Diff: LSM6DS3.cpp

Revision:

2:c19d384b2896

Parent:

1:cc2caaf5536c

--- a/LSM6DS3.cpp	Tue Feb 23 07:26:58 2016 +0000
+++ b/LSM6DS3.cpp	Tue Feb 23 08:48:56 2016 +0000
@@ -54,7 +54,7 @@
 
 //=================================
 //****************************************************************************//
-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)
+LSM6DS3Core::LSM6DS3Core( uint8_t busType, uint8_t inputArg) : commInterface(SPI_MODE), I2CAddress(0x6B), spi_(SPI_MOSI,SPI_MISO,SPI_SCK), i2c_(I2C_SDA,I2C_SCL), cs_(SPI_CS)
 {
     commInterface = busType;
     if( commInterface == I2C_MODE ) {
@@ -82,9 +82,9 @@
 
             //DigitalOut cs((PinName)chipSelectPin);
             // Maximum SPI frequency is 10MHz, could divide by 2 here:
-            spi.frequency(5000000);
+            spi_.frequency(5000000);
             // Data is read and written MSb first.
-            spi.format(8,0);
+            spi_.format(8,0);
             // Data is captured on rising edge of clock (CPHA = 0)
             // Base value of the clock is HIGH (CPOL = 1)
 
@@ -103,7 +103,7 @@
             //SPI.format(8,0);//8 bits mode0
             // initalize the  data ready and chip select pins:
 
-            cs = 1;
+            cs_ = 1;
             break;
         default:
             break;
@@ -172,11 +172,11 @@
 
         case SPI_MODE:
             // take the chip select low to select the device:
-            cs = 0;
+            cs_ = 0;
             // send the device the register you want to read:
-            spi.write(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.write(0x00); // receive a byte as character
+                c = spi_.write(0x00); // receive a byte as character
                 if( c == 0xFF ) {
                     //May have problem
                     tempFFCounter++;
@@ -190,7 +190,7 @@
                 returnError = IMU_ALL_ONES_WARNING;
             }
             // take the chip select high to de-select:
-            cs = 1; //digitalWrite(chipSelectPin, HIGH);
+            cs_ = 1; //digitalWrite(chipSelectPin, HIGH);
             break;
 
         default:
@@ -213,7 +213,7 @@
 {
     //Return value
     uint8_t result;
-    uint8_t numBytes = 1;
+    //uint8_t numBytes = 1;
     status_t returnError = IMU_SUCCESS;
 
     switch (commInterface) {
@@ -233,13 +233,13 @@
 
         case SPI_MODE:
             // take the chip select low to select the device:
-            cs = 0; //digitalWrite(chipSelectPin, LOW);
+            cs_ = 0; //digitalWrite(chipSelectPin, LOW);
             // send the device the register you want to read:
-            spi.write(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.write(0x00);
+            result = spi_.write(0x00);
             // take the chip select high to de-select:
-            cs = 1; //digitalWrite(chipSelectPin, HIGH);
+            cs_ = 1; //digitalWrite(chipSelectPin, HIGH);
 
             if( result == 0xFF ) {
                 //we've recieved all ones, report
@@ -299,14 +299,14 @@
 
         case SPI_MODE:
             // take the chip select low to select the device:
-            cs = 0; //digitalWrite(chipSelectPin, LOW);
+            cs_ = 0; //digitalWrite(chipSelectPin, LOW);
             // send the device the register you want to read:
-            spi.write(offset);
+            spi_.write(offset);
             // send a value of 0 to read the first byte returned:
-            spi.write(dataToWrite);
+            spi_.write(dataToWrite);
             // decrement the number of bytes left to read:
             // take the chip select high to de-select:
-            cs = 1;//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)