Diff: LSM9DS0.h

Revision:

5:bf8f4e7c9905

Parent:

0:1b975a6ae539

--- a/LSM9DS0.h	Sun Nov 23 17:46:45 2014 +0000
+++ b/LSM9DS0.h	Wed Dec 03 23:08:09 2014 +0000
@@ -1,3 +1,4 @@
+//Most of the Credit goes to jimblom
 #ifndef _LSM9DS0_H__
 #define _LSM9DS0_H__
 
@@ -175,6 +176,10 @@
     int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
     int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
     int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
+    int16_t temperature;
+    float abias[3];
+    float gbias[3];
+
     
     // LSM9DS0 -- LSM9DS0 class constructor
     // The constructor will set up a handful of private variables, and set the
@@ -228,6 +233,12 @@
     // those _after_ calling readMag().
     void readMag();
     
+    // readTemp() -- Read the temperature output register.
+    // This function will read two temperature output registers.
+    // The combined readings are stored in the class' temperature variables. Read
+    // those _after_ calling readTemp().
+    void readTemp();
+    
     // calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
     // This function reads in a signed 16-bit value and returns the scaled
     // DPS. This function relies on gScale and gRes being correct.
@@ -308,9 +319,12 @@
     void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0,
                           uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0, 
                           uint8_t duration = 0);
+                          
+    void calLSM9DS0(float gbias[3], float abias[3]);
+
 
 private:    
-    // xmAddress and gAddress store the I2C address or SPI chip select pin
+    // xmAddress and gAddress store the I2C address
     // for each sensor.
     uint8_t xmAddress, gAddress;
     
@@ -427,7 +441,7 @@
     ///////////////////
     // I2C Functions //
     ///////////////////
-        I2Cdev* i2c_;
+    I2Cdev* i2c_;
 
     
     // I2CwriteByte() -- Write a byte out of I2C to a register in the device