Erik van de Coevering / LSM9DS1_SPI

A library to interface with the LSM9DS1 IMU using SPI

Dependents:   LSM9DS1

LSM9DS1_SPI.h@0:dc98084cf6be, 2017-10-18 (annotated)

Committer:
Anaesthetix
Date:
Wed Oct 18 09:22:00 2017 +0000
Revision:
0:dc98084cf6be
LSM9DS1 spi library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 0:dc98084cf6be 1 // Written by: Erik van de Coevering
Anaesthetix 0:dc98084cf6be 2
Anaesthetix 0:dc98084cf6be 3 #ifndef __LSM9DS1_SPI_H__
Anaesthetix 0:dc98084cf6be 4 #define __LSM9DS1_SPI_H__
Anaesthetix 0:dc98084cf6be 5
Anaesthetix 0:dc98084cf6be 6 #include "mbed.h"
Anaesthetix 0:dc98084cf6be 7
Anaesthetix 0:dc98084cf6be 8 class lsm9ds1_spi
Anaesthetix 0:dc98084cf6be 9 {
Anaesthetix 0:dc98084cf6be 10 SPI& spi;
Anaesthetix 0:dc98084cf6be 11 DigitalOut csAG;
Anaesthetix 0:dc98084cf6be 12 DigitalOut csM;
Anaesthetix 0:dc98084cf6be 13
Anaesthetix 0:dc98084cf6be 14 public:
Anaesthetix 0:dc98084cf6be 15 lsm9ds1_spi(SPI& _spi, PinName _csAG, PinName _csM);
Anaesthetix 0:dc98084cf6be 16 unsigned int WriteRegAG(uint8_t WriteAddr, uint8_t WriteData);
Anaesthetix 0:dc98084cf6be 17 unsigned int WriteRegM(uint8_t WriteAddr, uint8_t WriteData);
Anaesthetix 0:dc98084cf6be 18 unsigned int ReadRegAG(uint8_t WriteAddr, uint8_t WriteData);
Anaesthetix 0:dc98084cf6be 19 unsigned int ReadRegM(uint8_t WriteAddr, uint8_t WriteData);
Anaesthetix 0:dc98084cf6be 20 void ReadRegsAG(uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
Anaesthetix 0:dc98084cf6be 21 void ReadRegsM(uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
Anaesthetix 0:dc98084cf6be 22
Anaesthetix 0:dc98084cf6be 23 void selectAG();
Anaesthetix 0:dc98084cf6be 24 void selectM();
Anaesthetix 0:dc98084cf6be 25 void deselectAG();
Anaesthetix 0:dc98084cf6be 26 void deselectM();
Anaesthetix 0:dc98084cf6be 27
Anaesthetix 0:dc98084cf6be 28 void init();
Anaesthetix 0:dc98084cf6be 29 unsigned int whoami();
Anaesthetix 0:dc98084cf6be 30 unsigned int whoamiM();
Anaesthetix 0:dc98084cf6be 31 float read_temp(); // reads temperature in degrees C
Anaesthetix 0:dc98084cf6be 32 void read_acc(); // reads accelerometer in G
Anaesthetix 0:dc98084cf6be 33 void read_gyr(); // reads gyroscope in DPS
Anaesthetix 0:dc98084cf6be 34 void read_mag(); // reads magnetometer in gauss
Anaesthetix 0:dc98084cf6be 35 void read_all(); // reads acc / gyro / magneto
Anaesthetix 0:dc98084cf6be 36
Anaesthetix 0:dc98084cf6be 37 float acc_multiplier;
Anaesthetix 0:dc98084cf6be 38 float gyro_multiplier;
Anaesthetix 0:dc98084cf6be 39 float mag_multiplier;
Anaesthetix 0:dc98084cf6be 40 float accelerometer_data[3];
Anaesthetix 0:dc98084cf6be 41 float gyroscope_data[3];
Anaesthetix 0:dc98084cf6be 42 float magnetometer_data[3];
Anaesthetix 0:dc98084cf6be 43
Anaesthetix 0:dc98084cf6be 44 };
Anaesthetix 0:dc98084cf6be 45
Anaesthetix 0:dc98084cf6be 46 #define FS_G_245DPS 0x00
Anaesthetix 0:dc98084cf6be 47 #define FS_G_500DPS 0x08
Anaesthetix 0:dc98084cf6be 48 #define FS_G_2000DPS 0x18
Anaesthetix 0:dc98084cf6be 49 #define ODR_G_15HZ 0x20
Anaesthetix 0:dc98084cf6be 50 #define ODR_G_60HZ 0x40
Anaesthetix 0:dc98084cf6be 51 #define ODR_G_119HZ 0x60
Anaesthetix 0:dc98084cf6be 52 #define ODR_G_238HZ 0x80
Anaesthetix 0:dc98084cf6be 53 #define ODR_G_476HZ 0xA0
Anaesthetix 0:dc98084cf6be 54 #define ODR_G_952HZ 0xC0
Anaesthetix 0:dc98084cf6be 55 #define BW_G_33HZ 0x00 // Bandwidth dependant on ODR, these freq's are correct for ODR=476Hz or 952Hz. Check datasheet for other ODR's
Anaesthetix 0:dc98084cf6be 56 #define BW_G_40HZ 0x01
Anaesthetix 0:dc98084cf6be 57 #define BW_G_58HZ 0x02
Anaesthetix 0:dc98084cf6be 58 #define BW_G_100HZ 0x03
Anaesthetix 0:dc98084cf6be 59 #define FS_A_2G 0x00
Anaesthetix 0:dc98084cf6be 60 #define FS_A_4G 0x10
Anaesthetix 0:dc98084cf6be 61 #define FS_A_8G 0x18
Anaesthetix 0:dc98084cf6be 62 #define FS_A_16G 0x08
Anaesthetix 0:dc98084cf6be 63 #define FS_M_4GAUSS 0x00
Anaesthetix 0:dc98084cf6be 64 #define FS_M_8GAUSS 0x20
Anaesthetix 0:dc98084cf6be 65 #define FS_M_12GAUSS 0x40
Anaesthetix 0:dc98084cf6be 66 #define FS_M_16GAUSS 0x60
Anaesthetix 0:dc98084cf6be 67
Anaesthetix 0:dc98084cf6be 68 #define ACC_SENS_2G 0.000061f
Anaesthetix 0:dc98084cf6be 69 #define ACC_SENS_4G 0.000122f
Anaesthetix 0:dc98084cf6be 70 #define ACC_SENS_8G 0.000244f
Anaesthetix 0:dc98084cf6be 71 #define ACC_SENS_16G 0.000732f
Anaesthetix 0:dc98084cf6be 72 #define GYR_SENS_245DPS 0.00875f
Anaesthetix 0:dc98084cf6be 73 #define GYR_SENS_500DPS 0.0175f
Anaesthetix 0:dc98084cf6be 74 #define GYR_SENS_2000DPS 0.07f
Anaesthetix 0:dc98084cf6be 75 #define MAG_SENS_4GAUSS 0.00014f
Anaesthetix 0:dc98084cf6be 76 #define MAG_SENS_8GAUSS 0.00029f
Anaesthetix 0:dc98084cf6be 77 #define MAG_SENS_12GAUSS 0.00043f
Anaesthetix 0:dc98084cf6be 78 #define MAG_SENS_16GAUSS 0.000732f
Anaesthetix 0:dc98084cf6be 79
Anaesthetix 0:dc98084cf6be 80 #define READ_FLAG 0x80
Anaesthetix 0:dc98084cf6be 81
Anaesthetix 0:dc98084cf6be 82 #endif
Anaesthetix 0:dc98084cf6be 83
Anaesthetix 0:dc98084cf6be 84