Chen Wei Ting / Mbed 2 deprecated middleyuan

read EMG, IMU, encoder

Dependencies:   mbed

Fork of LSM9DS1_project by 曾 宗圓

LSM9DS1.cpp@3:567765d3bcd1, 2018-08-01 (annotated)

Committer:
JJting
Date:
Wed Aug 01 01:01:13 2018 +0000
Revision:
3:567765d3bcd1
original 20180801

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JJting 3:567765d3bcd1 1 #include "LSM9DS1.h"
JJting 3:567765d3bcd1 2
JJting 3:567765d3bcd1 3 LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr) : i2c(sda, scl)
JJting 3:567765d3bcd1 4 {
JJting 3:567765d3bcd1 5 // xgAddress and mAddress will store the 7-bit I2C address, if using I2C.
JJting 3:567765d3bcd1 6 xgAddress = xgAddr;
JJting 3:567765d3bcd1 7 mAddress = mAddr;
JJting 3:567765d3bcd1 8 }
JJting 3:567765d3bcd1 9
JJting 3:567765d3bcd1 10 uint16_t LSM9DS1::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
JJting 3:567765d3bcd1 11 gyro_odr gODR, accel_odr aODR, mag_odr mODR)
JJting 3:567765d3bcd1 12 {
JJting 3:567765d3bcd1 13 // Store the given scales in class variables. These scale variables
JJting 3:567765d3bcd1 14 // are used throughout to calculate the actual g's, DPS,and Gs's.
JJting 3:567765d3bcd1 15 gScale = gScl;
JJting 3:567765d3bcd1 16 aScale = aScl;
JJting 3:567765d3bcd1 17 mScale = mScl;
JJting 3:567765d3bcd1 18
JJting 3:567765d3bcd1 19 // Once we have the scale values, we can calculate the resolution
JJting 3:567765d3bcd1 20 // of each sensor. That's what these functions are for. One for each sensor
JJting 3:567765d3bcd1 21 calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
JJting 3:567765d3bcd1 22 calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
JJting 3:567765d3bcd1 23 calcaRes(); // Calculate g / ADC tick, stored in aRes variable
JJting 3:567765d3bcd1 24
JJting 3:567765d3bcd1 25
JJting 3:567765d3bcd1 26 // To verify communication, we can read from the WHO_AM_I register of
JJting 3:567765d3bcd1 27 // each device. Store those in a variable so we can return them.
JJting 3:567765d3bcd1 28 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 29 char cmd[2] = {
JJting 3:567765d3bcd1 30 WHO_AM_I_XG,
JJting 3:567765d3bcd1 31 0
JJting 3:567765d3bcd1 32 };
JJting 3:567765d3bcd1 33
JJting 3:567765d3bcd1 34 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 35 i2c.write(xgAddress, cmd, 1, true);
JJting 3:567765d3bcd1 36 // Read in all the 8 bits of data
JJting 3:567765d3bcd1 37 i2c.read(xgAddress, cmd+1, 1);
JJting 3:567765d3bcd1 38 uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I
JJting 3:567765d3bcd1 39
JJting 3:567765d3bcd1 40 // Reset to the address of the mag who am i
JJting 3:567765d3bcd1 41 cmd[1] = WHO_AM_I_M;
JJting 3:567765d3bcd1 42 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 43 i2c.write(mAddress, cmd, 1, true);
JJting 3:567765d3bcd1 44 // Read in all the 8 bits of data
JJting 3:567765d3bcd1 45 i2c.read(mAddress, cmd+1, 1);
JJting 3:567765d3bcd1 46 uint8_t mTest = cmd[1]; // Read the mag WHO_AM_I
JJting 3:567765d3bcd1 47
JJting 3:567765d3bcd1 48 // Gyro initialization stuff:
JJting 3:567765d3bcd1 49 initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
JJting 3:567765d3bcd1 50 setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
JJting 3:567765d3bcd1 51 setGyroScale(gScale); // Set the gyro range
JJting 3:567765d3bcd1 52
JJting 3:567765d3bcd1 53 // Accelerometer initialization stuff:
JJting 3:567765d3bcd1 54 initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
JJting 3:567765d3bcd1 55 setAccelODR(aODR); // Set the accel data rate.
JJting 3:567765d3bcd1 56 setAccelScale(aScale); // Set the accel range.
JJting 3:567765d3bcd1 57
JJting 3:567765d3bcd1 58 // Magnetometer initialization stuff:
JJting 3:567765d3bcd1 59 initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
JJting 3:567765d3bcd1 60 setMagODR(mODR); // Set the magnetometer output data rate.
JJting 3:567765d3bcd1 61 setMagScale(mScale); // Set the magnetometer's range.
JJting 3:567765d3bcd1 62
JJting 3:567765d3bcd1 63 // Once everything is initialized, return the WHO_AM_I registers we read:
JJting 3:567765d3bcd1 64 return (xgTest << 8) | mTest;
JJting 3:567765d3bcd1 65 }
JJting 3:567765d3bcd1 66
JJting 3:567765d3bcd1 67 void LSM9DS1::initGyro()
JJting 3:567765d3bcd1 68 {
JJting 3:567765d3bcd1 69 char cmd[4] = {
JJting 3:567765d3bcd1 70 CTRL_REG1_G,
JJting 3:567765d3bcd1 71 gScale | G_ODR_119_BW_14,
JJting 3:567765d3bcd1 72 0, // Default data out and int out
JJting 3:567765d3bcd1 73 0 // Default power mode and high pass settings
JJting 3:567765d3bcd1 74 };
JJting 3:567765d3bcd1 75
JJting 3:567765d3bcd1 76 // Write the data to the gyro control registers
JJting 3:567765d3bcd1 77 i2c.write(xgAddress, cmd, 4);
JJting 3:567765d3bcd1 78 }
JJting 3:567765d3bcd1 79
JJting 3:567765d3bcd1 80 void LSM9DS1::initAccel()
JJting 3:567765d3bcd1 81 {
JJting 3:567765d3bcd1 82 char cmd[4] = {
JJting 3:567765d3bcd1 83 CTRL_REG5_XL,
JJting 3:567765d3bcd1 84 0x38, // Enable all axis and don't decimate data in out Registers
JJting 3:567765d3bcd1 85 (A_ODR_119 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE), // 119 Hz ODR, set scale, and auto BW
JJting 3:567765d3bcd1 86 0 // Default resolution mode and filtering settings
JJting 3:567765d3bcd1 87 };
JJting 3:567765d3bcd1 88
JJting 3:567765d3bcd1 89 // Write the data to the accel control registers
JJting 3:567765d3bcd1 90 i2c.write(xgAddress, cmd, 4);
JJting 3:567765d3bcd1 91 }
JJting 3:567765d3bcd1 92
JJting 3:567765d3bcd1 93 void LSM9DS1::initMag()
JJting 3:567765d3bcd1 94 {
JJting 3:567765d3bcd1 95 char cmd[4] = {
JJting 3:567765d3bcd1 96 CTRL_REG1_M,
JJting 3:567765d3bcd1 97 0x10, // Default data rate, xy axes mode, and temp comp
JJting 3:567765d3bcd1 98 mScale << 5, // Set mag scale
JJting 3:567765d3bcd1 99 0 // Enable I2C, write only SPI, not LP mode, Continuous conversion mode
JJting 3:567765d3bcd1 100 };
JJting 3:567765d3bcd1 101
JJting 3:567765d3bcd1 102 // Write the data to the mag control registers
JJting 3:567765d3bcd1 103 i2c.write(mAddress, cmd, 4);
JJting 3:567765d3bcd1 104 }
JJting 3:567765d3bcd1 105
JJting 3:567765d3bcd1 106 void LSM9DS1::readAccel()
JJting 3:567765d3bcd1 107 {
JJting 3:567765d3bcd1 108 // The data we are going to read from the accel
JJting 3:567765d3bcd1 109 char data[6];
JJting 3:567765d3bcd1 110
JJting 3:567765d3bcd1 111 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 112 char subAddress = OUT_X_L_XL;
JJting 3:567765d3bcd1 113
JJting 3:567765d3bcd1 114 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 115 i2c.write(xgAddress, &subAddress, 1, true);
JJting 3:567765d3bcd1 116 // Read in all 8 bit registers containing the axes data
JJting 3:567765d3bcd1 117 i2c.read(xgAddress, data, 6);
JJting 3:567765d3bcd1 118
JJting 3:567765d3bcd1 119 // Reassemble the data and convert to g
JJting 3:567765d3bcd1 120 ax_raw = data[0] | (data[1] << 8);
JJting 3:567765d3bcd1 121 ay_raw = data[2] | (data[3] << 8);
JJting 3:567765d3bcd1 122 az_raw = data[4] | (data[5] << 8);
JJting 3:567765d3bcd1 123 ax = ax_raw * aRes;
JJting 3:567765d3bcd1 124 ay = ay_raw * aRes;
JJting 3:567765d3bcd1 125 az = az_raw * aRes;
JJting 3:567765d3bcd1 126 }
JJting 3:567765d3bcd1 127
JJting 3:567765d3bcd1 128 void LSM9DS1::readMag()
JJting 3:567765d3bcd1 129 {
JJting 3:567765d3bcd1 130 // The data we are going to read from the mag
JJting 3:567765d3bcd1 131 char data[6];
JJting 3:567765d3bcd1 132
JJting 3:567765d3bcd1 133 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 134 char subAddress = OUT_X_L_M;
JJting 3:567765d3bcd1 135
JJting 3:567765d3bcd1 136 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 137 i2c.write(mAddress, &subAddress, 1, true);
JJting 3:567765d3bcd1 138 // Read in all 8 bit registers containing the axes data
JJting 3:567765d3bcd1 139 i2c.read(mAddress, data, 6);
JJting 3:567765d3bcd1 140
JJting 3:567765d3bcd1 141 // Reassemble the data and convert to degrees
JJting 3:567765d3bcd1 142 mx_raw = data[0] | (data[1] << 8);
JJting 3:567765d3bcd1 143 my_raw = data[2] | (data[3] << 8);
JJting 3:567765d3bcd1 144 mz_raw = data[4] | (data[5] << 8);
JJting 3:567765d3bcd1 145 mx = mx_raw * mRes;
JJting 3:567765d3bcd1 146 my = my_raw * mRes;
JJting 3:567765d3bcd1 147 mz = mz_raw * mRes;
JJting 3:567765d3bcd1 148 }
JJting 3:567765d3bcd1 149
JJting 3:567765d3bcd1 150 void LSM9DS1::readTemp()
JJting 3:567765d3bcd1 151 {
JJting 3:567765d3bcd1 152 // The data we are going to read from the temp
JJting 3:567765d3bcd1 153 char data[2];
JJting 3:567765d3bcd1 154
JJting 3:567765d3bcd1 155 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 156 char subAddress = OUT_TEMP_L;
JJting 3:567765d3bcd1 157
JJting 3:567765d3bcd1 158 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 159 i2c.write(xgAddress, &subAddress, 1, true);
JJting 3:567765d3bcd1 160 // Read in all 8 bit registers containing the axes data
JJting 3:567765d3bcd1 161 i2c.read(xgAddress, data, 2);
JJting 3:567765d3bcd1 162
JJting 3:567765d3bcd1 163 // Temperature is a 12-bit signed integer
JJting 3:567765d3bcd1 164 temperature_raw = data[0] | (data[1] << 8);
JJting 3:567765d3bcd1 165
JJting 3:567765d3bcd1 166 temperature_c = (float)temperature_raw / 8.0 + 25;
JJting 3:567765d3bcd1 167 temperature_f = temperature_c * 1.8 + 32;
JJting 3:567765d3bcd1 168 }
JJting 3:567765d3bcd1 169
JJting 3:567765d3bcd1 170
JJting 3:567765d3bcd1 171 void LSM9DS1::readGyro()
JJting 3:567765d3bcd1 172 {
JJting 3:567765d3bcd1 173 // The data we are going to read from the gyro
JJting 3:567765d3bcd1 174 char data[6];
JJting 3:567765d3bcd1 175
JJting 3:567765d3bcd1 176 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 177 char subAddress = OUT_X_L_G;
JJting 3:567765d3bcd1 178
JJting 3:567765d3bcd1 179 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 180 i2c.write(xgAddress, &subAddress, 1, true);
JJting 3:567765d3bcd1 181 // Read in all 8 bit registers containing the axes data
JJting 3:567765d3bcd1 182 i2c.read(xgAddress, data, 6);
JJting 3:567765d3bcd1 183
JJting 3:567765d3bcd1 184 // Reassemble the data and convert to degrees/sec
JJting 3:567765d3bcd1 185 gx_raw = data[0] | (data[1] << 8);
JJting 3:567765d3bcd1 186 gy_raw = data[2] | (data[3] << 8);
JJting 3:567765d3bcd1 187 gz_raw = data[4] | (data[5] << 8);
JJting 3:567765d3bcd1 188 gx = gx_raw * gRes;
JJting 3:567765d3bcd1 189 gy = gy_raw * gRes;
JJting 3:567765d3bcd1 190 gz = gz_raw * gRes;
JJting 3:567765d3bcd1 191 }
JJting 3:567765d3bcd1 192
JJting 3:567765d3bcd1 193 void LSM9DS1::setGyroScale(gyro_scale gScl)
JJting 3:567765d3bcd1 194 {
JJting 3:567765d3bcd1 195 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 196 char cmd[2] = {
JJting 3:567765d3bcd1 197 CTRL_REG1_G,
JJting 3:567765d3bcd1 198 0
JJting 3:567765d3bcd1 199 };
JJting 3:567765d3bcd1 200
JJting 3:567765d3bcd1 201 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 202 i2c.write(xgAddress, cmd, 1, true);
JJting 3:567765d3bcd1 203 // Read in all the 8 bits of data
JJting 3:567765d3bcd1 204 i2c.read(xgAddress, cmd+1, 1);
JJting 3:567765d3bcd1 205
JJting 3:567765d3bcd1 206 // Then mask out the gyro scale bits:
JJting 3:567765d3bcd1 207 cmd[1] &= 0xFF^(0x3 << 3);
JJting 3:567765d3bcd1 208 // Then shift in our new scale bits:
JJting 3:567765d3bcd1 209 cmd[1] |= gScl << 3;
JJting 3:567765d3bcd1 210
JJting 3:567765d3bcd1 211 // Write the gyroscale out to the gyro
JJting 3:567765d3bcd1 212 i2c.write(xgAddress, cmd, 2);
JJting 3:567765d3bcd1 213
JJting 3:567765d3bcd1 214 // We've updated the sensor, but we also need to update our class variables
JJting 3:567765d3bcd1 215 // First update gScale:
JJting 3:567765d3bcd1 216 gScale = gScl;
JJting 3:567765d3bcd1 217 // Then calculate a new gRes, which relies on gScale being set correctly:
JJting 3:567765d3bcd1 218 calcgRes();
JJting 3:567765d3bcd1 219 }
JJting 3:567765d3bcd1 220
JJting 3:567765d3bcd1 221 void LSM9DS1::setAccelScale(accel_scale aScl)
JJting 3:567765d3bcd1 222 {
JJting 3:567765d3bcd1 223 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 224 char cmd[2] = {
JJting 3:567765d3bcd1 225 CTRL_REG6_XL,
JJting 3:567765d3bcd1 226 0
JJting 3:567765d3bcd1 227 };
JJting 3:567765d3bcd1 228
JJting 3:567765d3bcd1 229 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 230 i2c.write(xgAddress, cmd, 1, true);
JJting 3:567765d3bcd1 231 // Read in all the 8 bits of data
JJting 3:567765d3bcd1 232 i2c.read(xgAddress, cmd+1, 1);
JJting 3:567765d3bcd1 233
JJting 3:567765d3bcd1 234 // Then mask out the accel scale bits:
JJting 3:567765d3bcd1 235 cmd[1] &= 0xFF^(0x3 << 3);
JJting 3:567765d3bcd1 236 // Then shift in our new scale bits:
JJting 3:567765d3bcd1 237 cmd[1] |= aScl << 3;
JJting 3:567765d3bcd1 238
JJting 3:567765d3bcd1 239 // Write the accelscale out to the accel
JJting 3:567765d3bcd1 240 i2c.write(xgAddress, cmd, 2);
JJting 3:567765d3bcd1 241
JJting 3:567765d3bcd1 242 // We've updated the sensor, but we also need to update our class variables
JJting 3:567765d3bcd1 243 // First update aScale:
JJting 3:567765d3bcd1 244 aScale = aScl;
JJting 3:567765d3bcd1 245 // Then calculate a new aRes, which relies on aScale being set correctly:
JJting 3:567765d3bcd1 246 calcaRes();
JJting 3:567765d3bcd1 247 }
JJting 3:567765d3bcd1 248
JJting 3:567765d3bcd1 249 void LSM9DS1::setMagScale(mag_scale mScl)
JJting 3:567765d3bcd1 250 {
JJting 3:567765d3bcd1 251 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 252 char cmd[2] = {
JJting 3:567765d3bcd1 253 CTRL_REG2_M,
JJting 3:567765d3bcd1 254 0
JJting 3:567765d3bcd1 255 };
JJting 3:567765d3bcd1 256
JJting 3:567765d3bcd1 257 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 258 i2c.write(mAddress, cmd, 1, true);
JJting 3:567765d3bcd1 259 // Read in all the 8 bits of data
JJting 3:567765d3bcd1 260 i2c.read(mAddress, cmd+1, 1);
JJting 3:567765d3bcd1 261
JJting 3:567765d3bcd1 262 // Then mask out the mag scale bits:
JJting 3:567765d3bcd1 263 cmd[1] &= 0xFF^(0x3 << 5);
JJting 3:567765d3bcd1 264 // Then shift in our new scale bits:
JJting 3:567765d3bcd1 265 cmd[1] |= mScl << 5;
JJting 3:567765d3bcd1 266
JJting 3:567765d3bcd1 267 // Write the magscale out to the mag
JJting 3:567765d3bcd1 268 i2c.write(mAddress, cmd, 2);
JJting 3:567765d3bcd1 269
JJting 3:567765d3bcd1 270 // We've updated the sensor, but we also need to update our class variables
JJting 3:567765d3bcd1 271 // First update mScale:
JJting 3:567765d3bcd1 272 mScale = mScl;
JJting 3:567765d3bcd1 273 // Then calculate a new mRes, which relies on mScale being set correctly:
JJting 3:567765d3bcd1 274 calcmRes();
JJting 3:567765d3bcd1 275 }
JJting 3:567765d3bcd1 276
JJting 3:567765d3bcd1 277 void LSM9DS1::setGyroODR(gyro_odr gRate)
JJting 3:567765d3bcd1 278 {
JJting 3:567765d3bcd1 279 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 280 char cmd[2] = {
JJting 3:567765d3bcd1 281 CTRL_REG1_G,
JJting 3:567765d3bcd1 282 0
JJting 3:567765d3bcd1 283 };
JJting 3:567765d3bcd1 284
JJting 3:567765d3bcd1 285 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 286 i2c.write(xgAddress, cmd, 1, true);
JJting 3:567765d3bcd1 287 // Read in all the 8 bits of data
JJting 3:567765d3bcd1 288 i2c.read(xgAddress, cmd+1, 1);
JJting 3:567765d3bcd1 289
JJting 3:567765d3bcd1 290 // Then mask out the gyro odr bits:
JJting 3:567765d3bcd1 291 cmd[1] &= (0x3 << 3);
JJting 3:567765d3bcd1 292 // Then shift in our new odr bits:
JJting 3:567765d3bcd1 293 cmd[1] |= gRate;
JJting 3:567765d3bcd1 294
JJting 3:567765d3bcd1 295 // Write the gyroodr out to the gyro
JJting 3:567765d3bcd1 296 i2c.write(xgAddress, cmd, 2);
JJting 3:567765d3bcd1 297 }
JJting 3:567765d3bcd1 298
JJting 3:567765d3bcd1 299 void LSM9DS1::setAccelODR(accel_odr aRate)
JJting 3:567765d3bcd1 300 {
JJting 3:567765d3bcd1 301 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 302 char cmd[2] = {
JJting 3:567765d3bcd1 303 CTRL_REG6_XL,
JJting 3:567765d3bcd1 304 0
JJting 3:567765d3bcd1 305 };
JJting 3:567765d3bcd1 306
JJting 3:567765d3bcd1 307 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 308 i2c.write(xgAddress, cmd, 1, true);
JJting 3:567765d3bcd1 309 // Read in all the 8 bits of data
JJting 3:567765d3bcd1 310 i2c.read(xgAddress, cmd+1, 1);
JJting 3:567765d3bcd1 311
JJting 3:567765d3bcd1 312 // Then mask out the accel odr bits:
JJting 3:567765d3bcd1 313 cmd[1] &= 0xFF^(0x7 << 5);
JJting 3:567765d3bcd1 314 // Then shift in our new odr bits:
JJting 3:567765d3bcd1 315 cmd[1] |= aRate << 5;
JJting 3:567765d3bcd1 316
JJting 3:567765d3bcd1 317 // Write the accelodr out to the accel
JJting 3:567765d3bcd1 318 i2c.write(xgAddress, cmd, 2);
JJting 3:567765d3bcd1 319 }
JJting 3:567765d3bcd1 320
JJting 3:567765d3bcd1 321 void LSM9DS1::setMagODR(mag_odr mRate)
JJting 3:567765d3bcd1 322 {
JJting 3:567765d3bcd1 323 // The start of the addresses we want to read from
JJting 3:567765d3bcd1 324 char cmd[2] = {
JJting 3:567765d3bcd1 325 CTRL_REG1_M,
JJting 3:567765d3bcd1 326 0
JJting 3:567765d3bcd1 327 };
JJting 3:567765d3bcd1 328
JJting 3:567765d3bcd1 329 // Write the address we are going to read from and don't end the transaction
JJting 3:567765d3bcd1 330 i2c.write(mAddress, cmd, 1, true);
JJting 3:567765d3bcd1 331 // Read in all the 8 bits of data
JJting 3:567765d3bcd1 332 i2c.read(mAddress, cmd+1, 1);
JJting 3:567765d3bcd1 333
JJting 3:567765d3bcd1 334 // Then mask out the mag odr bits:
JJting 3:567765d3bcd1 335 cmd[1] &= 0xFF^(0x7 << 2);
JJting 3:567765d3bcd1 336 // Then shift in our new odr bits:
JJting 3:567765d3bcd1 337 cmd[1] |= mRate << 2;
JJting 3:567765d3bcd1 338
JJting 3:567765d3bcd1 339 // Write the magodr out to the mag
JJting 3:567765d3bcd1 340 i2c.write(mAddress, cmd, 2);
JJting 3:567765d3bcd1 341 }
JJting 3:567765d3bcd1 342
JJting 3:567765d3bcd1 343 void LSM9DS1::calcgRes()
JJting 3:567765d3bcd1 344 {
JJting 3:567765d3bcd1 345 // Possible gyro scales (and their register bit settings) are:
JJting 3:567765d3bcd1 346 // 245 DPS (00), 500 DPS (01), 2000 DPS (10).
JJting 3:567765d3bcd1 347 switch (gScale)
JJting 3:567765d3bcd1 348 {
JJting 3:567765d3bcd1 349 case G_SCALE_245DPS:
JJting 3:567765d3bcd1 350 gRes = 245.0 / 32768.0;
JJting 3:567765d3bcd1 351 break;
JJting 3:567765d3bcd1 352 case G_SCALE_500DPS:
JJting 3:567765d3bcd1 353 gRes = 500.0 / 32768.0;
JJting 3:567765d3bcd1 354 break;
JJting 3:567765d3bcd1 355 case G_SCALE_2000DPS:
JJting 3:567765d3bcd1 356 gRes = 2000.0 / 32768.0;
JJting 3:567765d3bcd1 357 break;
JJting 3:567765d3bcd1 358 }
JJting 3:567765d3bcd1 359 }
JJting 3:567765d3bcd1 360
JJting 3:567765d3bcd1 361 void LSM9DS1::calcaRes()
JJting 3:567765d3bcd1 362 {
JJting 3:567765d3bcd1 363 // Possible accelerometer scales (and their register bit settings) are:
JJting 3:567765d3bcd1 364 // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100).
JJting 3:567765d3bcd1 365 switch (aScale)
JJting 3:567765d3bcd1 366 {
JJting 3:567765d3bcd1 367 case A_SCALE_2G:
JJting 3:567765d3bcd1 368 aRes = 2.0 / 32768.0;
JJting 3:567765d3bcd1 369 break;
JJting 3:567765d3bcd1 370 case A_SCALE_4G:
JJting 3:567765d3bcd1 371 aRes = 4.0 / 32768.0;
JJting 3:567765d3bcd1 372 break;
JJting 3:567765d3bcd1 373 case A_SCALE_8G:
JJting 3:567765d3bcd1 374 aRes = 8.0 / 32768.0;
JJting 3:567765d3bcd1 375 break;
JJting 3:567765d3bcd1 376 case A_SCALE_16G:
JJting 3:567765d3bcd1 377 aRes = 16.0 / 32768.0;
JJting 3:567765d3bcd1 378 break;
JJting 3:567765d3bcd1 379 }
JJting 3:567765d3bcd1 380 }
JJting 3:567765d3bcd1 381
JJting 3:567765d3bcd1 382 void LSM9DS1::calcmRes()
JJting 3:567765d3bcd1 383 {
JJting 3:567765d3bcd1 384 // Possible magnetometer scales (and their register bit settings) are:
JJting 3:567765d3bcd1 385 // 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11).
JJting 3:567765d3bcd1 386 switch (mScale)
JJting 3:567765d3bcd1 387 {
JJting 3:567765d3bcd1 388 case M_SCALE_4GS:
JJting 3:567765d3bcd1 389 mRes = 4.0 / 32768.0;
JJting 3:567765d3bcd1 390 break;
JJting 3:567765d3bcd1 391 case M_SCALE_8GS:
JJting 3:567765d3bcd1 392 mRes = 8.0 / 32768.0;
JJting 3:567765d3bcd1 393 break;
JJting 3:567765d3bcd1 394 case M_SCALE_12GS:
JJting 3:567765d3bcd1 395 mRes = 12.0 / 32768.0;
JJting 3:567765d3bcd1 396 break;
JJting 3:567765d3bcd1 397 case M_SCALE_16GS:
JJting 3:567765d3bcd1 398 mRes = 16.0 / 32768.0;
JJting 3:567765d3bcd1 399 break;
JJting 3:567765d3bcd1 400 }
JJting 3:567765d3bcd1 401 }