File content as of revision 3:8e50680d6b4e:

/*
 * LSM9DS1_Sensor.c
 *
 * Created: 05/01/2015 19:49:04
 *  Author: speirano
 */

//#include "Wire.h"
#include "LSM9DS1Reg.h"
#include "LSM9DS1.h"
#include "mbed.h"




float  a_lsb_sentivity = A_LSB_SENSIT_2MG;     //  FC[1:0] register set to 0
inline float LSM9DS1_get_a_lsb_sensitivity(void) {
    return a_lsb_sentivity;
}

float  g_lsb_sentivity = G_LSB_SENSIT_245MDPS; //  FC[1:0] register set to 0
inline float LSM9DS1_get_g_lsb_sentivity(void) {
    return g_lsb_sentivity;
}

float  m_lsb_sentivity = M_LSB_SENSIT_4MG;     //  FC[1:0] register set to 0
inline float LSM9DS1_get_m_lsb_sentivity(void) {
    return m_lsb_sentivity;
}


// Read a single byte from addressToRead and return it as a byte
uint8_t LSM9DS1::readRegister(uint8_t slaveAddress, uint8_t regToRead)
{/*
    Wire.beginTransmission(slaveAddress);
    Wire.write(regToRead);
    Wire.endTransmission(false); //endTransmission but keep the connection active

    Wire.requestFrom(slaveAddress, 1); //Ask for 1 byte, once done, bus is released by default

    while(!Wire.available()) ; //Wait for the data to come back
    return Wire.read(); //Return this one byte*/
    



    return 0; //FOR TEST 
}

// Writes a single byte (dataToWrite) into regToWrite
bool LSM9DS1::writeRegister(uint8_t slaveAddress, uint8_t regToWrite, uint8_t dataToWrite)
{/*
    uint8_t errorNo;
    Wire.beginTransmission(slaveAddress);

    if (!Wire.write(regToWrite)) {
        return false;
    }
    if (!Wire.write(dataToWrite)) {
        return false;
    }

    errorNo = Wire.endTransmission(); //Stop transmitting
    return (errorNo == 0);*/

  
    return 0; //FOR TEST 
}


LSM9DS1::LSM9DS1(unsigned int address) : _address(address)
{
    _ready_reg  = 0;
    _status_reg = 0;
    _x = 0;
    _y = 0;
    _z = 0;
}

bool
LSM9DS1::readInternal(unsigned char high_reg, unsigned char low_reg, int *value)
{
    uint16_t data = 0;
    unsigned char  read = 0;
    int16_t signed_data = 0;

    for (;;) {
        read = readRegister(addr(), _status_reg);
        if (read & _ready_reg) {
            read = readRegister(addr(), low_reg);
            data = read;      // LSB

            read = readRegister(addr(), high_reg);
            data |= read << 8; // MSB

            signed_data = data;
            *value = signed_data;
            return true;

        } else {
            wait_ms (1);
        }
    }

    return false;
}


/*****************************************************************************/
/*                         Accelerometer / Gyroscope                         */
/*****************************************************************************/


LSM9DS1_A::LSM9DS1_A(void) : LSM9DS1(LSM9DS1_AG_ADDRESS)
{
    _ready_reg  = AG_ACCELEROMETER_READY;
    _status_reg = AG_STATUS_REG;
}

bool LSM9DS1_A::begin(void)
{
    uint8_t data;

    data = readRegister(addr(), AG_WHO_AM_I);
    if (data == AG_WHO_AM_I_RETURN){
        if (activate()){
            return true;
        }
    }
    return false;
}

bool
LSM9DS1_A::activate(void)
{
    uint8_t data;

    data = readRegister(addr(), AG_CTRL_REG1_G);
    //data |= POWER_UP;
    data |= AG_ODR_SET;
    writeRegister(addr(), AG_CTRL_REG1_G, data);

    return true;
}

bool LSM9DS1_A::deactivate(void)
{
    uint8_t data;

    data = readRegister(addr(), AG_CTRL_REG1_G);
    data &= ~AG_ODR_SET;
    writeRegister(addr(), AG_CTRL_REG1_G, data);

    return true;
}


int
LSM9DS1_A::readX()
{
    int data = 0;
    if (readInternal(AG_ACC_X_H, AG_ACC_X_L, &data)) {
        _x = data;
    }
    // Decode Accel x-axis  [mdps measurement unit]
    return (a_lsb_sentivity * _x);
}

int
LSM9DS1_A::readY()
{
    int data = 0;
    if (readInternal(AG_ACC_Y_H, AG_ACC_Y_L, &data)) {
        _y = data;
    }
    // Decode Accel y-axis  [mdps measurement unit]
    return (a_lsb_sentivity * _y);
}

int
LSM9DS1_A::readZ()
{
    int data = 0;
    if (readInternal(AG_ACC_Z_H, AG_ACC_Z_L, &data)) {
        _z = data;
    }
    // Decode Accel z-axis  [mdps measurement unit]
    return (a_lsb_sentivity * _z);
}

LSM9DS1_G::LSM9DS1_G(void) : LSM9DS1(LSM9DS1_AG_ADDRESS)
{
    _ready_reg  = AG_GYROSCOPE_READY;
    _status_reg = AG_STATUS_REG;
}


bool LSM9DS1_G::begin(void)
{
    uint8_t data;

    data = readRegister(addr(), AG_WHO_AM_I);
    if (data == AG_WHO_AM_I_RETURN){
        if (activate()){
            return true;
        }
    }
    return false;
}

bool
LSM9DS1_G::activate(void)
{
    uint8_t data;

    data = readRegister(addr(), AG_CTRL_REG1_G);
    //data |= POWER_UP;
    data |= AG_ODR_SET;
    writeRegister(addr(), AG_CTRL_REG1_G, data);

    return true;
}

bool LSM9DS1_G::deactivate(void)
{
    uint8_t data;

    data = readRegister(addr(), AG_CTRL_REG1_G);
    data &= ~AG_ODR_SET;
    writeRegister(addr(), AG_CTRL_REG1_G, data);
    return true;
}


int
LSM9DS1_G::readX()
{
    int data = 0;
    if (readInternal(AG_GYR_X_H, AG_GYR_X_L, &data)) {
        _x = data;
    }
    // Decode Gyroscope x-axis  [mdps measurement unit]
    return (g_lsb_sentivity * _x);
}

int
LSM9DS1_G::readY()
{
    int data = 0;
    if (readInternal(AG_GYR_Y_H, AG_GYR_Y_L, &data)) {
        _y = data;
    }
    // Decode Gyroscope y-axis  [mdps measurement unit]
    return (g_lsb_sentivity * _y);
}

int
LSM9DS1_G::readZ()
{
    int data = 0;
    if (readInternal(AG_GYR_Z_H, AG_GYR_Z_L, &data)) {
        _z = data;
    }
    // Decode Gyroscope z-axis  [mdps measurement unit]
    return (g_lsb_sentivity * _z);
}


/*****************************************************************************/
/*                                Magnetometer                               */
/*****************************************************************************/

LSM9DS1_M::LSM9DS1_M(void) : LSM9DS1(LSM9DS1_M_ADDRESS)
{
    _ready_reg  = M_ZYX_AXIS_READY;
    _status_reg = M_STATUS_REG;
}

bool LSM9DS1_M::begin(void)
{
    uint8_t data;

    data = readRegister(addr(), M_WHO_AM_I);
    if (data == M_WHO_AM_I_RETURN){
        if (activate()){
            return true;
        }
    }
    return false;
}

bool
LSM9DS1_M::activate(void)
{
    uint8_t data;

    data = readRegister(addr(), M_CTRL_REG3_G);
    //data |= POWER_UP;
    //data |= 0x21;
    data &= ~M_OPER_MODE_DIS;
    //data &= (0xFC);

    writeRegister(addr(), M_CTRL_REG3_G, data);

    return true;
}

bool
LSM9DS1_M::deactivate(void)
{
    uint8_t data;
    data = readRegister(addr(), M_CTRL_REG3_G);
    //data |= POWER_UP;
    //data |= 0x21;
    data |= M_OPER_MODE_DIS;
    writeRegister(addr(), M_CTRL_REG3_G, data);

    return true;
}

int
LSM9DS1_M::readX()
{
    int data = 0;
    if (readInternal(M_X_H, M_X_L, &data)) {
        _x = data;
    }
    // Decode magnetic x-axis  [mgauss measurement unit]
    return (m_lsb_sentivity * _x);
}

int
LSM9DS1_M::readY()
{
    int data = 0;
    if (readInternal(M_Y_H, M_Y_L, &data)) {
        _y = data;
    }
    // Decode magnetic y-axis  [mgauss measurement unit]
    return (m_lsb_sentivity * _y);
}

int
LSM9DS1_M::readZ()
{
    int data = 0;
    if (readInternal(M_Z_H, M_Z_L, &data)) {
        _z = data;
    }
    // Decode magnetic z-axis  [mgauss measurement unit]
    return (m_lsb_sentivity * _z);
}


LSM9DS1_A smeAccelerometer;
LSM9DS1_M smeMagnetic;
LSM9DS1_G smeGyroscope;