LSM9DS1.cpp

00001 /******************************************************************************
00002 SFE_LSM9DS1.cpp
00003 SFE_LSM9DS1 Library Source File
00004 Jim Lindblom @ SparkFun Electronics
00005 Original Creation Date: February 27, 2015
00006 https://github.com/sparkfun/LSM9DS1_Breakout
00007 
00008 This file implements all functions of the LSM9DS1 class. Functions here range
00009 from higher level stuff, like reading/writing LSM9DS1 registers to low-level,
00010 hardware reads and writes. Both SPI and I2C handler functions can be found
00011 towards the bottom of this file.
00012 
00013 Development environment specifics:
00014     IDE: Arduino 1.6
00015     Hardware Platform: Arduino Uno
00016     LSM9DS1 Breakout Version: 1.0
00017 
00018 This code is beerware; if you see me (or any other SparkFun employee) at the
00019 local, and you've found our code helpful, please buy us a round!
00020 
00021 Distributed as-is; no warranty is given.
00022 ******************************************************************************/
00023 
00024 #include "LSM9DS1.h"
00025 #include "LSM9DS1_Registers.h"
00026 #include "LSM9DS1_Types.h"
00027 //#include <Wire.h> // Wire library is used for I2C
00028 //#include <SPI.h>  // SPI library is used for...SPI.
00029 
00030 //#if defined(ARDUINO) && ARDUINO >= 100
00031 //  #include "Arduino.h"
00032 //#else
00033 //  #include "WProgram.h"
00034 //#endif
00035 
00036 #define LSM9DS1_COMMUNICATION_TIMEOUT 1000
00037 
00038 float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058};
00039 //extern Serial pc;
00040 #ifndef ULCD_4DGL_H_
00041 #define ULCD_4DGL_H_
00042 #include "uLCD_4DGL.h"
00043 #endif
00044 extern uLCD_4DGL uLCD;
00045 
00046 LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr)
00047     :i2c(sda, scl)
00048 {
00049     init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B
00050 }
00051 /*
00052 LSM9DS1::LSM9DS1()
00053 {
00054     init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1));
00055 }
00056 
00057 LSM9DS1::LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
00058 {
00059     init(interface, xgAddr, mAddr);
00060 }
00061 */
00062 
00063 void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
00064 {
00065     settings.device.commInterface = interface;
00066     settings.device.agAddress = xgAddr;
00067     settings.device.mAddress = mAddr;
00068 
00069     settings.gyro.enabled = true;
00070     settings.gyro.enableX = true;
00071     settings.gyro.enableY = true;
00072     settings.gyro.enableZ = true;
00073     // gyro scale can be 245, 500, or 2000
00074     settings.gyro.scale = 245;
00075     // gyro sample rate: value between 1-6
00076     // 1 = 14.9    4 = 238
00077     // 2 = 59.5    5 = 476
00078     // 3 = 119     6 = 952
00079     settings.gyro.sampleRate = 6;
00080     // gyro cutoff frequency: value between 0-3
00081     // Actual value of cutoff frequency depends
00082     // on sample rate.
00083     settings.gyro.bandwidth = 0;
00084     settings.gyro.lowPowerEnable = false;
00085     settings.gyro.HPFEnable = false;
00086     // Gyro HPF cutoff frequency: value between 0-9
00087     // Actual value depends on sample rate. Only applies
00088     // if gyroHPFEnable is true.
00089     settings.gyro.HPFCutoff = 0;
00090     settings.gyro.flipX = false;
00091     settings.gyro.flipY = false;
00092     settings.gyro.flipZ = false;
00093     settings.gyro.orientation = 0;
00094     settings.gyro.latchInterrupt = true;
00095 
00096     settings.accel.enabled = true;
00097     settings.accel.enableX = true;
00098     settings.accel.enableY = true;
00099     settings.accel.enableZ = true;
00100     // accel scale can be 2, 4, 8, or 16
00101     settings.accel.scale = 2;
00102     // accel sample rate can be 1-6
00103     // 1 = 10 Hz    4 = 238 Hz
00104     // 2 = 50 Hz    5 = 476 Hz
00105     // 3 = 119 Hz   6 = 952 Hz
00106     settings.accel.sampleRate = 6;
00107     // Accel cutoff freqeuncy can be any value between -1 - 3. 
00108     // -1 = bandwidth determined by sample rate
00109     // 0 = 408 Hz   2 = 105 Hz
00110     // 1 = 211 Hz   3 = 50 Hz
00111     settings.accel.bandwidth = -1;
00112     settings.accel.highResEnable = false;
00113     // accelHighResBandwidth can be any value between 0-3
00114     // LP cutoff is set to a factor of sample rate
00115     // 0 = ODR/50    2 = ODR/9
00116     // 1 = ODR/100   3 = ODR/400
00117     settings.accel.highResBandwidth = 0;
00118 
00119     settings.mag.enabled = true;
00120     // mag scale can be 4, 8, 12, or 16
00121     settings.mag.scale = 4;
00122     // mag data rate can be 0-7
00123     // 0 = 0.625 Hz  4 = 10 Hz
00124     // 1 = 1.25 Hz   5 = 20 Hz
00125     // 2 = 2.5 Hz    6 = 40 Hz
00126     // 3 = 5 Hz      7 = 80 Hz
00127     settings.mag.sampleRate = 7;
00128     settings.mag.tempCompensationEnable = false;
00129     // magPerformance can be any value between 0-3
00130     // 0 = Low power mode      2 = high performance
00131     // 1 = medium performance  3 = ultra-high performance
00132     settings.mag.XYPerformance = 3;
00133     settings.mag.ZPerformance = 3;
00134     settings.mag.lowPowerEnable = false;
00135     // magOperatingMode can be 0-2
00136     // 0 = continuous conversion
00137     // 1 = single-conversion
00138     // 2 = power down
00139     settings.mag.operatingMode = 0;
00140 
00141     settings.temp.enabled = true;
00142     for (int i=0; i<3; i++)
00143     {
00144         gBias[i] = 0;
00145         aBias[i] = 0;
00146         mBias[i] = 0;
00147         gBiasRaw[i] = 0;
00148         aBiasRaw[i] = 0;
00149         mBiasRaw[i] = 0;
00150     }
00151     _autoCalc = false;
00152 }
00153 
00154 
00155 uint16_t LSM9DS1::begin()
00156 {
00157     //! Todo: don't use _xgAddress or _mAddress, duplicating memory
00158     _xgAddress = settings.device.agAddress;
00159     _mAddress = settings.device.mAddress;
00160     
00161     constrainScales();
00162     // Once we have the scale values, we can calculate the resolution
00163     // of each sensor. That's what these functions are for. One for each sensor
00164     calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
00165     calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
00166     calcaRes(); // Calculate g / ADC tick, stored in aRes variable
00167     
00168     // Now, initialize our hardware interface.
00169     if (settings.device.commInterface == IMU_MODE_I2C)  // If we're using I2C
00170         initI2C();  // Initialize I2C
00171     else if (settings.device.commInterface == IMU_MODE_SPI)     // else, if we're using SPI
00172         initSPI();  // Initialize SPI
00173         
00174     // To verify communication, we can read from the WHO_AM_I register of
00175     // each device. Store those in a variable so we can return them.
00176     uint8_t mTest = mReadByte(WHO_AM_I_M);      // Read the gyro WHO_AM_I
00177     uint8_t xgTest = xgReadByte(WHO_AM_I_XG);   // Read the accel/mag WHO_AM_I
00178     //pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
00179     uLCD.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
00180     uint16_t whoAmICombined = (xgTest << 8) | mTest;
00181     
00182     if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
00183         return 0;
00184     
00185     // Gyro initialization stuff:
00186     initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
00187     
00188     // Accelerometer initialization stuff:
00189     initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
00190     
00191     // Magnetometer initialization stuff:
00192     initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
00193 
00194     // Once everything is initialized, return the WHO_AM_I registers we read:
00195     return whoAmICombined;
00196 }
00197 
00198 void LSM9DS1::initGyro()
00199 {
00200     uint8_t tempRegValue = 0;
00201     
00202     // CTRL_REG1_G (Default value: 0x00)
00203     // [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0]
00204     // ODR_G[2:0] - Output data rate selection
00205     // FS_G[1:0] - Gyroscope full-scale selection
00206     // BW_G[1:0] - Gyroscope bandwidth selection
00207     
00208     // To disable gyro, set sample rate bits to 0. We'll only set sample
00209     // rate if the gyro is enabled.
00210     if (settings.gyro.enabled)
00211     {
00212         tempRegValue = (settings.gyro.sampleRate & 0x07) << 5;
00213     }
00214     switch (settings.gyro.scale)
00215     {
00216         case 500:
00217             tempRegValue |= (0x1 << 3);
00218             break;
00219         case 2000:
00220             tempRegValue |= (0x3 << 3);
00221             break;
00222         // Otherwise we'll set it to 245 dps (0x0 << 4)
00223     }
00224     tempRegValue |= (settings.gyro.bandwidth & 0x3);
00225     xgWriteByte(CTRL_REG1_G, tempRegValue);
00226     
00227     // CTRL_REG2_G (Default value: 0x00)
00228     // [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0]
00229     // INT_SEL[1:0] - INT selection configuration
00230     // OUT_SEL[1:0] - Out selection configuration
00231     xgWriteByte(CTRL_REG2_G, 0x00); 
00232     
00233     // CTRL_REG3_G (Default value: 0x00)
00234     // [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G]
00235     // LP_mode - Low-power mode enable (0: disabled, 1: enabled)
00236     // HP_EN - HPF enable (0:disabled, 1: enabled)
00237     // HPCF_G[3:0] - HPF cutoff frequency
00238     tempRegValue = settings.gyro.lowPowerEnable ? (1<<7) : 0;
00239     if (settings.gyro.HPFEnable)
00240     {
00241         tempRegValue |= (1<<6) | (settings.gyro.HPFCutoff & 0x0F);
00242     }
00243     xgWriteByte(CTRL_REG3_G, tempRegValue);
00244     
00245     // CTRL_REG4 (Default value: 0x38)
00246     // [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1]
00247     // Zen_G - Z-axis output enable (0:disable, 1:enable)
00248     // Yen_G - Y-axis output enable (0:disable, 1:enable)
00249     // Xen_G - X-axis output enable (0:disable, 1:enable)
00250     // LIR_XL1 - Latched interrupt (0:not latched, 1:latched)
00251     // 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used)
00252     tempRegValue = 0;
00253     if (settings.gyro.enableZ) tempRegValue |= (1<<5);
00254     if (settings.gyro.enableY) tempRegValue |= (1<<4);
00255     if (settings.gyro.enableX) tempRegValue |= (1<<3);
00256     if (settings.gyro.latchInterrupt) tempRegValue |= (1<<1);
00257     xgWriteByte(CTRL_REG4, tempRegValue);
00258     
00259     // ORIENT_CFG_G (Default value: 0x00)
00260     // [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0]
00261     // SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative)
00262     // Orient [2:0] - Directional user orientation selection
00263     tempRegValue = 0;
00264     if (settings.gyro.flipX) tempRegValue |= (1<<5);
00265     if (settings.gyro.flipY) tempRegValue |= (1<<4);
00266     if (settings.gyro.flipZ) tempRegValue |= (1<<3);
00267     xgWriteByte(ORIENT_CFG_G, tempRegValue);
00268 }
00269 
00270 void LSM9DS1::initAccel()
00271 {
00272     uint8_t tempRegValue = 0;
00273     
00274     //  CTRL_REG5_XL (0x1F) (Default value: 0x38)
00275     //  [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0]
00276     //  DEC[0:1] - Decimation of accel data on OUT REG and FIFO.
00277     //      00: None, 01: 2 samples, 10: 4 samples 11: 8 samples
00278     //  Zen_XL - Z-axis output enabled
00279     //  Yen_XL - Y-axis output enabled
00280     //  Xen_XL - X-axis output enabled
00281     if (settings.accel.enableZ) tempRegValue |= (1<<5);
00282     if (settings.accel.enableY) tempRegValue |= (1<<4);
00283     if (settings.accel.enableX) tempRegValue |= (1<<3);
00284     
00285     xgWriteByte(CTRL_REG5_XL, tempRegValue);
00286     
00287     // CTRL_REG6_XL (0x20) (Default value: 0x00)
00288     // [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0]
00289     // ODR_XL[2:0] - Output data rate & power mode selection
00290     // FS_XL[1:0] - Full-scale selection
00291     // BW_SCAL_ODR - Bandwidth selection
00292     // BW_XL[1:0] - Anti-aliasing filter bandwidth selection
00293     tempRegValue = 0;
00294     // To disable the accel, set the sampleRate bits to 0.
00295     if (settings.accel.enabled)
00296     {
00297         tempRegValue |= (settings.accel.sampleRate & 0x07) << 5;
00298     }
00299     switch (settings.accel.scale)
00300     {
00301         case 4:
00302             tempRegValue |= (0x2 << 3);
00303             break;
00304         case 8:
00305             tempRegValue |= (0x3 << 3);
00306             break;
00307         case 16:
00308             tempRegValue |= (0x1 << 3);
00309             break;
00310         // Otherwise it'll be set to 2g (0x0 << 3)
00311     }
00312     if (settings.accel.bandwidth >= 0)
00313     {
00314         tempRegValue |= (1<<2); // Set BW_SCAL_ODR
00315         tempRegValue |= (settings.accel.bandwidth & 0x03);
00316     }
00317     xgWriteByte(CTRL_REG6_XL, tempRegValue);
00318     
00319     // CTRL_REG7_XL (0x21) (Default value: 0x00)
00320     // [HR][DCF1][DCF0][0][0][FDS][0][HPIS1]
00321     // HR - High resolution mode (0: disable, 1: enable)
00322     // DCF[1:0] - Digital filter cutoff frequency
00323     // FDS - Filtered data selection
00324     // HPIS1 - HPF enabled for interrupt function
00325     tempRegValue = 0;
00326     if (settings.accel.highResEnable)
00327     {
00328         tempRegValue |= (1<<7); // Set HR bit
00329         tempRegValue |= (settings.accel.highResBandwidth & 0x3) << 5;
00330     }
00331     xgWriteByte(CTRL_REG7_XL, tempRegValue);
00332 }
00333 
00334 // This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average
00335 // them, scales them to  gs and deg/s, respectively, and then passes the biases to the main sketch
00336 // for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store
00337 // the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to
00338 // subtract the biases ourselves. This results in a more accurate measurement in general and can
00339 // remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
00340 // is good practice.
00341 void LSM9DS1::calibrate(bool autoCalc)
00342 {  
00343     uint8_t data[6] = {0, 0, 0, 0, 0, 0};
00344     uint8_t samples = 0;
00345     int ii;
00346     int32_t aBiasRawTemp[3] = {0, 0, 0};
00347     int32_t gBiasRawTemp[3] = {0, 0, 0};
00348     
00349     // Turn on FIFO and set threshold to 32 samples
00350     enableFIFO(true);
00351     setFIFO(FIFO_THS, 0x1F);
00352     while (samples < 0x1F)
00353     {
00354         samples = (xgReadByte(FIFO_SRC) & 0x3F); // Read number of stored samples
00355     }
00356     for(ii = 0; ii < samples ; ii++) 
00357     {   // Read the gyro data stored in the FIFO
00358         readGyro();
00359         gBiasRawTemp[0] += gx;
00360         gBiasRawTemp[1] += gy;
00361         gBiasRawTemp[2] += gz;
00362         readAccel();
00363         aBiasRawTemp[0] += ax;
00364         aBiasRawTemp[1] += ay;
00365         aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up!
00366     }  
00367     for (ii = 0; ii < 3; ii++)
00368     {
00369         gBiasRaw[ii] = gBiasRawTemp[ii] / samples;
00370         gBias[ii] = calcGyro(gBiasRaw[ii]);
00371         aBiasRaw[ii] = aBiasRawTemp[ii] / samples;
00372         aBias[ii] = calcAccel(aBiasRaw[ii]);
00373     }
00374     
00375     enableFIFO(false);
00376     setFIFO(FIFO_OFF, 0x00);
00377     
00378     if (autoCalc) _autoCalc = true;
00379 }
00380 
00381 void LSM9DS1::calibrateMag(bool loadIn)
00382 {
00383     int i, j;
00384     int16_t magMin[3] = {0, 0, 0};
00385     int16_t magMax[3] = {0, 0, 0}; // The road warrior
00386     
00387     for (i=0; i<128; i++)
00388     {
00389         while (!magAvailable())
00390             ;
00391         readMag();
00392         int16_t magTemp[3] = {0, 0, 0};
00393         magTemp[0] = mx;        
00394         magTemp[1] = my;
00395         magTemp[2] = mz;
00396         for (j = 0; j < 3; j++)
00397         {
00398             if (magTemp[j] > magMax[j]) magMax[j] = magTemp[j];
00399             if (magTemp[j] < magMin[j]) magMin[j] = magTemp[j];
00400         }
00401     }
00402     for (j = 0; j < 3; j++)
00403     {
00404         mBiasRaw[j] = (magMax[j] + magMin[j]) / 2;
00405         mBias[j] = calcMag(mBiasRaw[j]);
00406         if (loadIn)
00407             magOffset(j, mBiasRaw[j]);
00408     }
00409     
00410 }
00411 void LSM9DS1::magOffset(uint8_t axis, int16_t offset)
00412 {
00413     if (axis > 2)
00414         return;
00415     uint8_t msb, lsb;
00416     msb = (offset & 0xFF00) >> 8;
00417     lsb = offset & 0x00FF;
00418     mWriteByte(OFFSET_X_REG_L_M + (2 * axis), lsb);
00419     mWriteByte(OFFSET_X_REG_H_M + (2 * axis), msb);
00420 }
00421 
00422 void LSM9DS1::initMag()
00423 {
00424     uint8_t tempRegValue = 0;
00425     
00426     // CTRL_REG1_M (Default value: 0x10)
00427     // [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST]
00428     // TEMP_COMP - Temperature compensation
00429     // OM[1:0] - X & Y axes op mode selection
00430     //  00:low-power, 01:medium performance
00431     //  10: high performance, 11:ultra-high performance
00432     // DO[2:0] - Output data rate selection
00433     // ST - Self-test enable
00434     if (settings.mag.tempCompensationEnable) tempRegValue |= (1<<7);
00435     tempRegValue |= (settings.mag.XYPerformance & 0x3) << 5;
00436     tempRegValue |= (settings.mag.sampleRate & 0x7) << 2;
00437     mWriteByte(CTRL_REG1_M, tempRegValue);
00438     
00439     // CTRL_REG2_M (Default value 0x00)
00440     // [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0]
00441     // FS[1:0] - Full-scale configuration
00442     // REBOOT - Reboot memory content (0:normal, 1:reboot)
00443     // SOFT_RST - Reset config and user registers (0:default, 1:reset)
00444     tempRegValue = 0;
00445     switch (settings.mag.scale)
00446     {
00447     case 8:
00448         tempRegValue |= (0x1 << 5);
00449         break;
00450     case 12:
00451         tempRegValue |= (0x2 << 5);
00452         break;
00453     case 16:
00454         tempRegValue |= (0x3 << 5);
00455         break;
00456     // Otherwise we'll default to 4 gauss (00)
00457     }
00458     mWriteByte(CTRL_REG2_M, tempRegValue); // +/-4Gauss
00459     
00460     // CTRL_REG3_M (Default value: 0x03)
00461     // [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0]
00462     // I2C_DISABLE - Disable I2C interace (0:enable, 1:disable)
00463     // LP - Low-power mode cofiguration (1:enable)
00464     // SIM - SPI mode selection (0:write-only, 1:read/write enable)
00465     // MD[1:0] - Operating mode
00466     //  00:continuous conversion, 01:single-conversion,
00467     //  10,11: Power-down
00468     tempRegValue = 0;
00469     if (settings.mag.lowPowerEnable) tempRegValue |= (1<<5);
00470     tempRegValue |= (settings.mag.operatingMode & 0x3);
00471     mWriteByte(CTRL_REG3_M, tempRegValue); // Continuous conversion mode
00472     
00473     // CTRL_REG4_M (Default value: 0x00)
00474     // [0][0][0][0][OMZ1][OMZ0][BLE][0]
00475     // OMZ[1:0] - Z-axis operative mode selection
00476     //  00:low-power mode, 01:medium performance
00477     //  10:high performance, 10:ultra-high performance
00478     // BLE - Big/little endian data
00479     tempRegValue = 0;
00480     tempRegValue = (settings.mag.ZPerformance & 0x3) << 2;
00481     mWriteByte(CTRL_REG4_M, tempRegValue);
00482     
00483     // CTRL_REG5_M (Default value: 0x00)
00484     // [0][BDU][0][0][0][0][0][0]
00485     // BDU - Block data update for magnetic data
00486     //  0:continuous, 1:not updated until MSB/LSB are read
00487     tempRegValue = 0;
00488     mWriteByte(CTRL_REG5_M, tempRegValue);
00489 }
00490 
00491 uint8_t LSM9DS1::accelAvailable()
00492 {
00493     uint8_t status = xgReadByte(STATUS_REG_1);
00494     
00495     return (status & (1<<0));
00496 }
00497 
00498 uint8_t LSM9DS1::gyroAvailable()
00499 {
00500     uint8_t status = xgReadByte(STATUS_REG_1);
00501     
00502     return ((status & (1<<1)) >> 1);
00503 }
00504 
00505 uint8_t LSM9DS1::tempAvailable()
00506 {
00507     uint8_t status = xgReadByte(STATUS_REG_1);
00508     
00509     return ((status & (1<<2)) >> 2);
00510 }
00511 
00512 uint8_t LSM9DS1::magAvailable(lsm9ds1_axis axis)
00513 {
00514     uint8_t status;
00515     status = mReadByte(STATUS_REG_M);
00516     
00517     return ((status & (1<<axis)) >> axis);
00518 }
00519 
00520 void LSM9DS1::readAccel()
00521 {
00522     uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp   
00523     xgReadBytes(OUT_X_L_XL, temp, 6); // Read 6 bytes, beginning at OUT_X_L_XL
00524     ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
00525     ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
00526     az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
00527     if (_autoCalc)
00528     {
00529         ax -= aBiasRaw[X_AXIS];
00530         ay -= aBiasRaw[Y_AXIS];
00531         az -= aBiasRaw[Z_AXIS];
00532     }
00533 }
00534 
00535 int16_t LSM9DS1::readAccel(lsm9ds1_axis axis)
00536 {
00537     uint8_t temp[2];
00538     int16_t value;
00539     xgReadBytes(OUT_X_L_XL + (2 * axis), temp, 2);
00540     value = (temp[1] << 8) | temp[0];
00541     
00542     if (_autoCalc)
00543         value -= aBiasRaw[axis];
00544     
00545     return value;
00546 }
00547 
00548 void LSM9DS1::readMag()
00549 {
00550     uint8_t temp[6]; // We'll read six bytes from the mag into temp 
00551     mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
00552     mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
00553     my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
00554     mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
00555 }
00556 
00557 int16_t LSM9DS1::readMag(lsm9ds1_axis axis)
00558 {
00559     uint8_t temp[2];
00560     mReadBytes(OUT_X_L_M + (2 * axis), temp, 2);
00561     return (temp[1] << 8) | temp[0];
00562 }
00563 
00564 void LSM9DS1::readTemp()
00565 {
00566     uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp  
00567     xgReadBytes(OUT_TEMP_L, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L
00568     temperature = ((int16_t)temp[1] << 8) | temp[0];
00569 }
00570 
00571 void LSM9DS1::readGyro()
00572 {
00573     uint8_t temp[6]; // We'll read six bytes from the gyro into temp
00574     xgReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G
00575     gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx
00576     gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy
00577     gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz
00578     if (_autoCalc)
00579     {
00580         gx -= gBiasRaw[X_AXIS];
00581         gy -= gBiasRaw[Y_AXIS];
00582         gz -= gBiasRaw[Z_AXIS];
00583     }
00584 }
00585 
00586 int16_t LSM9DS1::readGyro(lsm9ds1_axis axis)
00587 {
00588     uint8_t temp[2];
00589     int16_t value;
00590     
00591     xgReadBytes(OUT_X_L_G + (2 * axis), temp, 2);
00592     
00593     value = (temp[1] << 8) | temp[0];
00594     
00595     if (_autoCalc)
00596         value -= gBiasRaw[axis];
00597     
00598     return value;
00599 }
00600 
00601 float LSM9DS1::calcGyro(int16_t gyro)
00602 {
00603     // Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
00604     return gRes * gyro; 
00605 }
00606 
00607 float LSM9DS1::calcAccel(int16_t accel)
00608 {
00609     // Return the accel raw reading times our pre-calculated g's / (ADC tick):
00610     return aRes * accel;
00611 }
00612 
00613 float LSM9DS1::calcMag(int16_t mag)
00614 {
00615     // Return the mag raw reading times our pre-calculated Gs / (ADC tick):
00616     return mRes * mag;
00617 }
00618 
00619 void LSM9DS1::setGyroScale(uint16_t gScl)
00620 {
00621     // Read current value of CTRL_REG1_G:
00622     uint8_t ctrl1RegValue = xgReadByte(CTRL_REG1_G);
00623     // Mask out scale bits (3 & 4):
00624     ctrl1RegValue &= 0xE7;
00625     switch (gScl)
00626     {
00627         case 500:
00628             ctrl1RegValue |= (0x1 << 3);
00629             settings.gyro.scale = 500;
00630             break;
00631         case 2000:
00632             ctrl1RegValue |= (0x3 << 3);
00633             settings.gyro.scale = 2000;
00634             break;
00635         default: // Otherwise we'll set it to 245 dps (0x0 << 4)
00636             settings.gyro.scale = 245;
00637             break;
00638     }
00639     xgWriteByte(CTRL_REG1_G, ctrl1RegValue);
00640     
00641     calcgRes(); 
00642 }
00643 
00644 void LSM9DS1::setAccelScale(uint8_t aScl)
00645 {
00646     // We need to preserve the other bytes in CTRL_REG6_XL. So, first read it:
00647     uint8_t tempRegValue = xgReadByte(CTRL_REG6_XL);
00648     // Mask out accel scale bits:
00649     tempRegValue &= 0xE7;
00650     
00651     switch (aScl)
00652     {
00653         case 4:
00654             tempRegValue |= (0x2 << 3);
00655             settings.accel.scale = 4;
00656             break;
00657         case 8:
00658             tempRegValue |= (0x3 << 3);
00659             settings.accel.scale = 8;
00660             break;
00661         case 16:
00662             tempRegValue |= (0x1 << 3);
00663             settings.accel.scale = 16;
00664             break;
00665         default: // Otherwise it'll be set to 2g (0x0 << 3)
00666             settings.accel.scale = 2;
00667             break;
00668     }
00669     xgWriteByte(CTRL_REG6_XL, tempRegValue);
00670     
00671     // Then calculate a new aRes, which relies on aScale being set correctly:
00672     calcaRes();
00673 }
00674 
00675 void LSM9DS1::setMagScale(uint8_t mScl)
00676 {
00677     // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
00678     uint8_t temp = mReadByte(CTRL_REG2_M);
00679     // Then mask out the mag scale bits:
00680     temp &= 0xFF^(0x3 << 5);
00681     
00682     switch (mScl)
00683     {
00684     case 8:
00685         temp |= (0x1 << 5);
00686         settings.mag.scale = 8;
00687         break;
00688     case 12:
00689         temp |= (0x2 << 5);
00690         settings.mag.scale = 12;
00691         break;
00692     case 16:
00693         temp |= (0x3 << 5);
00694         settings.mag.scale = 16;
00695         break;
00696     default: // Otherwise we'll default to 4 gauss (00)
00697         settings.mag.scale = 4;
00698         break;
00699     }   
00700     
00701     // And write the new register value back into CTRL_REG6_XM:
00702     mWriteByte(CTRL_REG2_M, temp);
00703     
00704     // We've updated the sensor, but we also need to update our class variables
00705     // First update mScale:
00706     //mScale = mScl;
00707     // Then calculate a new mRes, which relies on mScale being set correctly:
00708     calcmRes();
00709 }
00710 
00711 void LSM9DS1::setGyroODR(uint8_t gRate)
00712 {
00713     // Only do this if gRate is not 0 (which would disable the gyro)
00714     if ((gRate & 0x07) != 0)
00715     {
00716         // We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
00717         uint8_t temp = xgReadByte(CTRL_REG1_G);
00718         // Then mask out the gyro ODR bits:
00719         temp &= 0xFF^(0x7 << 5);
00720         temp |= (gRate & 0x07) << 5;
00721         // Update our settings struct
00722         settings.gyro.sampleRate = gRate & 0x07;
00723         // And write the new register value back into CTRL_REG1_G:
00724         xgWriteByte(CTRL_REG1_G, temp);
00725     }
00726 }
00727 
00728 void LSM9DS1::setAccelODR(uint8_t aRate)
00729 {
00730     // Only do this if aRate is not 0 (which would disable the accel)
00731     if ((aRate & 0x07) != 0)
00732     {
00733         // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
00734         uint8_t temp = xgReadByte(CTRL_REG6_XL);
00735         // Then mask out the accel ODR bits:
00736         temp &= 0x1F;
00737         // Then shift in our new ODR bits:
00738         temp |= ((aRate & 0x07) << 5);
00739         settings.accel.sampleRate = aRate & 0x07;
00740         // And write the new register value back into CTRL_REG1_XM:
00741         xgWriteByte(CTRL_REG6_XL, temp);
00742     }
00743 }
00744 
00745 void LSM9DS1::setMagODR(uint8_t mRate)
00746 {
00747     // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
00748     uint8_t temp = mReadByte(CTRL_REG1_M);
00749     // Then mask out the mag ODR bits:
00750     temp &= 0xFF^(0x7 << 2);
00751     // Then shift in our new ODR bits:
00752     temp |= ((mRate & 0x07) << 2);
00753     settings.mag.sampleRate = mRate & 0x07;
00754     // And write the new register value back into CTRL_REG5_XM:
00755     mWriteByte(CTRL_REG1_M, temp);
00756 }
00757 
00758 void LSM9DS1::calcgRes()
00759 {
00760     gRes = ((float) settings.gyro.scale) / 32768.0;
00761 }
00762 
00763 void LSM9DS1::calcaRes()
00764 {
00765     aRes = ((float) settings.accel.scale) / 32768.0;
00766 }
00767 
00768 void LSM9DS1::calcmRes()
00769 {
00770     //mRes = ((float) settings.mag.scale) / 32768.0;
00771     switch (settings.mag.scale)
00772     {
00773     case 4:
00774         mRes = magSensitivity[0];
00775         break;
00776     case 8:
00777         mRes = magSensitivity[1];
00778         break;
00779     case 12:
00780         mRes = magSensitivity[2];
00781         break;
00782     case 16:
00783         mRes = magSensitivity[3];
00784         break;
00785     }
00786     
00787 }
00788 
00789 void LSM9DS1::configInt(interrupt_select interrupt, uint8_t generator,
00790                          h_lactive activeLow, pp_od pushPull)
00791 {
00792     // Write to INT1_CTRL or INT2_CTRL. [interupt] should already be one of
00793     // those two values.
00794     // [generator] should be an OR'd list of values from the interrupt_generators enum
00795     xgWriteByte(interrupt, generator);
00796     
00797     // Configure CTRL_REG8
00798     uint8_t temp;
00799     temp = xgReadByte(CTRL_REG8);
00800     
00801     if (activeLow) temp |= (1<<5);
00802     else temp &= ~(1<<5);
00803     
00804     if (pushPull) temp &= ~(1<<4);
00805     else temp |= (1<<4);
00806     
00807     xgWriteByte(CTRL_REG8, temp);
00808 }
00809 
00810 void LSM9DS1::configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn)
00811 {
00812     uint8_t temp = 0;
00813     
00814     temp = threshold & 0x7F;
00815     if (sleepOn) temp |= (1<<7);
00816     xgWriteByte(ACT_THS, temp);
00817     
00818     xgWriteByte(ACT_DUR, duration);
00819 }
00820 
00821 uint8_t LSM9DS1::getInactivity()
00822 {
00823     uint8_t temp = xgReadByte(STATUS_REG_0);
00824     temp &= (0x10);
00825     return temp;
00826 }
00827 
00828 void LSM9DS1::configAccelInt(uint8_t generator, bool andInterrupts)
00829 {
00830     // Use variables from accel_interrupt_generator, OR'd together to create
00831     // the [generator]value.
00832     uint8_t temp = generator;
00833     if (andInterrupts) temp |= 0x80;
00834     xgWriteByte(INT_GEN_CFG_XL, temp);
00835 }
00836 
00837 void LSM9DS1::configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
00838 {
00839     // Write threshold value to INT_GEN_THS_?_XL.
00840     // axis will be 0, 1, or 2 (x, y, z respectively)
00841     xgWriteByte(INT_GEN_THS_X_XL + axis, threshold);
00842     
00843     // Write duration and wait to INT_GEN_DUR_XL
00844     uint8_t temp;
00845     temp = (duration & 0x7F);
00846     if (wait) temp |= 0x80;
00847     xgWriteByte(INT_GEN_DUR_XL, temp);
00848 }
00849 
00850 uint8_t LSM9DS1::getAccelIntSrc()
00851 {
00852     uint8_t intSrc = xgReadByte(INT_GEN_SRC_XL);
00853     
00854     // Check if the IA_XL (interrupt active) bit is set
00855     if (intSrc & (1<<6))
00856     {
00857         return (intSrc & 0x3F);
00858     }
00859     
00860     return 0;
00861 }
00862 
00863 void LSM9DS1::configGyroInt(uint8_t generator, bool aoi, bool latch)
00864 {
00865     // Use variables from accel_interrupt_generator, OR'd together to create
00866     // the [generator]value.
00867     uint8_t temp = generator;
00868     if (aoi) temp |= 0x80;
00869     if (latch) temp |= 0x40;
00870     xgWriteByte(INT_GEN_CFG_G, temp);
00871 }
00872 
00873 void LSM9DS1::configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
00874 {
00875     uint8_t buffer[2];
00876     buffer[0] = (threshold & 0x7F00) >> 8;
00877     buffer[1] = (threshold & 0x00FF);
00878     // Write threshold value to INT_GEN_THS_?H_G and  INT_GEN_THS_?L_G.
00879     // axis will be 0, 1, or 2 (x, y, z respectively)
00880     xgWriteByte(INT_GEN_THS_XH_G + (axis * 2), buffer[0]);
00881     xgWriteByte(INT_GEN_THS_XH_G + 1 + (axis * 2), buffer[1]);
00882     
00883     // Write duration and wait to INT_GEN_DUR_XL
00884     uint8_t temp;
00885     temp = (duration & 0x7F);
00886     if (wait) temp |= 0x80;
00887     xgWriteByte(INT_GEN_DUR_G, temp);
00888 }
00889 
00890 uint8_t LSM9DS1::getGyroIntSrc()
00891 {
00892     uint8_t intSrc = xgReadByte(INT_GEN_SRC_G);
00893     
00894     // Check if the IA_G (interrupt active) bit is set
00895     if (intSrc & (1<<6))
00896     {
00897         return (intSrc & 0x3F);
00898     }
00899     
00900     return 0;
00901 }
00902 
00903 void LSM9DS1::configMagInt(uint8_t generator, h_lactive activeLow, bool latch)
00904 {
00905     // Mask out non-generator bits (0-4)
00906     uint8_t config = (generator & 0xE0);    
00907     // IEA bit is 0 for active-low, 1 for active-high.
00908     if (activeLow == INT_ACTIVE_HIGH) config |= (1<<2);
00909     // IEL bit is 0 for latched, 1 for not-latched
00910     if (!latch) config |= (1<<1);
00911     // As long as we have at least 1 generator, enable the interrupt
00912     if (generator != 0) config |= (1<<0);
00913     
00914     mWriteByte(INT_CFG_M, config);
00915 }
00916 
00917 void LSM9DS1::configMagThs(uint16_t threshold)
00918 {
00919     // Write high eight bits of [threshold] to INT_THS_H_M
00920     mWriteByte(INT_THS_H_M, uint8_t((threshold & 0x7F00) >> 8));
00921     // Write low eight bits of [threshold] to INT_THS_L_M
00922     mWriteByte(INT_THS_L_M, uint8_t(threshold & 0x00FF));
00923 }
00924 
00925 uint8_t LSM9DS1::getMagIntSrc()
00926 {
00927     uint8_t intSrc = mReadByte(INT_SRC_M);
00928     
00929     // Check if the INT (interrupt active) bit is set
00930     if (intSrc & (1<<0))
00931     {
00932         return (intSrc & 0xFE);
00933     }
00934     
00935     return 0;
00936 }
00937 
00938 void LSM9DS1::sleepGyro(bool enable)
00939 {
00940     uint8_t temp = xgReadByte(CTRL_REG9);
00941     if (enable) temp |= (1<<6);
00942     else temp &= ~(1<<6);
00943     xgWriteByte(CTRL_REG9, temp);
00944 }
00945 
00946 void LSM9DS1::enableFIFO(bool enable)
00947 {
00948     uint8_t temp = xgReadByte(CTRL_REG9);
00949     if (enable) temp |= (1<<1);
00950     else temp &= ~(1<<1);
00951     xgWriteByte(CTRL_REG9, temp);
00952 }
00953 
00954 void LSM9DS1::setFIFO(fifoMode_type fifoMode, uint8_t fifoThs)
00955 {
00956     // Limit threshold - 0x1F (31) is the maximum. If more than that was asked
00957     // limit it to the maximum.
00958     uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F;
00959     xgWriteByte(FIFO_CTRL, ((fifoMode & 0x7) << 5) | (threshold & 0x1F));
00960 }
00961 
00962 uint8_t LSM9DS1::getFIFOSamples()
00963 {
00964     return (xgReadByte(FIFO_SRC) & 0x3F);
00965 }
00966 
00967 void LSM9DS1::constrainScales()
00968 {
00969     if ((settings.gyro.scale != 245) && (settings.gyro.scale != 500) && 
00970         (settings.gyro.scale != 2000))
00971     {
00972         settings.gyro.scale = 245;
00973     }
00974         
00975     if ((settings.accel.scale != 2) && (settings.accel.scale != 4) &&
00976         (settings.accel.scale != 8) && (settings.accel.scale != 16))
00977     {
00978         settings.accel.scale = 2;
00979     }
00980         
00981     if ((settings.mag.scale != 4) && (settings.mag.scale != 8) &&
00982         (settings.mag.scale != 12) && (settings.mag.scale != 16))
00983     {
00984         settings.mag.scale = 4;
00985     }
00986 }
00987 
00988 void LSM9DS1::xgWriteByte(uint8_t subAddress, uint8_t data)
00989 {
00990     // Whether we're using I2C or SPI, write a byte using the
00991     // gyro-specific I2C address or SPI CS pin.
00992     if (settings.device.commInterface == IMU_MODE_I2C) {
00993         printf("yo");
00994         I2CwriteByte(_xgAddress, subAddress, data);
00995     } else if (settings.device.commInterface == IMU_MODE_SPI) {
00996         SPIwriteByte(_xgAddress, subAddress, data);
00997     }
00998 }
00999 
01000 void LSM9DS1::mWriteByte(uint8_t subAddress, uint8_t data)
01001 {
01002     // Whether we're using I2C or SPI, write a byte using the
01003     // accelerometer-specific I2C address or SPI CS pin.
01004     if (settings.device.commInterface == IMU_MODE_I2C)
01005         return I2CwriteByte(_mAddress, subAddress, data);
01006     else if (settings.device.commInterface == IMU_MODE_SPI)
01007         return SPIwriteByte(_mAddress, subAddress, data);
01008 }
01009 
01010 uint8_t LSM9DS1::xgReadByte(uint8_t subAddress)
01011 {
01012     // Whether we're using I2C or SPI, read a byte using the
01013     // gyro-specific I2C address or SPI CS pin.
01014     if (settings.device.commInterface == IMU_MODE_I2C)
01015         return I2CreadByte(_xgAddress, subAddress);
01016     else if (settings.device.commInterface == IMU_MODE_SPI)
01017         return SPIreadByte(_xgAddress, subAddress);
01018 }
01019 
01020 void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
01021 {
01022     // Whether we're using I2C or SPI, read multiple bytes using the
01023     // gyro-specific I2C address or SPI CS pin.
01024     if (settings.device.commInterface == IMU_MODE_I2C) {
01025         I2CreadBytes(_xgAddress, subAddress, dest, count);
01026     } else if (settings.device.commInterface == IMU_MODE_SPI) {
01027         SPIreadBytes(_xgAddress, subAddress, dest, count);
01028     }
01029 }
01030 
01031 uint8_t LSM9DS1::mReadByte(uint8_t subAddress)
01032 {
01033     // Whether we're using I2C or SPI, read a byte using the
01034     // accelerometer-specific I2C address or SPI CS pin.
01035     if (settings.device.commInterface == IMU_MODE_I2C)
01036         return I2CreadByte(_mAddress, subAddress);
01037     else if (settings.device.commInterface == IMU_MODE_SPI)
01038         return SPIreadByte(_mAddress, subAddress);
01039 }
01040 
01041 void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
01042 {
01043     // Whether we're using I2C or SPI, read multiple bytes using the
01044     // accelerometer-specific I2C address or SPI CS pin.
01045     if (settings.device.commInterface == IMU_MODE_I2C)
01046         I2CreadBytes(_mAddress, subAddress, dest, count);
01047     else if (settings.device.commInterface == IMU_MODE_SPI)
01048         SPIreadBytes(_mAddress, subAddress, dest, count);
01049 }
01050 
01051 void LSM9DS1::initSPI()
01052 {
01053     /* 
01054     pinMode(_xgAddress, OUTPUT);
01055     digitalWrite(_xgAddress, HIGH);
01056     pinMode(_mAddress, OUTPUT);
01057     digitalWrite(_mAddress, HIGH);
01058     
01059     SPI.begin();
01060     // Maximum SPI frequency is 10MHz, could divide by 2 here:
01061     SPI.setClockDivider(SPI_CLOCK_DIV2);
01062     // Data is read and written MSb first.
01063     SPI.setBitOrder(MSBFIRST);
01064     // Data is captured on rising edge of clock (CPHA = 0)
01065     // Base value of the clock is HIGH (CPOL = 1)
01066     SPI.setDataMode(SPI_MODE0);
01067     */
01068 }
01069 
01070 void LSM9DS1::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data)
01071 {
01072     /*
01073     digitalWrite(csPin, LOW); // Initiate communication
01074     
01075     // If write, bit 0 (MSB) should be 0
01076     // If single write, bit 1 should be 0
01077     SPI.transfer(subAddress & 0x3F); // Send Address
01078     SPI.transfer(data); // Send data
01079     
01080     digitalWrite(csPin, HIGH); // Close communication
01081     */
01082 }
01083 
01084 uint8_t LSM9DS1::SPIreadByte(uint8_t csPin, uint8_t subAddress)
01085 {
01086     uint8_t temp;
01087     // Use the multiple read function to read 1 byte. 
01088     // Value is returned to `temp`.
01089     SPIreadBytes(csPin, subAddress, &temp, 1);
01090     return temp;
01091 }
01092 
01093 void LSM9DS1::SPIreadBytes(uint8_t csPin, uint8_t subAddress,
01094                             uint8_t * dest, uint8_t count)
01095 {
01096     // To indicate a read, set bit 0 (msb) of first byte to 1
01097     uint8_t rAddress = 0x80 | (subAddress & 0x3F);
01098     // Mag SPI port is different. If we're reading multiple bytes, 
01099     // set bit 1 to 1. The remaining six bytes are the address to be read
01100     if ((csPin == _mAddress) && count > 1)
01101         rAddress |= 0x40;
01102     
01103     /* 
01104     digitalWrite(csPin, LOW); // Initiate communication
01105     SPI.transfer(rAddress);
01106     for (int i=0; i<count; i++)
01107     {
01108         dest[i] = SPI.transfer(0x00); // Read into destination array
01109     }
01110     digitalWrite(csPin, HIGH); // Close communication
01111     */
01112 }
01113 
01114 void LSM9DS1::initI2C()
01115 {
01116     /* 
01117     Wire.begin();   // Initialize I2C library
01118     */
01119     
01120     //already initialized in constructor!
01121 }
01122 
01123 // Wire.h read and write protocols
01124 void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
01125 {
01126     /* 
01127     Wire.beginTransmission(address);  // Initialize the Tx buffer
01128     Wire.write(subAddress);           // Put slave register address in Tx buffer
01129     Wire.write(data);                 // Put data in Tx buffer
01130     Wire.endTransmission();           // Send the Tx buffer
01131     */
01132     char temp_data[2] = {subAddress, data};
01133     i2c.write(address, temp_data, 2);
01134 }
01135 
01136 uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress)
01137 {
01138     /* 
01139     int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
01140     uint8_t data; // `data` will store the register data    
01141     
01142     Wire.beginTransmission(address);         // Initialize the Tx buffer
01143     Wire.write(subAddress);                  // Put slave register address in Tx buffer
01144     Wire.endTransmission(true);             // Send the Tx buffer, but send a restart to keep connection alive
01145     Wire.requestFrom(address, (uint8_t) 1);  // Read one byte from slave register address 
01146     while ((Wire.available() < 1) && (timeout-- > 0))
01147         delay(1);
01148     
01149     if (timeout <= 0)
01150         return 255; //! Bad! 255 will be misinterpreted as a good value.
01151     
01152     data = Wire.read();                      // Fill Rx buffer with result
01153     return data;                             // Return data read from slave register
01154     */
01155     char data;
01156     char temp[1] = {subAddress};
01157     
01158     i2c.write(address, temp, 1);
01159     //i2c.write(address & 0xFE);
01160     temp[1] = 0x00;
01161     i2c.write(address, temp, 1);
01162     //i2c.write( address | 0x01);
01163     int a = i2c.read(address, &data, 1);
01164     return data;
01165 }
01166 
01167 uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
01168 {  
01169     /* 
01170     int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
01171     Wire.beginTransmission(address);   // Initialize the Tx buffer
01172     // Next send the register to be read. OR with 0x80 to indicate multi-read.
01173     Wire.write(subAddress | 0x80);     // Put slave register address in Tx buffer
01174 
01175     Wire.endTransmission(true);             // Send the Tx buffer, but send a restart to keep connection alive
01176     uint8_t i = 0;
01177     Wire.requestFrom(address, count);  // Read bytes from slave register address 
01178     while ((Wire.available() < count) && (timeout-- > 0))
01179         delay(1);
01180     if (timeout <= 0)
01181         return -1;
01182     
01183     for (int i=0; i<count;)
01184     {
01185         if (Wire.available())
01186         {
01187             dest[i++] = Wire.read();
01188         }
01189     }
01190     return count;
01191     */
01192     int i;
01193     char temp_dest[count];
01194     char temp[1] = {subAddress};
01195     i2c.write(address, temp, 1);
01196     i2c.read(address, temp_dest, count);
01197     
01198     //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion
01199     for (i=0; i < count; i++) {
01200         dest[i] = temp_dest[i];    
01201     }
01202     return count;
01203 }