Diff: LSM9DS1.cpp

Revision:

3:f96b287c0bf7

Parent:

2:ac3b69ccd3dd

Child:

4:7ffcb378cfd4

--- a/LSM9DS1.cpp	Fri Jun 17 21:12:22 2016 +0000
+++ b/LSM9DS1.cpp	Tue Jun 21 22:27:17 2016 +0000
@@ -60,6 +60,8 @@
     setMagODR(mODR); // Set the magnetometer output data rate.
     setMagScale(mScale); // Set the magnetometer's range.
     
+    initIntr();
+    
     // Once everything is initialized, return the WHO_AM_I registers we read:
     return (xgTest << 8) | mTest;
 }
@@ -103,6 +105,59 @@
     i2c.write(mAddress, cmd, 4);
 }
 
+void LSM9DS1::initIntr()
+{   
+    char cmd[2];
+    
+    cmd[0] = INT_GEN_CFG_G;
+    cmd[1] = (1 << 5);
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = INT_GEN_THS_XH_G + 6;
+    cmd[1] = (500 & 0x7F) >> 8;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = INT_GEN_THS_XL_G + 6;
+    cmd[1] = (500 & 0x7F);
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = INT_GEN_DUR_G;
+    cmd[1] = 0x80;
+    i2c.write(xgAddress, cmd, 2);
+    
+    cmd[0] = INT_GEN_CFG_XL;
+    cmd[1] = (1 << 1);
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = INT_GEN_THS_X_XL + 1;
+    cmd[1] = 20;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = INT_GEN_DUR_XL;
+    cmd[1] = (1 & 0x7F);
+    i2c.write(xgAddress, cmd, 2);
+    
+    cmd[0] = INT1_CTRL;
+    cmd[1] = (1 << 7) | (1 << 6);
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = CTRL_REG8;
+    cmd[1] = (1 << 5);
+    i2c.write(xgAddress, cmd, 2);
+    
+    cmd[0] = INT2_CTRL;
+    cmd[1] = (1 << 0) | (1 << 1);
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = CTRL_REG8;
+    cmd[1] = (1 << 5);
+    i2c.write(xgAddress, cmd, 2);
+    
+    cmd[0] = INT_CFG_M;
+    cmd[1] = (1 << 0);
+    i2c.write(xgAddress, cmd, 2);
+    
+    cmd[0] = INT_THS_H_M;
+    cmd[1] = uint8_t((10000 & 0x7F00) >> 8);
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = INT_THS_L_M;
+    cmd[1] = uint8_t(10000 & 0x00FF);
+    i2c.write(xgAddress, cmd, 2);
+}
+
 void LSM9DS1::readAccel()
 {
     // The data we are going to read from the accel
@@ -147,6 +202,17 @@
     mz = mz_raw * mRes;
 }
 
+void LSM9DS1::readIntr()
+{
+    char data[1];
+    char subAddress = INT_GEN_SRC_G;
+
+    i2c.write(xgAddress, &subAddress, 1, true);
+    i2c.read(xgAddress, data, 1);
+
+    intr = (float)data[0];
+}
+
 void LSM9DS1::readTemp()
 {
     // The data we are going to read from the temp
@@ -167,7 +233,6 @@
     temperature_f = temperature_c * 1.8 + 32;
 }
 
-
 void LSM9DS1::readGyro()
 {
     // The data we are going to read from the gyro