Diff: LSM9DS1_SPI.h

Revision:

0:dc98084cf6be

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1_SPI.h	Wed Oct 18 09:22:00 2017 +0000
@@ -0,0 +1,84 @@
+// Written by: Erik van de Coevering 
+
+#ifndef __LSM9DS1_SPI_H__
+#define __LSM9DS1_SPI_H__
+
+#include "mbed.h"
+
+class lsm9ds1_spi
+{
+        SPI& spi;
+        DigitalOut csAG;
+        DigitalOut csM;
+    
+    public:
+        lsm9ds1_spi(SPI& _spi, PinName _csAG, PinName _csM);
+        unsigned int WriteRegAG(uint8_t WriteAddr, uint8_t WriteData);
+        unsigned int WriteRegM(uint8_t WriteAddr, uint8_t WriteData);
+        unsigned int ReadRegAG(uint8_t WriteAddr, uint8_t WriteData);
+        unsigned int ReadRegM(uint8_t WriteAddr, uint8_t WriteData);
+        void ReadRegsAG(uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
+        void ReadRegsM(uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
+    
+        void selectAG();
+        void selectM();
+        void deselectAG();
+        void deselectM();
+    
+        void init();
+        unsigned int whoami();
+        unsigned int whoamiM();
+        float read_temp();      // reads temperature in degrees C
+        void read_acc();        // reads accelerometer in G
+        void read_gyr();        // reads gyroscope in DPS
+        void read_mag();        // reads magnetometer in gauss
+        void read_all();        // reads acc / gyro / magneto
+    
+        float acc_multiplier;
+        float gyro_multiplier;
+        float mag_multiplier;
+        float accelerometer_data[3];
+        float gyroscope_data[3];
+        float magnetometer_data[3];
+    
+};
+
+#define FS_G_245DPS         0x00
+#define FS_G_500DPS         0x08
+#define FS_G_2000DPS        0x18
+#define ODR_G_15HZ          0x20
+#define ODR_G_60HZ          0x40
+#define ODR_G_119HZ         0x60
+#define ODR_G_238HZ         0x80
+#define ODR_G_476HZ         0xA0
+#define ODR_G_952HZ         0xC0
+#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
+#define BW_G_40HZ           0x01
+#define BW_G_58HZ           0x02
+#define BW_G_100HZ          0x03
+#define FS_A_2G             0x00
+#define FS_A_4G             0x10
+#define FS_A_8G             0x18
+#define FS_A_16G            0x08
+#define FS_M_4GAUSS         0x00
+#define FS_M_8GAUSS         0x20    
+#define FS_M_12GAUSS        0x40
+#define FS_M_16GAUSS        0x60
+
+#define ACC_SENS_2G         0.000061f
+#define ACC_SENS_4G         0.000122f
+#define ACC_SENS_8G         0.000244f
+#define ACC_SENS_16G        0.000732f
+#define GYR_SENS_245DPS     0.00875f
+#define GYR_SENS_500DPS     0.0175f
+#define GYR_SENS_2000DPS    0.07f
+#define MAG_SENS_4GAUSS     0.00014f
+#define MAG_SENS_8GAUSS     0.00029f
+#define MAG_SENS_12GAUSS    0.00043f
+#define MAG_SENS_16GAUSS    0.000732f
+
+#define READ_FLAG 0x80  
+
+#endif
+
+