This is our rendition of popular labyrinth games. We use readings from the IMU accelerometer to move a little yellow ball around the screen. We have created a maze of walls and holes that will end the game if the user runs into either of these.
Dependencies: 4DGL-uLCD-SE mbed
LSM9DS0.h@1:2250e33823e2, 2015-10-20 (annotated)
- Committer:
- dbegasse
- Date:
- Tue Oct 20 18:34:56 2015 +0000
- Revision:
- 1:2250e33823e2
- Parent:
- 0:7b4bbd744f6d
ECE4180 Lab 4 to_publish
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dbegasse | 0:7b4bbd744f6d | 1 | //Most of the Credit goes to jimblom |
dbegasse | 0:7b4bbd744f6d | 2 | #ifndef _LSM9DS0_H__ |
dbegasse | 0:7b4bbd744f6d | 3 | #define _LSM9DS0_H__ |
dbegasse | 0:7b4bbd744f6d | 4 | |
dbegasse | 0:7b4bbd744f6d | 5 | #include "mbed.h" |
dbegasse | 0:7b4bbd744f6d | 6 | #include "I2Cdev.h" |
dbegasse | 0:7b4bbd744f6d | 7 | |
dbegasse | 0:7b4bbd744f6d | 8 | |
dbegasse | 0:7b4bbd744f6d | 9 | //////////////////////////// |
dbegasse | 0:7b4bbd744f6d | 10 | // LSM9DS0 Gyro Registers // |
dbegasse | 0:7b4bbd744f6d | 11 | //////////////////////////// |
dbegasse | 0:7b4bbd744f6d | 12 | #define WHO_AM_I_G 0x0F |
dbegasse | 0:7b4bbd744f6d | 13 | #define CTRL_REG1_G 0x20 |
dbegasse | 0:7b4bbd744f6d | 14 | #define CTRL_REG2_G 0x21 |
dbegasse | 0:7b4bbd744f6d | 15 | #define CTRL_REG3_G 0x22 |
dbegasse | 0:7b4bbd744f6d | 16 | #define CTRL_REG4_G 0x23 |
dbegasse | 0:7b4bbd744f6d | 17 | #define CTRL_REG5_G 0x24 |
dbegasse | 0:7b4bbd744f6d | 18 | #define REFERENCE_G 0x25 |
dbegasse | 0:7b4bbd744f6d | 19 | #define STATUS_REG_G 0x27 |
dbegasse | 0:7b4bbd744f6d | 20 | #define OUT_X_L_G 0x28 |
dbegasse | 0:7b4bbd744f6d | 21 | #define OUT_X_H_G 0x29 |
dbegasse | 0:7b4bbd744f6d | 22 | #define OUT_Y_L_G 0x2A |
dbegasse | 0:7b4bbd744f6d | 23 | #define OUT_Y_H_G 0x2B |
dbegasse | 0:7b4bbd744f6d | 24 | #define OUT_Z_L_G 0x2C |
dbegasse | 0:7b4bbd744f6d | 25 | #define OUT_Z_H_G 0x2D |
dbegasse | 0:7b4bbd744f6d | 26 | #define FIFO_CTRL_REG_G 0x2E |
dbegasse | 0:7b4bbd744f6d | 27 | #define FIFO_SRC_REG_G 0x2F |
dbegasse | 0:7b4bbd744f6d | 28 | #define INT1_CFG_G 0x30 |
dbegasse | 0:7b4bbd744f6d | 29 | #define INT1_SRC_G 0x31 |
dbegasse | 0:7b4bbd744f6d | 30 | #define INT1_THS_XH_G 0x32 |
dbegasse | 0:7b4bbd744f6d | 31 | #define INT1_THS_XL_G 0x33 |
dbegasse | 0:7b4bbd744f6d | 32 | #define INT1_THS_YH_G 0x34 |
dbegasse | 0:7b4bbd744f6d | 33 | #define INT1_THS_YL_G 0x35 |
dbegasse | 0:7b4bbd744f6d | 34 | #define INT1_THS_ZH_G 0x36 |
dbegasse | 0:7b4bbd744f6d | 35 | #define INT1_THS_ZL_G 0x37 |
dbegasse | 0:7b4bbd744f6d | 36 | #define INT1_DURATION_G 0x38 |
dbegasse | 0:7b4bbd744f6d | 37 | |
dbegasse | 0:7b4bbd744f6d | 38 | ////////////////////////////////////////// |
dbegasse | 0:7b4bbd744f6d | 39 | // LSM9DS0 Accel/Magneto (XM) Registers // |
dbegasse | 0:7b4bbd744f6d | 40 | ////////////////////////////////////////// |
dbegasse | 0:7b4bbd744f6d | 41 | #define OUT_TEMP_L_XM 0x05 |
dbegasse | 0:7b4bbd744f6d | 42 | #define OUT_TEMP_H_XM 0x06 |
dbegasse | 0:7b4bbd744f6d | 43 | #define STATUS_REG_M 0x07 |
dbegasse | 0:7b4bbd744f6d | 44 | #define OUT_X_L_M 0x08 |
dbegasse | 0:7b4bbd744f6d | 45 | #define OUT_X_H_M 0x09 |
dbegasse | 0:7b4bbd744f6d | 46 | #define OUT_Y_L_M 0x0A |
dbegasse | 0:7b4bbd744f6d | 47 | #define OUT_Y_H_M 0x0B |
dbegasse | 0:7b4bbd744f6d | 48 | #define OUT_Z_L_M 0x0C |
dbegasse | 0:7b4bbd744f6d | 49 | #define OUT_Z_H_M 0x0D |
dbegasse | 0:7b4bbd744f6d | 50 | #define WHO_AM_I_XM 0x0F |
dbegasse | 0:7b4bbd744f6d | 51 | #define INT_CTRL_REG_M 0x12 |
dbegasse | 0:7b4bbd744f6d | 52 | #define INT_SRC_REG_M 0x13 |
dbegasse | 0:7b4bbd744f6d | 53 | #define INT_THS_L_M 0x14 |
dbegasse | 0:7b4bbd744f6d | 54 | #define INT_THS_H_M 0x15 |
dbegasse | 0:7b4bbd744f6d | 55 | #define OFFSET_X_L_M 0x16 |
dbegasse | 0:7b4bbd744f6d | 56 | #define OFFSET_X_H_M 0x17 |
dbegasse | 0:7b4bbd744f6d | 57 | #define OFFSET_Y_L_M 0x18 |
dbegasse | 0:7b4bbd744f6d | 58 | #define OFFSET_Y_H_M 0x19 |
dbegasse | 0:7b4bbd744f6d | 59 | #define OFFSET_Z_L_M 0x1A |
dbegasse | 0:7b4bbd744f6d | 60 | #define OFFSET_Z_H_M 0x1B |
dbegasse | 0:7b4bbd744f6d | 61 | #define REFERENCE_X 0x1C |
dbegasse | 0:7b4bbd744f6d | 62 | #define REFERENCE_Y 0x1D |
dbegasse | 0:7b4bbd744f6d | 63 | #define REFERENCE_Z 0x1E |
dbegasse | 0:7b4bbd744f6d | 64 | #define CTRL_REG0_XM 0x1F |
dbegasse | 0:7b4bbd744f6d | 65 | #define CTRL_REG1_XM 0x20 |
dbegasse | 0:7b4bbd744f6d | 66 | #define CTRL_REG2_XM 0x21 |
dbegasse | 0:7b4bbd744f6d | 67 | #define CTRL_REG3_XM 0x22 |
dbegasse | 0:7b4bbd744f6d | 68 | #define CTRL_REG4_XM 0x23 |
dbegasse | 0:7b4bbd744f6d | 69 | #define CTRL_REG5_XM 0x24 |
dbegasse | 0:7b4bbd744f6d | 70 | #define CTRL_REG6_XM 0x25 |
dbegasse | 0:7b4bbd744f6d | 71 | #define CTRL_REG7_XM 0x26 |
dbegasse | 0:7b4bbd744f6d | 72 | #define STATUS_REG_A 0x27 |
dbegasse | 0:7b4bbd744f6d | 73 | #define OUT_X_L_A 0x28 |
dbegasse | 0:7b4bbd744f6d | 74 | #define OUT_X_H_A 0x29 |
dbegasse | 0:7b4bbd744f6d | 75 | #define OUT_Y_L_A 0x2A |
dbegasse | 0:7b4bbd744f6d | 76 | #define OUT_Y_H_A 0x2B |
dbegasse | 0:7b4bbd744f6d | 77 | #define OUT_Z_L_A 0x2C |
dbegasse | 0:7b4bbd744f6d | 78 | #define OUT_Z_H_A 0x2D |
dbegasse | 0:7b4bbd744f6d | 79 | #define FIFO_CTRL_REG 0x2E |
dbegasse | 0:7b4bbd744f6d | 80 | #define FIFO_SRC_REG 0x2F |
dbegasse | 0:7b4bbd744f6d | 81 | #define INT_GEN_1_REG 0x30 |
dbegasse | 0:7b4bbd744f6d | 82 | #define INT_GEN_1_SRC 0x31 |
dbegasse | 0:7b4bbd744f6d | 83 | #define INT_GEN_1_THS 0x32 |
dbegasse | 0:7b4bbd744f6d | 84 | #define INT_GEN_1_DURATION 0x33 |
dbegasse | 0:7b4bbd744f6d | 85 | #define INT_GEN_2_REG 0x34 |
dbegasse | 0:7b4bbd744f6d | 86 | #define INT_GEN_2_SRC 0x35 |
dbegasse | 0:7b4bbd744f6d | 87 | #define INT_GEN_2_THS 0x36 |
dbegasse | 0:7b4bbd744f6d | 88 | #define INT_GEN_2_DURATION 0x37 |
dbegasse | 0:7b4bbd744f6d | 89 | #define CLICK_CFG 0x38 |
dbegasse | 0:7b4bbd744f6d | 90 | #define CLICK_SRC 0x39 |
dbegasse | 0:7b4bbd744f6d | 91 | #define CLICK_THS 0x3A |
dbegasse | 0:7b4bbd744f6d | 92 | #define TIME_LIMIT 0x3B |
dbegasse | 0:7b4bbd744f6d | 93 | #define TIME_LATENCY 0x3C |
dbegasse | 0:7b4bbd744f6d | 94 | #define TIME_WINDOW 0x3D |
dbegasse | 0:7b4bbd744f6d | 95 | #define ACT_THS 0x3E |
dbegasse | 0:7b4bbd744f6d | 96 | #define ACT_DUR 0x3F |
dbegasse | 0:7b4bbd744f6d | 97 | |
dbegasse | 0:7b4bbd744f6d | 98 | |
dbegasse | 0:7b4bbd744f6d | 99 | class LSM9DS0 |
dbegasse | 0:7b4bbd744f6d | 100 | { |
dbegasse | 0:7b4bbd744f6d | 101 | public: |
dbegasse | 0:7b4bbd744f6d | 102 | // gyro_scale defines the possible full-scale ranges of the gyroscope: |
dbegasse | 0:7b4bbd744f6d | 103 | enum gyro_scale |
dbegasse | 0:7b4bbd744f6d | 104 | { |
dbegasse | 0:7b4bbd744f6d | 105 | G_SCALE_245DPS, // 00: +/- 245 degrees per second |
dbegasse | 0:7b4bbd744f6d | 106 | G_SCALE_500DPS, // 01: +/- 500 dps |
dbegasse | 0:7b4bbd744f6d | 107 | G_SCALE_2000DPS, // 10: +/- 2000 dps |
dbegasse | 0:7b4bbd744f6d | 108 | }; |
dbegasse | 0:7b4bbd744f6d | 109 | // accel_scale defines all possible FSR's of the accelerometer: |
dbegasse | 0:7b4bbd744f6d | 110 | enum accel_scale |
dbegasse | 0:7b4bbd744f6d | 111 | { |
dbegasse | 0:7b4bbd744f6d | 112 | A_SCALE_2G, // 000: +/- 2g |
dbegasse | 0:7b4bbd744f6d | 113 | A_SCALE_4G, // 001: +/- 4g |
dbegasse | 0:7b4bbd744f6d | 114 | A_SCALE_6G, // 010: +/- 6g |
dbegasse | 0:7b4bbd744f6d | 115 | A_SCALE_8G, // 011: +/- 8g |
dbegasse | 0:7b4bbd744f6d | 116 | A_SCALE_16G // 100: +/- 16g |
dbegasse | 0:7b4bbd744f6d | 117 | }; |
dbegasse | 0:7b4bbd744f6d | 118 | // mag_scale defines all possible FSR's of the magnetometer: |
dbegasse | 0:7b4bbd744f6d | 119 | enum mag_scale |
dbegasse | 0:7b4bbd744f6d | 120 | { |
dbegasse | 0:7b4bbd744f6d | 121 | M_SCALE_2GS, // 00: +/- 2Gs |
dbegasse | 0:7b4bbd744f6d | 122 | M_SCALE_4GS, // 01: +/- 4Gs |
dbegasse | 0:7b4bbd744f6d | 123 | M_SCALE_8GS, // 10: +/- 8Gs |
dbegasse | 0:7b4bbd744f6d | 124 | M_SCALE_12GS, // 11: +/- 12Gs |
dbegasse | 0:7b4bbd744f6d | 125 | }; |
dbegasse | 0:7b4bbd744f6d | 126 | // gyro_odr defines all possible data rate/bandwidth combos of the gyro: |
dbegasse | 0:7b4bbd744f6d | 127 | enum gyro_odr |
dbegasse | 0:7b4bbd744f6d | 128 | { // ODR (Hz) --- Cutoff |
dbegasse | 0:7b4bbd744f6d | 129 | G_ODR_95_BW_125 = 0x0, // 95 12.5 |
dbegasse | 0:7b4bbd744f6d | 130 | G_ODR_95_BW_25 = 0x1, // 95 25 |
dbegasse | 0:7b4bbd744f6d | 131 | // 0x2 and 0x3 define the same data rate and bandwidth |
dbegasse | 0:7b4bbd744f6d | 132 | G_ODR_190_BW_125 = 0x4, // 190 12.5 |
dbegasse | 0:7b4bbd744f6d | 133 | G_ODR_190_BW_25 = 0x5, // 190 25 |
dbegasse | 0:7b4bbd744f6d | 134 | G_ODR_190_BW_50 = 0x6, // 190 50 |
dbegasse | 0:7b4bbd744f6d | 135 | G_ODR_190_BW_70 = 0x7, // 190 70 |
dbegasse | 0:7b4bbd744f6d | 136 | G_ODR_380_BW_20 = 0x8, // 380 20 |
dbegasse | 0:7b4bbd744f6d | 137 | G_ODR_380_BW_25 = 0x9, // 380 25 |
dbegasse | 0:7b4bbd744f6d | 138 | G_ODR_380_BW_50 = 0xA, // 380 50 |
dbegasse | 0:7b4bbd744f6d | 139 | G_ODR_380_BW_100 = 0xB, // 380 100 |
dbegasse | 0:7b4bbd744f6d | 140 | G_ODR_760_BW_30 = 0xC, // 760 30 |
dbegasse | 0:7b4bbd744f6d | 141 | G_ODR_760_BW_35 = 0xD, // 760 35 |
dbegasse | 0:7b4bbd744f6d | 142 | G_ODR_760_BW_50 = 0xE, // 760 50 |
dbegasse | 0:7b4bbd744f6d | 143 | G_ODR_760_BW_100 = 0xF, // 760 100 |
dbegasse | 0:7b4bbd744f6d | 144 | }; |
dbegasse | 0:7b4bbd744f6d | 145 | // accel_oder defines all possible output data rates of the accelerometer: |
dbegasse | 0:7b4bbd744f6d | 146 | enum accel_odr |
dbegasse | 0:7b4bbd744f6d | 147 | { |
dbegasse | 0:7b4bbd744f6d | 148 | A_POWER_DOWN, // Power-down mode (0x0) |
dbegasse | 0:7b4bbd744f6d | 149 | A_ODR_3125, // 3.125 Hz (0x1) |
dbegasse | 0:7b4bbd744f6d | 150 | A_ODR_625, // 6.25 Hz (0x2) |
dbegasse | 0:7b4bbd744f6d | 151 | A_ODR_125, // 12.5 Hz (0x3) |
dbegasse | 0:7b4bbd744f6d | 152 | A_ODR_25, // 25 Hz (0x4) |
dbegasse | 0:7b4bbd744f6d | 153 | A_ODR_50, // 50 Hz (0x5) |
dbegasse | 0:7b4bbd744f6d | 154 | A_ODR_100, // 100 Hz (0x6) |
dbegasse | 0:7b4bbd744f6d | 155 | A_ODR_200, // 200 Hz (0x7) |
dbegasse | 0:7b4bbd744f6d | 156 | A_ODR_400, // 400 Hz (0x8) |
dbegasse | 0:7b4bbd744f6d | 157 | A_ODR_800, // 800 Hz (9) |
dbegasse | 0:7b4bbd744f6d | 158 | A_ODR_1600 // 1600 Hz (0xA) |
dbegasse | 0:7b4bbd744f6d | 159 | }; |
dbegasse | 0:7b4bbd744f6d | 160 | // accel_oder defines all possible output data rates of the magnetometer: |
dbegasse | 0:7b4bbd744f6d | 161 | enum mag_odr |
dbegasse | 0:7b4bbd744f6d | 162 | { |
dbegasse | 0:7b4bbd744f6d | 163 | M_ODR_3125, // 3.125 Hz (0x00) |
dbegasse | 0:7b4bbd744f6d | 164 | M_ODR_625, // 6.25 Hz (0x01) |
dbegasse | 0:7b4bbd744f6d | 165 | M_ODR_125, // 12.5 Hz (0x02) |
dbegasse | 0:7b4bbd744f6d | 166 | M_ODR_25, // 25 Hz (0x03) |
dbegasse | 0:7b4bbd744f6d | 167 | M_ODR_50, // 50 (0x04) |
dbegasse | 0:7b4bbd744f6d | 168 | M_ODR_100, // 100 Hz (0x05) |
dbegasse | 0:7b4bbd744f6d | 169 | }; |
dbegasse | 0:7b4bbd744f6d | 170 | |
dbegasse | 0:7b4bbd744f6d | 171 | // We'll store the gyro, accel, and magnetometer readings in a series of |
dbegasse | 0:7b4bbd744f6d | 172 | // public class variables. Each sensor gets three variables -- one for each |
dbegasse | 0:7b4bbd744f6d | 173 | // axis. Call readGyro(), readAccel(), and readMag() first, before using |
dbegasse | 0:7b4bbd744f6d | 174 | // these variables! |
dbegasse | 0:7b4bbd744f6d | 175 | // These values are the RAW signed 16-bit readings from the sensors. |
dbegasse | 0:7b4bbd744f6d | 176 | int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope |
dbegasse | 0:7b4bbd744f6d | 177 | int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer |
dbegasse | 0:7b4bbd744f6d | 178 | int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer |
dbegasse | 0:7b4bbd744f6d | 179 | int16_t temperature; |
dbegasse | 0:7b4bbd744f6d | 180 | float abias[3]; |
dbegasse | 0:7b4bbd744f6d | 181 | float gbias[3]; |
dbegasse | 0:7b4bbd744f6d | 182 | |
dbegasse | 0:7b4bbd744f6d | 183 | |
dbegasse | 0:7b4bbd744f6d | 184 | // LSM9DS0 -- LSM9DS0 class constructor |
dbegasse | 0:7b4bbd744f6d | 185 | // The constructor will set up a handful of private variables, and set the |
dbegasse | 0:7b4bbd744f6d | 186 | // communication mode as well. |
dbegasse | 0:7b4bbd744f6d | 187 | // Input: |
dbegasse | 0:7b4bbd744f6d | 188 | // - interface = Either MODE_SPI or MODE_I2C, whichever you're using |
dbegasse | 0:7b4bbd744f6d | 189 | // to talk to the IC. |
dbegasse | 0:7b4bbd744f6d | 190 | // - gAddr = If MODE_I2C, this is the I2C address of the gyroscope. |
dbegasse | 0:7b4bbd744f6d | 191 | // If MODE_SPI, this is the chip select pin of the gyro (CSG) |
dbegasse | 0:7b4bbd744f6d | 192 | // - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag. |
dbegasse | 0:7b4bbd744f6d | 193 | // If MODE_SPI, this is the cs pin of the accel/mag (CSXM) |
dbegasse | 0:7b4bbd744f6d | 194 | LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr); |
dbegasse | 0:7b4bbd744f6d | 195 | |
dbegasse | 0:7b4bbd744f6d | 196 | // begin() -- Initialize the gyro, accelerometer, and magnetometer. |
dbegasse | 0:7b4bbd744f6d | 197 | // This will set up the scale and output rate of each sensor. It'll also |
dbegasse | 0:7b4bbd744f6d | 198 | // "turn on" every sensor and every axis of every sensor. |
dbegasse | 0:7b4bbd744f6d | 199 | // Input: |
dbegasse | 0:7b4bbd744f6d | 200 | // - gScl = The scale of the gyroscope. This should be a gyro_scale value. |
dbegasse | 0:7b4bbd744f6d | 201 | // - aScl = The scale of the accelerometer. Should be a accel_scale value. |
dbegasse | 0:7b4bbd744f6d | 202 | // - mScl = The scale of the magnetometer. Should be a mag_scale value. |
dbegasse | 0:7b4bbd744f6d | 203 | // - gODR = Output data rate of the gyroscope. gyro_odr value. |
dbegasse | 0:7b4bbd744f6d | 204 | // - aODR = Output data rate of the accelerometer. accel_odr value. |
dbegasse | 0:7b4bbd744f6d | 205 | // - mODR = Output data rate of the magnetometer. mag_odr value. |
dbegasse | 0:7b4bbd744f6d | 206 | // Output: The function will return an unsigned 16-bit value. The most-sig |
dbegasse | 0:7b4bbd744f6d | 207 | // bytes of the output are the WHO_AM_I reading of the accel. The |
dbegasse | 0:7b4bbd744f6d | 208 | // least significant two bytes are the WHO_AM_I reading of the gyro. |
dbegasse | 0:7b4bbd744f6d | 209 | // All parameters have a defaulted value, so you can call just "begin()". |
dbegasse | 0:7b4bbd744f6d | 210 | // Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for |
dbegasse | 0:7b4bbd744f6d | 211 | // gyro, 100 Hz for accelerometer, 100 Hz for magnetometer. |
dbegasse | 0:7b4bbd744f6d | 212 | // Use the return value of this function to verify communication. |
dbegasse | 0:7b4bbd744f6d | 213 | uint16_t begin(gyro_scale gScl = G_SCALE_245DPS, |
dbegasse | 0:7b4bbd744f6d | 214 | accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_2GS, |
dbegasse | 0:7b4bbd744f6d | 215 | gyro_odr gODR = G_ODR_95_BW_125, accel_odr aODR = A_ODR_50, |
dbegasse | 0:7b4bbd744f6d | 216 | mag_odr mODR = M_ODR_50); |
dbegasse | 0:7b4bbd744f6d | 217 | |
dbegasse | 0:7b4bbd744f6d | 218 | // readGyro() -- Read the gyroscope output registers. |
dbegasse | 0:7b4bbd744f6d | 219 | // This function will read all six gyroscope output registers. |
dbegasse | 0:7b4bbd744f6d | 220 | // The readings are stored in the class' gx, gy, and gz variables. Read |
dbegasse | 0:7b4bbd744f6d | 221 | // those _after_ calling readGyro(). |
dbegasse | 0:7b4bbd744f6d | 222 | void readGyro(); |
dbegasse | 0:7b4bbd744f6d | 223 | |
dbegasse | 0:7b4bbd744f6d | 224 | // readAccel() -- Read the accelerometer output registers. |
dbegasse | 0:7b4bbd744f6d | 225 | // This function will read all six accelerometer output registers. |
dbegasse | 0:7b4bbd744f6d | 226 | // The readings are stored in the class' ax, ay, and az variables. Read |
dbegasse | 0:7b4bbd744f6d | 227 | // those _after_ calling readAccel(). |
dbegasse | 0:7b4bbd744f6d | 228 | void readAccel(); |
dbegasse | 0:7b4bbd744f6d | 229 | |
dbegasse | 0:7b4bbd744f6d | 230 | // readMag() -- Read the magnetometer output registers. |
dbegasse | 0:7b4bbd744f6d | 231 | // This function will read all six magnetometer output registers. |
dbegasse | 0:7b4bbd744f6d | 232 | // The readings are stored in the class' mx, my, and mz variables. Read |
dbegasse | 0:7b4bbd744f6d | 233 | // those _after_ calling readMag(). |
dbegasse | 0:7b4bbd744f6d | 234 | void readMag(); |
dbegasse | 0:7b4bbd744f6d | 235 | |
dbegasse | 0:7b4bbd744f6d | 236 | // readTemp() -- Read the temperature output register. |
dbegasse | 0:7b4bbd744f6d | 237 | // This function will read two temperature output registers. |
dbegasse | 0:7b4bbd744f6d | 238 | // The combined readings are stored in the class' temperature variables. Read |
dbegasse | 0:7b4bbd744f6d | 239 | // those _after_ calling readTemp(). |
dbegasse | 0:7b4bbd744f6d | 240 | void readTemp(); |
dbegasse | 0:7b4bbd744f6d | 241 | |
dbegasse | 0:7b4bbd744f6d | 242 | // calcGyro() -- Convert from RAW signed 16-bit value to degrees per second |
dbegasse | 0:7b4bbd744f6d | 243 | // This function reads in a signed 16-bit value and returns the scaled |
dbegasse | 0:7b4bbd744f6d | 244 | // DPS. This function relies on gScale and gRes being correct. |
dbegasse | 0:7b4bbd744f6d | 245 | // Input: |
dbegasse | 0:7b4bbd744f6d | 246 | // - gyro = A signed 16-bit raw reading from the gyroscope. |
dbegasse | 0:7b4bbd744f6d | 247 | float calcGyro(int16_t gyro); |
dbegasse | 0:7b4bbd744f6d | 248 | |
dbegasse | 0:7b4bbd744f6d | 249 | |
dbegasse | 0:7b4bbd744f6d | 250 | // I added these two functions |
dbegasse | 0:7b4bbd744f6d | 251 | float calcTemp(int16_t temp); |
dbegasse | 0:7b4bbd744f6d | 252 | float getAccel(); |
dbegasse | 0:7b4bbd744f6d | 253 | |
dbegasse | 0:7b4bbd744f6d | 254 | // calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's). |
dbegasse | 0:7b4bbd744f6d | 255 | // This function reads in a signed 16-bit value and returns the scaled |
dbegasse | 0:7b4bbd744f6d | 256 | // g's. This function relies on aScale and aRes being correct. |
dbegasse | 0:7b4bbd744f6d | 257 | // Input: |
dbegasse | 0:7b4bbd744f6d | 258 | // - accel = A signed 16-bit raw reading from the accelerometer. |
dbegasse | 0:7b4bbd744f6d | 259 | float calcAccel(int16_t accel); |
dbegasse | 0:7b4bbd744f6d | 260 | |
dbegasse | 0:7b4bbd744f6d | 261 | // calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs) |
dbegasse | 0:7b4bbd744f6d | 262 | // This function reads in a signed 16-bit value and returns the scaled |
dbegasse | 0:7b4bbd744f6d | 263 | // Gs. This function relies on mScale and mRes being correct. |
dbegasse | 0:7b4bbd744f6d | 264 | // Input: |
dbegasse | 0:7b4bbd744f6d | 265 | // - mag = A signed 16-bit raw reading from the magnetometer. |
dbegasse | 0:7b4bbd744f6d | 266 | float calcMag(int16_t mag); |
dbegasse | 0:7b4bbd744f6d | 267 | |
dbegasse | 0:7b4bbd744f6d | 268 | // setGyroScale() -- Set the full-scale range of the gyroscope. |
dbegasse | 0:7b4bbd744f6d | 269 | // This function can be called to set the scale of the gyroscope to |
dbegasse | 0:7b4bbd744f6d | 270 | // 245, 500, or 200 degrees per second. |
dbegasse | 0:7b4bbd744f6d | 271 | // Input: |
dbegasse | 0:7b4bbd744f6d | 272 | // - gScl = The desired gyroscope scale. Must be one of three possible |
dbegasse | 0:7b4bbd744f6d | 273 | // values from the gyro_scale enum. |
dbegasse | 0:7b4bbd744f6d | 274 | void setGyroScale(gyro_scale gScl); |
dbegasse | 0:7b4bbd744f6d | 275 | |
dbegasse | 0:7b4bbd744f6d | 276 | // setAccelScale() -- Set the full-scale range of the accelerometer. |
dbegasse | 0:7b4bbd744f6d | 277 | // This function can be called to set the scale of the accelerometer to |
dbegasse | 0:7b4bbd744f6d | 278 | // 2, 4, 6, 8, or 16 g's. |
dbegasse | 0:7b4bbd744f6d | 279 | // Input: |
dbegasse | 0:7b4bbd744f6d | 280 | // - aScl = The desired accelerometer scale. Must be one of five possible |
dbegasse | 0:7b4bbd744f6d | 281 | // values from the accel_scale enum. |
dbegasse | 0:7b4bbd744f6d | 282 | void setAccelScale(accel_scale aScl); |
dbegasse | 0:7b4bbd744f6d | 283 | |
dbegasse | 0:7b4bbd744f6d | 284 | // setMagScale() -- Set the full-scale range of the magnetometer. |
dbegasse | 0:7b4bbd744f6d | 285 | // This function can be called to set the scale of the magnetometer to |
dbegasse | 0:7b4bbd744f6d | 286 | // 2, 4, 8, or 12 Gs. |
dbegasse | 0:7b4bbd744f6d | 287 | // Input: |
dbegasse | 0:7b4bbd744f6d | 288 | // - mScl = The desired magnetometer scale. Must be one of four possible |
dbegasse | 0:7b4bbd744f6d | 289 | // values from the mag_scale enum. |
dbegasse | 0:7b4bbd744f6d | 290 | void setMagScale(mag_scale mScl); |
dbegasse | 0:7b4bbd744f6d | 291 | |
dbegasse | 0:7b4bbd744f6d | 292 | // setGyroODR() -- Set the output data rate and bandwidth of the gyroscope |
dbegasse | 0:7b4bbd744f6d | 293 | // Input: |
dbegasse | 0:7b4bbd744f6d | 294 | // - gRate = The desired output rate and cutoff frequency of the gyro. |
dbegasse | 0:7b4bbd744f6d | 295 | // Must be a value from the gyro_odr enum (check above, there're 14). |
dbegasse | 0:7b4bbd744f6d | 296 | void setGyroODR(gyro_odr gRate); |
dbegasse | 0:7b4bbd744f6d | 297 | |
dbegasse | 0:7b4bbd744f6d | 298 | // setAccelODR() -- Set the output data rate of the accelerometer |
dbegasse | 0:7b4bbd744f6d | 299 | // Input: |
dbegasse | 0:7b4bbd744f6d | 300 | // - aRate = The desired output rate of the accel. |
dbegasse | 0:7b4bbd744f6d | 301 | // Must be a value from the accel_odr enum (check above, there're 11). |
dbegasse | 0:7b4bbd744f6d | 302 | void setAccelODR(accel_odr aRate); |
dbegasse | 0:7b4bbd744f6d | 303 | |
dbegasse | 0:7b4bbd744f6d | 304 | // setMagODR() -- Set the output data rate of the magnetometer |
dbegasse | 0:7b4bbd744f6d | 305 | // Input: |
dbegasse | 0:7b4bbd744f6d | 306 | // - mRate = The desired output rate of the mag. |
dbegasse | 0:7b4bbd744f6d | 307 | // Must be a value from the mag_odr enum (check above, there're 6). |
dbegasse | 0:7b4bbd744f6d | 308 | void setMagODR(mag_odr mRate); |
dbegasse | 0:7b4bbd744f6d | 309 | |
dbegasse | 0:7b4bbd744f6d | 310 | // configGyroInt() -- Configure the gyro interrupt output. |
dbegasse | 0:7b4bbd744f6d | 311 | // Triggers can be set to either rising above or falling below a specified |
dbegasse | 0:7b4bbd744f6d | 312 | // threshold. This function helps setup the interrupt configuration and |
dbegasse | 0:7b4bbd744f6d | 313 | // threshold values for all axes. |
dbegasse | 0:7b4bbd744f6d | 314 | // Input: |
dbegasse | 0:7b4bbd744f6d | 315 | // - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G |
dbegasse | 0:7b4bbd744f6d | 316 | // register. This sets AND/OR and high/low interrupt gen for each axis |
dbegasse | 0:7b4bbd744f6d | 317 | // - int1ThsX = 16-bit interrupt threshold value for x-axis |
dbegasse | 0:7b4bbd744f6d | 318 | // - int1ThsY = 16-bit interrupt threshold value for y-axis |
dbegasse | 0:7b4bbd744f6d | 319 | // - int1ThsZ = 16-bit interrupt threshold value for z-axis |
dbegasse | 0:7b4bbd744f6d | 320 | // - duration = Duration an interrupt holds after triggered. This value |
dbegasse | 0:7b4bbd744f6d | 321 | // is copied directly into the INT1_DURATION_G register. |
dbegasse | 0:7b4bbd744f6d | 322 | // Before using this function, read about the INT1_CFG_G register and |
dbegasse | 0:7b4bbd744f6d | 323 | // the related INT1* registers in the LMS9DS0 datasheet. |
dbegasse | 0:7b4bbd744f6d | 324 | void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0, |
dbegasse | 0:7b4bbd744f6d | 325 | uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0, |
dbegasse | 0:7b4bbd744f6d | 326 | uint8_t duration = 0); |
dbegasse | 0:7b4bbd744f6d | 327 | |
dbegasse | 0:7b4bbd744f6d | 328 | void calLSM9DS0(float gbias[3], float abias[3]); |
dbegasse | 0:7b4bbd744f6d | 329 | |
dbegasse | 0:7b4bbd744f6d | 330 | |
dbegasse | 0:7b4bbd744f6d | 331 | private: |
dbegasse | 0:7b4bbd744f6d | 332 | // xmAddress and gAddress store the I2C address |
dbegasse | 0:7b4bbd744f6d | 333 | // for each sensor. |
dbegasse | 0:7b4bbd744f6d | 334 | uint8_t xmAddress, gAddress; |
dbegasse | 0:7b4bbd744f6d | 335 | |
dbegasse | 0:7b4bbd744f6d | 336 | // gScale, aScale, and mScale store the current scale range for each |
dbegasse | 0:7b4bbd744f6d | 337 | // sensor. Should be updated whenever that value changes. |
dbegasse | 0:7b4bbd744f6d | 338 | gyro_scale gScale; |
dbegasse | 0:7b4bbd744f6d | 339 | accel_scale aScale; |
dbegasse | 0:7b4bbd744f6d | 340 | mag_scale mScale; |
dbegasse | 0:7b4bbd744f6d | 341 | |
dbegasse | 0:7b4bbd744f6d | 342 | // gRes, aRes, and mRes store the current resolution for each sensor. |
dbegasse | 0:7b4bbd744f6d | 343 | // Units of these values would be DPS (or g's or Gs's) per ADC tick. |
dbegasse | 0:7b4bbd744f6d | 344 | // This value is calculated as (sensor scale) / (2^15). |
dbegasse | 0:7b4bbd744f6d | 345 | float gRes, aRes, mRes; |
dbegasse | 0:7b4bbd744f6d | 346 | |
dbegasse | 0:7b4bbd744f6d | 347 | // initGyro() -- Sets up the gyroscope to begin reading. |
dbegasse | 0:7b4bbd744f6d | 348 | // This function steps through all five gyroscope control registers. |
dbegasse | 0:7b4bbd744f6d | 349 | // Upon exit, the following parameters will be set: |
dbegasse | 0:7b4bbd744f6d | 350 | // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. |
dbegasse | 0:7b4bbd744f6d | 351 | // 95 Hz ODR, 12.5 Hz cutoff frequency. |
dbegasse | 0:7b4bbd744f6d | 352 | // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency |
dbegasse | 0:7b4bbd744f6d | 353 | // set to 7.2 Hz (depends on ODR). |
dbegasse | 0:7b4bbd744f6d | 354 | // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and |
dbegasse | 0:7b4bbd744f6d | 355 | // active high). Data-ready output enabled on DRDY_G. |
dbegasse | 0:7b4bbd744f6d | 356 | // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower |
dbegasse | 0:7b4bbd744f6d | 357 | // address. Scale set to 245 DPS. SPI mode set to 4-wire. |
dbegasse | 0:7b4bbd744f6d | 358 | // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled. |
dbegasse | 0:7b4bbd744f6d | 359 | void initGyro(); |
dbegasse | 0:7b4bbd744f6d | 360 | |
dbegasse | 0:7b4bbd744f6d | 361 | // initAccel() -- Sets up the accelerometer to begin reading. |
dbegasse | 0:7b4bbd744f6d | 362 | // This function steps through all accelerometer related control registers. |
dbegasse | 0:7b4bbd744f6d | 363 | // Upon exit these registers will be set as: |
dbegasse | 0:7b4bbd744f6d | 364 | // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode. |
dbegasse | 0:7b4bbd744f6d | 365 | // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update. |
dbegasse | 0:7b4bbd744f6d | 366 | // all axes enabled. |
dbegasse | 0:7b4bbd744f6d | 367 | // - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW. |
dbegasse | 0:7b4bbd744f6d | 368 | // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin. |
dbegasse | 0:7b4bbd744f6d | 369 | void initAccel(); |
dbegasse | 0:7b4bbd744f6d | 370 | |
dbegasse | 0:7b4bbd744f6d | 371 | // initMag() -- Sets up the magnetometer to begin reading. |
dbegasse | 0:7b4bbd744f6d | 372 | // This function steps through all magnetometer-related control registers. |
dbegasse | 0:7b4bbd744f6d | 373 | // Upon exit these registers will be set as: |
dbegasse | 0:7b4bbd744f6d | 374 | // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin. |
dbegasse | 0:7b4bbd744f6d | 375 | // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt |
dbegasse | 0:7b4bbd744f6d | 376 | // requests don't latch. Temperature sensor disabled. |
dbegasse | 0:7b4bbd744f6d | 377 | // - CTRL_REG6_XM = 0x00: +/- 2 Gs scale. |
dbegasse | 0:7b4bbd744f6d | 378 | // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode. |
dbegasse | 0:7b4bbd744f6d | 379 | // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts. |
dbegasse | 0:7b4bbd744f6d | 380 | void initMag(); |
dbegasse | 0:7b4bbd744f6d | 381 | |
dbegasse | 0:7b4bbd744f6d | 382 | // gReadByte() -- Reads a byte from a specified gyroscope register. |
dbegasse | 0:7b4bbd744f6d | 383 | // Input: |
dbegasse | 0:7b4bbd744f6d | 384 | // - subAddress = Register to be read from. |
dbegasse | 0:7b4bbd744f6d | 385 | // Output: |
dbegasse | 0:7b4bbd744f6d | 386 | // - An 8-bit value read from the requested address. |
dbegasse | 0:7b4bbd744f6d | 387 | uint8_t gReadByte(uint8_t subAddress); |
dbegasse | 0:7b4bbd744f6d | 388 | |
dbegasse | 0:7b4bbd744f6d | 389 | // gReadBytes() -- Reads a number of bytes -- beginning at an address |
dbegasse | 0:7b4bbd744f6d | 390 | // and incrementing from there -- from the gyroscope. |
dbegasse | 0:7b4bbd744f6d | 391 | // Input: |
dbegasse | 0:7b4bbd744f6d | 392 | // - subAddress = Register to be read from. |
dbegasse | 0:7b4bbd744f6d | 393 | // - * dest = A pointer to an array of uint8_t's. Values read will be |
dbegasse | 0:7b4bbd744f6d | 394 | // stored in here on return. |
dbegasse | 0:7b4bbd744f6d | 395 | // - count = The number of bytes to be read. |
dbegasse | 0:7b4bbd744f6d | 396 | // Output: No value is returned, but the `dest` array will store |
dbegasse | 0:7b4bbd744f6d | 397 | // the data read upon exit. |
dbegasse | 0:7b4bbd744f6d | 398 | void gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); |
dbegasse | 0:7b4bbd744f6d | 399 | |
dbegasse | 0:7b4bbd744f6d | 400 | // gWriteByte() -- Write a byte to a register in the gyroscope. |
dbegasse | 0:7b4bbd744f6d | 401 | // Input: |
dbegasse | 0:7b4bbd744f6d | 402 | // - subAddress = Register to be written to. |
dbegasse | 0:7b4bbd744f6d | 403 | // - data = data to be written to the register. |
dbegasse | 0:7b4bbd744f6d | 404 | void gWriteByte(uint8_t subAddress, uint8_t data); |
dbegasse | 0:7b4bbd744f6d | 405 | |
dbegasse | 0:7b4bbd744f6d | 406 | // xmReadByte() -- Read a byte from a register in the accel/mag sensor |
dbegasse | 0:7b4bbd744f6d | 407 | // Input: |
dbegasse | 0:7b4bbd744f6d | 408 | // - subAddress = Register to be read from. |
dbegasse | 0:7b4bbd744f6d | 409 | // Output: |
dbegasse | 0:7b4bbd744f6d | 410 | // - An 8-bit value read from the requested register. |
dbegasse | 0:7b4bbd744f6d | 411 | uint8_t xmReadByte(uint8_t subAddress); |
dbegasse | 0:7b4bbd744f6d | 412 | |
dbegasse | 0:7b4bbd744f6d | 413 | // xmReadBytes() -- Reads a number of bytes -- beginning at an address |
dbegasse | 0:7b4bbd744f6d | 414 | // and incrementing from there -- from the accelerometer/magnetometer. |
dbegasse | 0:7b4bbd744f6d | 415 | // Input: |
dbegasse | 0:7b4bbd744f6d | 416 | // - subAddress = Register to be read from. |
dbegasse | 0:7b4bbd744f6d | 417 | // - * dest = A pointer to an array of uint8_t's. Values read will be |
dbegasse | 0:7b4bbd744f6d | 418 | // stored in here on return. |
dbegasse | 0:7b4bbd744f6d | 419 | // - count = The number of bytes to be read. |
dbegasse | 0:7b4bbd744f6d | 420 | // Output: No value is returned, but the `dest` array will store |
dbegasse | 0:7b4bbd744f6d | 421 | // the data read upon exit. |
dbegasse | 0:7b4bbd744f6d | 422 | void xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); |
dbegasse | 0:7b4bbd744f6d | 423 | |
dbegasse | 0:7b4bbd744f6d | 424 | // xmWriteByte() -- Write a byte to a register in the accel/mag sensor. |
dbegasse | 0:7b4bbd744f6d | 425 | // Input: |
dbegasse | 0:7b4bbd744f6d | 426 | // - subAddress = Register to be written to. |
dbegasse | 0:7b4bbd744f6d | 427 | // - data = data to be written to the register. |
dbegasse | 0:7b4bbd744f6d | 428 | void xmWriteByte(uint8_t subAddress, uint8_t data); |
dbegasse | 0:7b4bbd744f6d | 429 | |
dbegasse | 0:7b4bbd744f6d | 430 | // calcgRes() -- Calculate the resolution of the gyroscope. |
dbegasse | 0:7b4bbd744f6d | 431 | // This function will set the value of the gRes variable. gScale must |
dbegasse | 0:7b4bbd744f6d | 432 | // be set prior to calling this function. |
dbegasse | 0:7b4bbd744f6d | 433 | void calcgRes(); |
dbegasse | 0:7b4bbd744f6d | 434 | |
dbegasse | 0:7b4bbd744f6d | 435 | // calcmRes() -- Calculate the resolution of the magnetometer. |
dbegasse | 0:7b4bbd744f6d | 436 | // This function will set the value of the mRes variable. mScale must |
dbegasse | 0:7b4bbd744f6d | 437 | // be set prior to calling this function. |
dbegasse | 0:7b4bbd744f6d | 438 | void calcmRes(); |
dbegasse | 0:7b4bbd744f6d | 439 | |
dbegasse | 0:7b4bbd744f6d | 440 | // calcaRes() -- Calculate the resolution of the accelerometer. |
dbegasse | 0:7b4bbd744f6d | 441 | // This function will set the value of the aRes variable. aScale must |
dbegasse | 0:7b4bbd744f6d | 442 | // be set prior to calling this function. |
dbegasse | 0:7b4bbd744f6d | 443 | void calcaRes(); |
dbegasse | 0:7b4bbd744f6d | 444 | |
dbegasse | 0:7b4bbd744f6d | 445 | |
dbegasse | 0:7b4bbd744f6d | 446 | /////////////////// |
dbegasse | 0:7b4bbd744f6d | 447 | // I2C Functions // |
dbegasse | 0:7b4bbd744f6d | 448 | /////////////////// |
dbegasse | 0:7b4bbd744f6d | 449 | I2Cdev* i2c_; |
dbegasse | 0:7b4bbd744f6d | 450 | |
dbegasse | 0:7b4bbd744f6d | 451 | |
dbegasse | 0:7b4bbd744f6d | 452 | // I2CwriteByte() -- Write a byte out of I2C to a register in the device |
dbegasse | 0:7b4bbd744f6d | 453 | // Input: |
dbegasse | 0:7b4bbd744f6d | 454 | // - address = The 7-bit I2C address of the slave device. |
dbegasse | 0:7b4bbd744f6d | 455 | // - subAddress = The register to be written to. |
dbegasse | 0:7b4bbd744f6d | 456 | // - data = Byte to be written to the register. |
dbegasse | 0:7b4bbd744f6d | 457 | void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data); |
dbegasse | 0:7b4bbd744f6d | 458 | |
dbegasse | 0:7b4bbd744f6d | 459 | // I2CreadByte() -- Read a single byte from a register over I2C. |
dbegasse | 0:7b4bbd744f6d | 460 | // Input: |
dbegasse | 0:7b4bbd744f6d | 461 | // - address = The 7-bit I2C address of the slave device. |
dbegasse | 0:7b4bbd744f6d | 462 | // - subAddress = The register to be read from. |
dbegasse | 0:7b4bbd744f6d | 463 | // Output: |
dbegasse | 0:7b4bbd744f6d | 464 | // - The byte read from the requested address. |
dbegasse | 0:7b4bbd744f6d | 465 | uint8_t I2CreadByte(uint8_t address, uint8_t subAddress); |
dbegasse | 0:7b4bbd744f6d | 466 | |
dbegasse | 0:7b4bbd744f6d | 467 | // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI |
dbegasse | 0:7b4bbd744f6d | 468 | // Input: |
dbegasse | 0:7b4bbd744f6d | 469 | // - address = The 7-bit I2C address of the slave device. |
dbegasse | 0:7b4bbd744f6d | 470 | // - subAddress = The register to begin reading. |
dbegasse | 0:7b4bbd744f6d | 471 | // - * dest = Pointer to an array where we'll store the readings. |
dbegasse | 0:7b4bbd744f6d | 472 | // - count = Number of registers to be read. |
dbegasse | 0:7b4bbd744f6d | 473 | // Output: No value is returned by the function, but the registers read are |
dbegasse | 0:7b4bbd744f6d | 474 | // all stored in the *dest array given. |
dbegasse | 0:7b4bbd744f6d | 475 | void I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count); |
dbegasse | 0:7b4bbd744f6d | 476 | }; |
dbegasse | 0:7b4bbd744f6d | 477 | |
dbegasse | 0:7b4bbd744f6d | 478 | #endif // _LSM9DS0_H // |