Sherry Yang / LSM9DS1

Modified LSM9DS1 Library

Dependents:   LSM9DS1_Demo BLE_LoopbackUART_with_LSM9DS1 BLE_LoopbackUART_with_LSM9DS1-2

Fork of LSM9DS1 by Eugene Gonzalez

LSM9DS1.cpp@3:f96b287c0bf7, 2016-06-21 (annotated)

Committer:
5hel2l2y
Date:
Tue Jun 21 22:27:17 2016 +0000
Revision:
3:f96b287c0bf7
Parent:
2:ac3b69ccd3dd
Child:
4:7ffcb378cfd4
Added interrupts.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beanmachine44 0:622e8874902e 1 #include "LSM9DS1.h"
beanmachine44 0:622e8874902e 2
beanmachine44 0:622e8874902e 3 LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr) : i2c(sda, scl)
beanmachine44 0:622e8874902e 4 {
beanmachine44 0:622e8874902e 5 // xgAddress and mAddress will store the 7-bit I2C address, if using I2C.
beanmachine44 0:622e8874902e 6 xgAddress = xgAddr;
beanmachine44 0:622e8874902e 7 mAddress = mAddr;
beanmachine44 0:622e8874902e 8 }
beanmachine44 0:622e8874902e 9
beanmachine44 0:622e8874902e 10 uint16_t LSM9DS1::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
beanmachine44 0:622e8874902e 11 gyro_odr gODR, accel_odr aODR, mag_odr mODR)
beanmachine44 0:622e8874902e 12 {
beanmachine44 0:622e8874902e 13 // Store the given scales in class variables. These scale variables
beanmachine44 0:622e8874902e 14 // are used throughout to calculate the actual g's, DPS,and Gs's.
beanmachine44 0:622e8874902e 15 gScale = gScl;
beanmachine44 0:622e8874902e 16 aScale = aScl;
beanmachine44 0:622e8874902e 17 mScale = mScl;
beanmachine44 0:622e8874902e 18
beanmachine44 0:622e8874902e 19 // Once we have the scale values, we can calculate the resolution
beanmachine44 0:622e8874902e 20 // of each sensor. That's what these functions are for. One for each sensor
beanmachine44 0:622e8874902e 21 calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
beanmachine44 0:622e8874902e 22 calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
beanmachine44 0:622e8874902e 23 calcaRes(); // Calculate g / ADC tick, stored in aRes variable
beanmachine44 0:622e8874902e 24
beanmachine44 0:622e8874902e 25
beanmachine44 0:622e8874902e 26 // To verify communication, we can read from the WHO_AM_I register of
beanmachine44 0:622e8874902e 27 // each device. Store those in a variable so we can return them.
beanmachine44 0:622e8874902e 28 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 29 char cmd[2] = {
beanmachine44 0:622e8874902e 30 WHO_AM_I_XG,
beanmachine44 0:622e8874902e 31 0
beanmachine44 0:622e8874902e 32 };
beanmachine44 0:622e8874902e 33
beanmachine44 0:622e8874902e 34 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 35 i2c.write(xgAddress, cmd, 1, true);
beanmachine44 0:622e8874902e 36 // Read in all the 8 bits of data
beanmachine44 0:622e8874902e 37 i2c.read(xgAddress, cmd+1, 1);
beanmachine44 0:622e8874902e 38 uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I
beanmachine44 0:622e8874902e 39
beanmachine44 0:622e8874902e 40 // Reset to the address of the mag who am i
beanmachine44 0:622e8874902e 41 cmd[1] = WHO_AM_I_M;
beanmachine44 0:622e8874902e 42 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 43 i2c.write(mAddress, cmd, 1, true);
beanmachine44 0:622e8874902e 44 // Read in all the 8 bits of data
beanmachine44 0:622e8874902e 45 i2c.read(mAddress, cmd+1, 1);
beanmachine44 0:622e8874902e 46 uint8_t mTest = cmd[1]; // Read the mag WHO_AM_I
beanmachine44 0:622e8874902e 47
beanmachine44 0:622e8874902e 48 // Gyro initialization stuff:
beanmachine44 0:622e8874902e 49 initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
beanmachine44 0:622e8874902e 50 setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
beanmachine44 0:622e8874902e 51 setGyroScale(gScale); // Set the gyro range
beanmachine44 0:622e8874902e 52
beanmachine44 0:622e8874902e 53 // Accelerometer initialization stuff:
beanmachine44 0:622e8874902e 54 initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
beanmachine44 0:622e8874902e 55 setAccelODR(aODR); // Set the accel data rate.
beanmachine44 0:622e8874902e 56 setAccelScale(aScale); // Set the accel range.
beanmachine44 0:622e8874902e 57
beanmachine44 0:622e8874902e 58 // Magnetometer initialization stuff:
beanmachine44 0:622e8874902e 59 initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
beanmachine44 0:622e8874902e 60 setMagODR(mODR); // Set the magnetometer output data rate.
beanmachine44 0:622e8874902e 61 setMagScale(mScale); // Set the magnetometer's range.
beanmachine44 0:622e8874902e 62
5hel2l2y 3:f96b287c0bf7 63 initIntr();
5hel2l2y 3:f96b287c0bf7 64
beanmachine44 0:622e8874902e 65 // Once everything is initialized, return the WHO_AM_I registers we read:
beanmachine44 0:622e8874902e 66 return (xgTest << 8) | mTest;
beanmachine44 0:622e8874902e 67 }
beanmachine44 0:622e8874902e 68
beanmachine44 0:622e8874902e 69 void LSM9DS1::initGyro()
beanmachine44 0:622e8874902e 70 {
beanmachine44 0:622e8874902e 71 char cmd[4] = {
beanmachine44 0:622e8874902e 72 CTRL_REG1_G,
beanmachine44 0:622e8874902e 73 gScale | G_ODR_119_BW_14,
beanmachine44 0:622e8874902e 74 0, // Default data out and int out
beanmachine44 0:622e8874902e 75 0 // Default power mode and high pass settings
beanmachine44 0:622e8874902e 76 };
beanmachine44 0:622e8874902e 77
beanmachine44 0:622e8874902e 78 // Write the data to the gyro control registers
beanmachine44 0:622e8874902e 79 i2c.write(xgAddress, cmd, 4);
beanmachine44 0:622e8874902e 80 }
beanmachine44 0:622e8874902e 81
beanmachine44 0:622e8874902e 82 void LSM9DS1::initAccel()
beanmachine44 0:622e8874902e 83 {
beanmachine44 0:622e8874902e 84 char cmd[4] = {
beanmachine44 0:622e8874902e 85 CTRL_REG5_XL,
beanmachine44 0:622e8874902e 86 0x38, // Enable all axis and don't decimate data in out Registers
beanmachine44 0:622e8874902e 87 (A_ODR_119 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE), // 119 Hz ODR, set scale, and auto BW
beanmachine44 0:622e8874902e 88 0 // Default resolution mode and filtering settings
beanmachine44 0:622e8874902e 89 };
beanmachine44 0:622e8874902e 90
beanmachine44 0:622e8874902e 91 // Write the data to the accel control registers
beanmachine44 0:622e8874902e 92 i2c.write(xgAddress, cmd, 4);
beanmachine44 0:622e8874902e 93 }
beanmachine44 0:622e8874902e 94
beanmachine44 0:622e8874902e 95 void LSM9DS1::initMag()
beanmachine44 0:622e8874902e 96 {
beanmachine44 0:622e8874902e 97 char cmd[4] = {
beanmachine44 0:622e8874902e 98 CTRL_REG1_M,
beanmachine44 0:622e8874902e 99 0x10, // Default data rate, xy axes mode, and temp comp
beanmachine44 0:622e8874902e 100 mScale << 5, // Set mag scale
beanmachine44 0:622e8874902e 101 0 // Enable I2C, write only SPI, not LP mode, Continuous conversion mode
beanmachine44 0:622e8874902e 102 };
beanmachine44 0:622e8874902e 103
beanmachine44 0:622e8874902e 104 // Write the data to the mag control registers
beanmachine44 0:622e8874902e 105 i2c.write(mAddress, cmd, 4);
beanmachine44 0:622e8874902e 106 }
beanmachine44 0:622e8874902e 107
5hel2l2y 3:f96b287c0bf7 108 void LSM9DS1::initIntr()
5hel2l2y 3:f96b287c0bf7 109 {
5hel2l2y 3:f96b287c0bf7 110 char cmd[2];
5hel2l2y 3:f96b287c0bf7 111
5hel2l2y 3:f96b287c0bf7 112 cmd[0] = INT_GEN_CFG_G;
5hel2l2y 3:f96b287c0bf7 113 cmd[1] = (1 << 5);
5hel2l2y 3:f96b287c0bf7 114 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 115 cmd[0] = INT_GEN_THS_XH_G + 6;
5hel2l2y 3:f96b287c0bf7 116 cmd[1] = (500 & 0x7F) >> 8;
5hel2l2y 3:f96b287c0bf7 117 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 118 cmd[0] = INT_GEN_THS_XL_G + 6;
5hel2l2y 3:f96b287c0bf7 119 cmd[1] = (500 & 0x7F);
5hel2l2y 3:f96b287c0bf7 120 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 121 cmd[0] = INT_GEN_DUR_G;
5hel2l2y 3:f96b287c0bf7 122 cmd[1] = 0x80;
5hel2l2y 3:f96b287c0bf7 123 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 124
5hel2l2y 3:f96b287c0bf7 125 cmd[0] = INT_GEN_CFG_XL;
5hel2l2y 3:f96b287c0bf7 126 cmd[1] = (1 << 1);
5hel2l2y 3:f96b287c0bf7 127 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 128 cmd[0] = INT_GEN_THS_X_XL + 1;
5hel2l2y 3:f96b287c0bf7 129 cmd[1] = 20;
5hel2l2y 3:f96b287c0bf7 130 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 131 cmd[0] = INT_GEN_DUR_XL;
5hel2l2y 3:f96b287c0bf7 132 cmd[1] = (1 & 0x7F);
5hel2l2y 3:f96b287c0bf7 133 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 134
5hel2l2y 3:f96b287c0bf7 135 cmd[0] = INT1_CTRL;
5hel2l2y 3:f96b287c0bf7 136 cmd[1] = (1 << 7) | (1 << 6);
5hel2l2y 3:f96b287c0bf7 137 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 138 cmd[0] = CTRL_REG8;
5hel2l2y 3:f96b287c0bf7 139 cmd[1] = (1 << 5);
5hel2l2y 3:f96b287c0bf7 140 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 141
5hel2l2y 3:f96b287c0bf7 142 cmd[0] = INT2_CTRL;
5hel2l2y 3:f96b287c0bf7 143 cmd[1] = (1 << 0) | (1 << 1);
5hel2l2y 3:f96b287c0bf7 144 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 145 cmd[0] = CTRL_REG8;
5hel2l2y 3:f96b287c0bf7 146 cmd[1] = (1 << 5);
5hel2l2y 3:f96b287c0bf7 147 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 148
5hel2l2y 3:f96b287c0bf7 149 cmd[0] = INT_CFG_M;
5hel2l2y 3:f96b287c0bf7 150 cmd[1] = (1 << 0);
5hel2l2y 3:f96b287c0bf7 151 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 152
5hel2l2y 3:f96b287c0bf7 153 cmd[0] = INT_THS_H_M;
5hel2l2y 3:f96b287c0bf7 154 cmd[1] = uint8_t((10000 & 0x7F00) >> 8);
5hel2l2y 3:f96b287c0bf7 155 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 156 cmd[0] = INT_THS_L_M;
5hel2l2y 3:f96b287c0bf7 157 cmd[1] = uint8_t(10000 & 0x00FF);
5hel2l2y 3:f96b287c0bf7 158 i2c.write(xgAddress, cmd, 2);
5hel2l2y 3:f96b287c0bf7 159 }
5hel2l2y 3:f96b287c0bf7 160
beanmachine44 0:622e8874902e 161 void LSM9DS1::readAccel()
beanmachine44 0:622e8874902e 162 {
beanmachine44 0:622e8874902e 163 // The data we are going to read from the accel
beanmachine44 0:622e8874902e 164 char data[6];
beanmachine44 0:622e8874902e 165
beanmachine44 0:622e8874902e 166 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 167 char subAddress = OUT_X_L_XL;
beanmachine44 0:622e8874902e 168
beanmachine44 0:622e8874902e 169 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 170 i2c.write(xgAddress, &subAddress, 1, true);
beanmachine44 0:622e8874902e 171 // Read in all 8 bit registers containing the axes data
beanmachine44 0:622e8874902e 172 i2c.read(xgAddress, data, 6);
beanmachine44 0:622e8874902e 173
beanmachine44 0:622e8874902e 174 // Reassemble the data and convert to g
beanmachine44 0:622e8874902e 175 ax_raw = data[0] | (data[1] << 8);
beanmachine44 0:622e8874902e 176 ay_raw = data[2] | (data[3] << 8);
beanmachine44 0:622e8874902e 177 az_raw = data[4] | (data[5] << 8);
beanmachine44 0:622e8874902e 178 ax = ax_raw * aRes;
beanmachine44 0:622e8874902e 179 ay = ay_raw * aRes;
beanmachine44 0:622e8874902e 180 az = az_raw * aRes;
beanmachine44 0:622e8874902e 181 }
beanmachine44 0:622e8874902e 182
beanmachine44 0:622e8874902e 183 void LSM9DS1::readMag()
beanmachine44 0:622e8874902e 184 {
beanmachine44 0:622e8874902e 185 // The data we are going to read from the mag
beanmachine44 0:622e8874902e 186 char data[6];
beanmachine44 0:622e8874902e 187
beanmachine44 0:622e8874902e 188 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 189 char subAddress = OUT_X_L_M;
beanmachine44 0:622e8874902e 190
beanmachine44 0:622e8874902e 191 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 192 i2c.write(mAddress, &subAddress, 1, true);
beanmachine44 0:622e8874902e 193 // Read in all 8 bit registers containing the axes data
beanmachine44 0:622e8874902e 194 i2c.read(mAddress, data, 6);
beanmachine44 0:622e8874902e 195
beanmachine44 0:622e8874902e 196 // Reassemble the data and convert to degrees
beanmachine44 0:622e8874902e 197 mx_raw = data[0] | (data[1] << 8);
beanmachine44 0:622e8874902e 198 my_raw = data[2] | (data[3] << 8);
beanmachine44 0:622e8874902e 199 mz_raw = data[4] | (data[5] << 8);
beanmachine44 0:622e8874902e 200 mx = mx_raw * mRes;
beanmachine44 0:622e8874902e 201 my = my_raw * mRes;
beanmachine44 0:622e8874902e 202 mz = mz_raw * mRes;
beanmachine44 0:622e8874902e 203 }
beanmachine44 0:622e8874902e 204
5hel2l2y 3:f96b287c0bf7 205 void LSM9DS1::readIntr()
5hel2l2y 3:f96b287c0bf7 206 {
5hel2l2y 3:f96b287c0bf7 207 char data[1];
5hel2l2y 3:f96b287c0bf7 208 char subAddress = INT_GEN_SRC_G;
5hel2l2y 3:f96b287c0bf7 209
5hel2l2y 3:f96b287c0bf7 210 i2c.write(xgAddress, &subAddress, 1, true);
5hel2l2y 3:f96b287c0bf7 211 i2c.read(xgAddress, data, 1);
5hel2l2y 3:f96b287c0bf7 212
5hel2l2y 3:f96b287c0bf7 213 intr = (float)data[0];
5hel2l2y 3:f96b287c0bf7 214 }
5hel2l2y 3:f96b287c0bf7 215
beanmachine44 0:622e8874902e 216 void LSM9DS1::readTemp()
beanmachine44 0:622e8874902e 217 {
beanmachine44 0:622e8874902e 218 // The data we are going to read from the temp
beanmachine44 0:622e8874902e 219 char data[2];
beanmachine44 0:622e8874902e 220
beanmachine44 0:622e8874902e 221 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 222 char subAddress = OUT_TEMP_L;
beanmachine44 0:622e8874902e 223
beanmachine44 0:622e8874902e 224 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 225 i2c.write(xgAddress, &subAddress, 1, true);
beanmachine44 0:622e8874902e 226 // Read in all 8 bit registers containing the axes data
beanmachine44 0:622e8874902e 227 i2c.read(xgAddress, data, 2);
beanmachine44 0:622e8874902e 228
beanmachine44 0:622e8874902e 229 // Temperature is a 12-bit signed integer
beanmachine44 0:622e8874902e 230 temperature_raw = data[0] | (data[1] << 8);
beanmachine44 0:622e8874902e 231
beanmachine44 0:622e8874902e 232 temperature_c = (float)temperature_raw / 8.0 + 25;
beanmachine44 0:622e8874902e 233 temperature_f = temperature_c * 1.8 + 32;
beanmachine44 0:622e8874902e 234 }
beanmachine44 0:622e8874902e 235
beanmachine44 0:622e8874902e 236 void LSM9DS1::readGyro()
beanmachine44 0:622e8874902e 237 {
beanmachine44 0:622e8874902e 238 // The data we are going to read from the gyro
beanmachine44 0:622e8874902e 239 char data[6];
beanmachine44 0:622e8874902e 240
beanmachine44 0:622e8874902e 241 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 242 char subAddress = OUT_X_L_G;
beanmachine44 0:622e8874902e 243
beanmachine44 0:622e8874902e 244 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 245 i2c.write(xgAddress, &subAddress, 1, true);
beanmachine44 0:622e8874902e 246 // Read in all 8 bit registers containing the axes data
beanmachine44 0:622e8874902e 247 i2c.read(xgAddress, data, 6);
beanmachine44 0:622e8874902e 248
beanmachine44 0:622e8874902e 249 // Reassemble the data and convert to degrees/sec
beanmachine44 0:622e8874902e 250 gx_raw = data[0] | (data[1] << 8);
beanmachine44 0:622e8874902e 251 gy_raw = data[2] | (data[3] << 8);
beanmachine44 0:622e8874902e 252 gz_raw = data[4] | (data[5] << 8);
beanmachine44 0:622e8874902e 253 gx = gx_raw * gRes;
beanmachine44 0:622e8874902e 254 gy = gy_raw * gRes;
beanmachine44 0:622e8874902e 255 gz = gz_raw * gRes;
beanmachine44 0:622e8874902e 256 }
beanmachine44 0:622e8874902e 257
beanmachine44 0:622e8874902e 258 void LSM9DS1::setGyroScale(gyro_scale gScl)
beanmachine44 0:622e8874902e 259 {
beanmachine44 0:622e8874902e 260 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 261 char cmd[2] = {
beanmachine44 0:622e8874902e 262 CTRL_REG1_G,
beanmachine44 0:622e8874902e 263 0
beanmachine44 0:622e8874902e 264 };
beanmachine44 0:622e8874902e 265
beanmachine44 0:622e8874902e 266 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 267 i2c.write(xgAddress, cmd, 1, true);
beanmachine44 0:622e8874902e 268 // Read in all the 8 bits of data
beanmachine44 0:622e8874902e 269 i2c.read(xgAddress, cmd+1, 1);
beanmachine44 0:622e8874902e 270
beanmachine44 0:622e8874902e 271 // Then mask out the gyro scale bits:
beanmachine44 0:622e8874902e 272 cmd[1] &= 0xFF^(0x3 << 3);
beanmachine44 0:622e8874902e 273 // Then shift in our new scale bits:
beanmachine44 0:622e8874902e 274 cmd[1] |= gScl << 3;
beanmachine44 0:622e8874902e 275
beanmachine44 0:622e8874902e 276 // Write the gyroscale out to the gyro
beanmachine44 0:622e8874902e 277 i2c.write(xgAddress, cmd, 2);
beanmachine44 0:622e8874902e 278
beanmachine44 0:622e8874902e 279 // We've updated the sensor, but we also need to update our class variables
beanmachine44 0:622e8874902e 280 // First update gScale:
beanmachine44 0:622e8874902e 281 gScale = gScl;
beanmachine44 0:622e8874902e 282 // Then calculate a new gRes, which relies on gScale being set correctly:
beanmachine44 0:622e8874902e 283 calcgRes();
beanmachine44 0:622e8874902e 284 }
beanmachine44 0:622e8874902e 285
beanmachine44 0:622e8874902e 286 void LSM9DS1::setAccelScale(accel_scale aScl)
beanmachine44 0:622e8874902e 287 {
beanmachine44 0:622e8874902e 288 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 289 char cmd[2] = {
beanmachine44 0:622e8874902e 290 CTRL_REG6_XL,
beanmachine44 0:622e8874902e 291 0
beanmachine44 0:622e8874902e 292 };
beanmachine44 0:622e8874902e 293
beanmachine44 0:622e8874902e 294 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 295 i2c.write(xgAddress, cmd, 1, true);
beanmachine44 0:622e8874902e 296 // Read in all the 8 bits of data
beanmachine44 0:622e8874902e 297 i2c.read(xgAddress, cmd+1, 1);
beanmachine44 0:622e8874902e 298
beanmachine44 0:622e8874902e 299 // Then mask out the accel scale bits:
beanmachine44 0:622e8874902e 300 cmd[1] &= 0xFF^(0x3 << 3);
beanmachine44 0:622e8874902e 301 // Then shift in our new scale bits:
beanmachine44 0:622e8874902e 302 cmd[1] |= aScl << 3;
beanmachine44 0:622e8874902e 303
beanmachine44 0:622e8874902e 304 // Write the accelscale out to the accel
beanmachine44 0:622e8874902e 305 i2c.write(xgAddress, cmd, 2);
beanmachine44 0:622e8874902e 306
beanmachine44 0:622e8874902e 307 // We've updated the sensor, but we also need to update our class variables
beanmachine44 0:622e8874902e 308 // First update aScale:
beanmachine44 0:622e8874902e 309 aScale = aScl;
beanmachine44 0:622e8874902e 310 // Then calculate a new aRes, which relies on aScale being set correctly:
beanmachine44 0:622e8874902e 311 calcaRes();
beanmachine44 0:622e8874902e 312 }
beanmachine44 0:622e8874902e 313
beanmachine44 0:622e8874902e 314 void LSM9DS1::setMagScale(mag_scale mScl)
beanmachine44 0:622e8874902e 315 {
beanmachine44 0:622e8874902e 316 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 317 char cmd[2] = {
beanmachine44 0:622e8874902e 318 CTRL_REG2_M,
beanmachine44 0:622e8874902e 319 0
beanmachine44 0:622e8874902e 320 };
beanmachine44 0:622e8874902e 321
beanmachine44 0:622e8874902e 322 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 323 i2c.write(mAddress, cmd, 1, true);
beanmachine44 0:622e8874902e 324 // Read in all the 8 bits of data
beanmachine44 0:622e8874902e 325 i2c.read(mAddress, cmd+1, 1);
beanmachine44 0:622e8874902e 326
beanmachine44 0:622e8874902e 327 // Then mask out the mag scale bits:
beanmachine44 0:622e8874902e 328 cmd[1] &= 0xFF^(0x3 << 5);
beanmachine44 0:622e8874902e 329 // Then shift in our new scale bits:
beanmachine44 0:622e8874902e 330 cmd[1] |= mScl << 5;
beanmachine44 0:622e8874902e 331
beanmachine44 0:622e8874902e 332 // Write the magscale out to the mag
beanmachine44 0:622e8874902e 333 i2c.write(mAddress, cmd, 2);
beanmachine44 0:622e8874902e 334
beanmachine44 0:622e8874902e 335 // We've updated the sensor, but we also need to update our class variables
beanmachine44 0:622e8874902e 336 // First update mScale:
beanmachine44 0:622e8874902e 337 mScale = mScl;
beanmachine44 0:622e8874902e 338 // Then calculate a new mRes, which relies on mScale being set correctly:
beanmachine44 0:622e8874902e 339 calcmRes();
beanmachine44 0:622e8874902e 340 }
beanmachine44 0:622e8874902e 341
beanmachine44 0:622e8874902e 342 void LSM9DS1::setGyroODR(gyro_odr gRate)
beanmachine44 0:622e8874902e 343 {
5hel2l2y 2:ac3b69ccd3dd 344 char cmd[2];
5hel2l2y 2:ac3b69ccd3dd 345 char cmdLow[2];
5hel2l2y 2:ac3b69ccd3dd 346
5hel2l2y 2:ac3b69ccd3dd 347 if(gRate == G_ODR_15_BW_0 | gRate == G_ODR_60_BW_16 | gRate == G_ODR_119_BW_14 | gRate == G_ODR_119_BW_31) {
5hel2l2y 2:ac3b69ccd3dd 348 cmdLow[0] = CTRL_REG3_G;
5hel2l2y 2:ac3b69ccd3dd 349 cmdLow[1] = 1;
5hel2l2y 2:ac3b69ccd3dd 350
5hel2l2y 2:ac3b69ccd3dd 351 i2c.write(xgAddress, cmdLow, 2);
5hel2l2y 2:ac3b69ccd3dd 352 }
5hel2l2y 2:ac3b69ccd3dd 353
beanmachine44 0:622e8874902e 354 // The start of the addresses we want to read from
5hel2l2y 2:ac3b69ccd3dd 355 cmd[0] = CTRL_REG1_G;
5hel2l2y 2:ac3b69ccd3dd 356 cmd[1] = 0;
beanmachine44 0:622e8874902e 357
beanmachine44 0:622e8874902e 358 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 359 i2c.write(xgAddress, cmd, 1, true);
beanmachine44 0:622e8874902e 360 // Read in all the 8 bits of data
beanmachine44 0:622e8874902e 361 i2c.read(xgAddress, cmd+1, 1);
beanmachine44 0:622e8874902e 362
beanmachine44 0:622e8874902e 363 // Then mask out the gyro odr bits:
beanmachine44 0:622e8874902e 364 cmd[1] &= (0x3 << 3);
beanmachine44 0:622e8874902e 365 // Then shift in our new odr bits:
beanmachine44 0:622e8874902e 366 cmd[1] |= gRate;
beanmachine44 0:622e8874902e 367
beanmachine44 0:622e8874902e 368 // Write the gyroodr out to the gyro
beanmachine44 0:622e8874902e 369 i2c.write(xgAddress, cmd, 2);
beanmachine44 0:622e8874902e 370 }
beanmachine44 0:622e8874902e 371
beanmachine44 0:622e8874902e 372 void LSM9DS1::setAccelODR(accel_odr aRate)
beanmachine44 0:622e8874902e 373 {
beanmachine44 0:622e8874902e 374 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 375 char cmd[2] = {
beanmachine44 0:622e8874902e 376 CTRL_REG6_XL,
beanmachine44 0:622e8874902e 377 0
beanmachine44 0:622e8874902e 378 };
beanmachine44 0:622e8874902e 379
beanmachine44 0:622e8874902e 380 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 381 i2c.write(xgAddress, cmd, 1, true);
beanmachine44 0:622e8874902e 382 // Read in all the 8 bits of data
beanmachine44 0:622e8874902e 383 i2c.read(xgAddress, cmd+1, 1);
beanmachine44 0:622e8874902e 384
beanmachine44 0:622e8874902e 385 // Then mask out the accel odr bits:
beanmachine44 0:622e8874902e 386 cmd[1] &= 0xFF^(0x7 << 5);
beanmachine44 0:622e8874902e 387 // Then shift in our new odr bits:
beanmachine44 0:622e8874902e 388 cmd[1] |= aRate << 5;
beanmachine44 0:622e8874902e 389
beanmachine44 0:622e8874902e 390 // Write the accelodr out to the accel
beanmachine44 0:622e8874902e 391 i2c.write(xgAddress, cmd, 2);
beanmachine44 0:622e8874902e 392 }
beanmachine44 0:622e8874902e 393
beanmachine44 0:622e8874902e 394 void LSM9DS1::setMagODR(mag_odr mRate)
beanmachine44 0:622e8874902e 395 {
beanmachine44 0:622e8874902e 396 // The start of the addresses we want to read from
beanmachine44 0:622e8874902e 397 char cmd[2] = {
beanmachine44 0:622e8874902e 398 CTRL_REG1_M,
beanmachine44 0:622e8874902e 399 0
beanmachine44 0:622e8874902e 400 };
beanmachine44 0:622e8874902e 401
beanmachine44 0:622e8874902e 402 // Write the address we are going to read from and don't end the transaction
beanmachine44 0:622e8874902e 403 i2c.write(mAddress, cmd, 1, true);
beanmachine44 0:622e8874902e 404 // Read in all the 8 bits of data
beanmachine44 0:622e8874902e 405 i2c.read(mAddress, cmd+1, 1);
beanmachine44 0:622e8874902e 406
beanmachine44 0:622e8874902e 407 // Then mask out the mag odr bits:
beanmachine44 0:622e8874902e 408 cmd[1] &= 0xFF^(0x7 << 2);
beanmachine44 0:622e8874902e 409 // Then shift in our new odr bits:
beanmachine44 0:622e8874902e 410 cmd[1] |= mRate << 2;
beanmachine44 0:622e8874902e 411
beanmachine44 0:622e8874902e 412 // Write the magodr out to the mag
beanmachine44 0:622e8874902e 413 i2c.write(mAddress, cmd, 2);
beanmachine44 0:622e8874902e 414 }
beanmachine44 0:622e8874902e 415
beanmachine44 0:622e8874902e 416 void LSM9DS1::calcgRes()
beanmachine44 0:622e8874902e 417 {
beanmachine44 0:622e8874902e 418 // Possible gyro scales (and their register bit settings) are:
beanmachine44 0:622e8874902e 419 // 245 DPS (00), 500 DPS (01), 2000 DPS (10).
beanmachine44 0:622e8874902e 420 switch (gScale)
beanmachine44 0:622e8874902e 421 {
beanmachine44 0:622e8874902e 422 case G_SCALE_245DPS:
beanmachine44 0:622e8874902e 423 gRes = 245.0 / 32768.0;
beanmachine44 0:622e8874902e 424 break;
beanmachine44 0:622e8874902e 425 case G_SCALE_500DPS:
beanmachine44 0:622e8874902e 426 gRes = 500.0 / 32768.0;
beanmachine44 0:622e8874902e 427 break;
beanmachine44 0:622e8874902e 428 case G_SCALE_2000DPS:
beanmachine44 0:622e8874902e 429 gRes = 2000.0 / 32768.0;
beanmachine44 0:622e8874902e 430 break;
beanmachine44 0:622e8874902e 431 }
beanmachine44 0:622e8874902e 432 }
beanmachine44 0:622e8874902e 433
beanmachine44 0:622e8874902e 434 void LSM9DS1::calcaRes()
beanmachine44 0:622e8874902e 435 {
beanmachine44 0:622e8874902e 436 // Possible accelerometer scales (and their register bit settings) are:
beanmachine44 0:622e8874902e 437 // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100).
beanmachine44 0:622e8874902e 438 switch (aScale)
beanmachine44 0:622e8874902e 439 {
beanmachine44 0:622e8874902e 440 case A_SCALE_2G:
beanmachine44 0:622e8874902e 441 aRes = 2.0 / 32768.0;
beanmachine44 0:622e8874902e 442 break;
beanmachine44 0:622e8874902e 443 case A_SCALE_4G:
beanmachine44 0:622e8874902e 444 aRes = 4.0 / 32768.0;
beanmachine44 0:622e8874902e 445 break;
beanmachine44 0:622e8874902e 446 case A_SCALE_8G:
beanmachine44 0:622e8874902e 447 aRes = 8.0 / 32768.0;
beanmachine44 0:622e8874902e 448 break;
beanmachine44 0:622e8874902e 449 case A_SCALE_16G:
beanmachine44 0:622e8874902e 450 aRes = 16.0 / 32768.0;
beanmachine44 0:622e8874902e 451 break;
beanmachine44 0:622e8874902e 452 }
beanmachine44 0:622e8874902e 453 }
beanmachine44 0:622e8874902e 454
beanmachine44 0:622e8874902e 455 void LSM9DS1::calcmRes()
beanmachine44 0:622e8874902e 456 {
beanmachine44 0:622e8874902e 457 // Possible magnetometer scales (and their register bit settings) are:
beanmachine44 0:622e8874902e 458 // 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11).
beanmachine44 0:622e8874902e 459 switch (mScale)
beanmachine44 0:622e8874902e 460 {
beanmachine44 0:622e8874902e 461 case M_SCALE_4GS:
beanmachine44 0:622e8874902e 462 mRes = 4.0 / 32768.0;
beanmachine44 0:622e8874902e 463 break;
beanmachine44 0:622e8874902e 464 case M_SCALE_8GS:
beanmachine44 0:622e8874902e 465 mRes = 8.0 / 32768.0;
beanmachine44 0:622e8874902e 466 break;
beanmachine44 0:622e8874902e 467 case M_SCALE_12GS:
beanmachine44 0:622e8874902e 468 mRes = 12.0 / 32768.0;
beanmachine44 0:622e8874902e 469 break;
beanmachine44 0:622e8874902e 470 case M_SCALE_16GS:
beanmachine44 0:622e8874902e 471 mRes = 16.0 / 32768.0;
beanmachine44 0:622e8874902e 472 break;
beanmachine44 0:622e8874902e 473 }
beanmachine44 0:622e8874902e 474 }