:
    calcgRes();
}

void LSM9DS0::setAccelScale(accel_scale aScl)
{
    // We need to preserve the other bytes in CTRL_REG2_XM. So, first read it:
    uint8_t temp = xmReadByte(CTRL_REG2_XM);
    // Then mask out the accel scale bits:
    temp &= 0xFF^(0x7 << 3);
    // Then shift in our new scale bits:
    temp |= aScl << 3;
    // And write the new register value back into CTRL_REG2_XM:
    xmWriteByte(CTRL_REG2_XM, temp);
    
    // We've updated the sensor, but we also need to update our class variables
    // First update aScale:
    aScale = aScl;
    // Then calculate a new aRes, which relies on aScale being set correctly:
    calcaRes();
}

void LSM9DS0::setMagScale(mag_scale mScl)
{
    // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
    uint8_t temp = xmReadByte(CTRL_REG6_XM);
    // Then mask out the mag scale bits:
    temp &= 0xFF^(0x3 << 5);
    // Then shift in our new scale bits:
    temp |= mScl << 5;
    // And write the new register value back into CTRL_REG6_XM:
    xmWriteByte(CTRL_REG6_XM, temp);
    
    // We've updated the sensor, but we also need to update our class variables
    // First update mScale:
    mScale = mScl;
    // Then calculate a new mRes, which relies on mScale being set correctly:
    calcmRes();
}

void LSM9DS0::setGyroODR(gyro_odr gRate)
{
    // We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
    uint8_t temp = gReadByte(CTRL_REG1_G);
    // Then mask out the gyro ODR bits:
    temp &= 0xFF^(0xF << 4);
    // Then shift in our new ODR bits:
    temp |= (gRate << 4);
    // And write the new register value back into CTRL_REG1_G:
    gWriteByte(CTRL_REG1_G, temp);
}
void LSM9DS0::setAccelODR(accel_odr aRate)
{
    // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
    uint8_t temp = xmReadByte(CTRL_REG1_XM);
    // Then mask out the accel ODR bits:
    temp &= 0xFF^(0xF << 4);
    // Then shift in our new ODR bits:
    temp |= (aRate << 4);
    // And write the new register value back into CTRL_REG1_XM:
    xmWriteByte(CTRL_REG1_XM, temp);
}
void LSM9DS0::setAccelABW(accel_abw abwRate)
{
    // We need to preserve the other bytes in CTRL_REG2_XM. So, first read it:
    uint8_t temp = xmReadByte(CTRL_REG2_XM);
    // Then mask out the accel ABW bits:
    temp &= 0xFF^(0x3 << 6);
    // Then shift in our new ODR bits:
    temp |= (abwRate << 6);
    // And write the new register value back into CTRL_REG2_XM:
    xmWriteByte(CTRL_REG2_XM, temp);
}
void LSM9DS0::setMagODR(mag_odr mRate)
{
    // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
    uint8_t temp = xmReadByte(CTRL_REG5_XM);
    // Then mask out the mag ODR bits:
    temp &= 0xFF^(0x7 << 2);
    // Then shift in our new ODR bits:
    temp |= (mRate << 2);
    // And write the new register value back into CTRL_REG5_XM:
    xmWriteByte(CTRL_REG5_XM, temp);
}

void LSM9DS0::configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX, uint16_t int1ThsY, uint16_t int1ThsZ, uint8_t duration)
{
    gWriteByte(INT1_CFG_G, int1Cfg);
    gWriteByte(INT1_THS_XH_G, (int1ThsX & 0xFF00) >> 8);
    gWriteByte(INT1_THS_XL_G, (int1ThsX & 0xFF));
    gWriteByte(INT1_THS_YH_G, (int1ThsY & 0xFF00) >> 8);
    gWriteByte(INT1_THS_YL_G, (int1ThsY & 0xFF));
    gWriteByte(INT1_THS_ZH_G, (int1ThsZ & 0xFF00) >> 8);
    gWriteByte(INT1_THS_ZL_G, (int1ThsZ & 0xFF));
    if (duration)
        gWriteByte(INT1_DURATION_G, 0x80 | duration);
    else
        gWriteByte(INT1_DURATION_G, 0x00);
}

void LSM9DS0::calcgRes()
{
    // Possible gyro scales (and their register bit settings) are:
    // 245 DPS (00), 500 DPS (01), 2000 DPS (10). Here's a bit of an algorithm
    // to calculate DPS/(ADC tick) based on that 2-bit value:
    switch (gScale)
    {
    case G_SCALE_245DPS:
        gRes = 245.0 / 32768.0;
        break;
    case G_SCALE_500DPS:
        gRes = 500.0 / 32768.0;
        break;
    case G_SCALE_2000DPS:
        gRes = 2000.0 / 32768.0;
        break;
    }
}

void LSM9DS0::calcaRes()
{
    // Possible accelerometer scales (and their register bit settings) are:
    // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). Here's a bit of an 
    // algorithm to calculate g/(ADC tick) based on that 3-bit value:
    aRes = aScale == A_SCALE_16G ? 16.0 / 32768.0 : 
           (((float) aScale + 1.0f) * 2.0f) / 32768.0f;
}

void LSM9DS0::calcmRes()
{
    // Possible magnetometer scales (and their register bit settings) are:
    // 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11). Here's a bit of an algorithm
    // to calculate Gs/(ADC tick) based on that 2-bit value:
    mRes = mScale == M_SCALE_2GS ? 2.0 / 32768.0 : 
           (float) (mScale << 2) / 32768.0f;
}
    
void LSM9DS0::gWriteByte(uint8_t subAddress, uint8_t data)
{
    // Whether we're using I2C or SPI, write a byte using the
    // gyro-specific I2C address or SPI CS pin.
    if (interfaceMode == I2C_MODE)
        I2CwriteByte(gAddress, subAddress, data);
    else if (interfaceMode == SPI_MODE)
        SPIwriteByte(gAddress, subAddress, data);
}

void LSM9DS0::xmWriteByte(uint8_t subAddress, uint8_t data)
{
    // Whether we're using I2C or SPI, write a byte using the
    // accelerometer-specific I2C address or SPI CS pin.
    if (interfaceMode == I2C_MODE)
        return I2CwriteByte(xmAddress, subAddress, data);
    else if (interfaceMode == SPI_MODE)
        return SPIwriteByte(xmAddress, subAddress, data);
}

uint8_t LSM9DS0::gReadByte(uint8_t subAddress)
{
    // Whether we're using I2C or SPI, read a byte using the
    // gyro-specific I2C address or SPI CS pin.
    if (interfaceMode == I2C_MODE)
        return I2CreadByte(gAddress, subAddress);
    else if (interfaceMode == SPI_MODE)
        return SPIreadByte(gAddress, subAddress);
    else
        return SPIreadByte(gAddress, subAddress);
}

void LSM9DS0::gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
{
    // Whether we're using I2C or SPI, read multiple bytes using the
    // gyro-specific I2C address or SPI CS pin.
    if (interfaceMode == I2C_MODE)
        I2CreadBytes(gAddress, subAddress, dest, count);
    else if (interfaceMode == SPI_MODE)
        SPIreadBytes(gAddress, subAddress, dest, count);
}

uint8_t LSM9DS0::xmReadByte(uint8_t subAddress)
{
    // Whether we're using I2C or SPI, read a byte using the
    // accelerometer-specific I2C address or SPI CS pin.
    if (interfaceMode == I2C_MODE)
        return I2CreadByte(xmAddress, subAddress);
    else if (interfaceMode == SPI_MODE)
        return SPIreadByte(xmAddress, subAddress);
    else
        return SPIreadByte(xmAddress, subAddress);
}

void LSM9DS0::xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
{
    // Whether we're using I2C or SPI, read multiple bytes using the
    // accelerometer-specific I2C address or SPI CS pin.
    if (interfaceMode == I2C_MODE)
        I2CreadBytes(xmAddress, subAddress, dest, count);
    else if (interfaceMode == SPI_MODE)
        SPIreadBytes(xmAddress, subAddress, dest, count);
}

void LSM9DS0::initSPI()
{
    csG_ = 1;
    csXM_= 1;
    
    // Maximum SPI frequency is 10MHz:
//    spi_.frequency(1000000);
    spi_.format(8,0b11);
}

void LSM9DS0::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data)
{
    // Initiate communication
    if(csPin == gAddress)
        csG_ = 0;
    else if(csPin == xmAddress)
        csXM_= 0;
    
    // If write, bit 0 (MSB) should be 0
    // If single write, bit 1 should be 0
    spi_.write(subAddress & 0x3F); // Send Address
    spi_.write(data); // Send data
    
    csG_ = 1; // Close communication
    csXM_= 1;
}

uint8_t LSM9DS0::SPIreadByte(uint8_t csPin, uint8_t subAddress)
{
    uint8_t temp;
    // Use the multiple read function to read 1 byte. 
    // Value is returned to `temp`.
    SPIreadBytes(csPin, subAddress, &temp, 1);
    return temp;
}

void LSM9DS0::SPIreadBytes(uint8_t csPin, uint8_t subAddress,
                            uint8_t * dest, uint8_t count)
{
    // Initiate communication
    if(csPin == gAddress)
        csG_ = 0;
    else if(csPin == xmAddress)
        csXM_= 0;
    // To indicate a read, set bit 0 (msb) to 1
    // If we're reading multiple bytes, set bit 1 to 1
    // The remaining six bytes are the address to be read
    if (count > 1)
        spi_.write(0xC0 | (subAddress & 0x3F));
    else
        spi_.write(0x80 | (subAddress & 0x3F));
    for (int i=0; i<count; i++)
    {
        dest[i] = spi_.write(0x00); // Read into destination array
    }
    csG_ = 1; // Close communication
    csXM_= 1;
}

void LSM9DS0::initI2C()
{
//    Wire.begin();   // Initialize I2C library
    ;
}

// Wire.h read and write protocols
void LSM9DS0::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
{
    ;
//    Wire.beginTransmission(address);  // Initialize the Tx buffer
//    Wire.write(subAddress);           // Put slave register address in Tx buffer
//    Wire.write(data);                 // Put data in Tx buffer
//    Wire.endTransmission();           // Send the Tx buffer
}

uint8_t LSM9DS0::I2CreadByte(uint8_t address, uint8_t subAddress)
{
    return 0;
//    uint8_t data; // `data` will store the register data     
//    Wire.beginTransmission(address);         // Initialize the Tx buffer
//    Wire.write(subAddress);                  // Put slave register address in Tx buffer
//    Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
//    Wire.requestFrom(address, (uint8_t) 1);  // Read one byte from slave register address 
//    data = Wire.read();                      // Fill Rx buffer with result
//    return data;                             // Return data read from slave register
}

void LSM9DS0::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
{
    ;
//    Wire.beginTransmission(address);   // Initialize the Tx buffer
//    // Next send the register to be read. OR with 0x80 to indicate multi-read.
//    Wire.write(subAddress | 0x80);     // Put slave register address in Tx buffer
//    Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
//    uint8_t i = 0;
//    Wire.requestFrom(address, count);  // Read bytes from slave register address 
//    while (Wire.available()) 
//    {
//        dest[i++] = Wire.read(); // Put read results in the Rx buffer
//    }
}

void LSM9DS0::complementaryFilter(float * data, float dt)
{
    
    float pitchAcc, rollAcc;
 
    /* Integrate the gyro data(deg/s) over time to get angle */
    pitch += data[5] * dt;  // Angle around the Z-axis
    roll +=  data[3] * dt;  // Angle around the X-axis
    
    /* Turning around the X-axis results in a vector on the Y-axis
    whereas turning around the Y-axis results in a vector on the X-axis. */
    pitchAcc = (float)atan2f(-data[0], -data[1])*180.0f/PI;
    rollAcc  = (float)atan2f(data[2], -data[1])*180.0f/PI;
  
    /* Apply Complementary Filter */
    pitch = pitch * 0.999 + pitchAcc * 0.001;
    roll  = roll  * 0.999 + rollAcc  * 0.001;
}