VGR
Dependents: VITI_motor_angle_1 VITI_motor_angle_2 VITI_motor_angle_3
Diff: LSM9DS1.h
- Revision:
- 1:0e76f237c23d
- Parent:
- 0:622e8874902e
- Child:
- 3:f96b287c0bf7
--- a/LSM9DS1.h Mon Oct 19 13:50:48 2015 +0000 +++ b/LSM9DS1.h Mon Oct 19 13:56:52 2015 +0000 @@ -269,7 +269,7 @@ /** setGyroScale() -- Set the full-scale range of the gyroscope. * This function can be called to set the scale of the gyroscope to - * 245, 500, or 200 degrees per second. + * 245, 500, or 2000 degrees per second. * Input: * - gScl = The desired gyroscope scale. Must be one of three possible * values from the gyro_scale enum. @@ -278,7 +278,7 @@ /** setAccelScale() -- Set the full-scale range of the accelerometer. * This function can be called to set the scale of the accelerometer to - * 2, 4, 6, 8, or 16 g's. + * 2, 4, 8, or 16 g's. * Input: * - aScl = The desired accelerometer scale. Must be one of five possible * values from the accel_scale enum. @@ -287,7 +287,7 @@ /** setMagScale() -- Set the full-scale range of the magnetometer. * This function can be called to set the scale of the magnetometer to - * 2, 4, 8, or 12 Gs. + * 4, 8, 12, or 16 Gs. * Input: * - mScl = The desired magnetometer scale. Must be one of four possible * values from the mag_scale enum. @@ -297,21 +297,21 @@ /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope * Input: * - gRate = The desired output rate and cutoff frequency of the gyro. - * Must be a value from the gyro_odr enum (check above, there're 14). + * Must be a value from the gyro_odr enum (check above). */ void setGyroODR(gyro_odr gRate); /** setAccelODR() -- Set the output data rate of the accelerometer * Input: * - aRate = The desired output rate of the accel. - * Must be a value from the accel_odr enum (check above, there're 11). + * Must be a value from the accel_odr enum (check above). */ void setAccelODR(accel_odr aRate); /** setMagODR() -- Set the output data rate of the magnetometer * Input: * - mRate = The desired output rate of the mag. - * Must be a value from the mag_odr enum (check above, there're 6). + * Must be a value from the mag_odr enum (check above). */ void setMagODR(mag_odr mRate); @@ -339,40 +339,17 @@ float gRes, aRes, mRes; /** initGyro() -- Sets up the gyroscope to begin reading. - * This function steps through all five gyroscope control registers. - * Upon exit, the following parameters will be set: - * - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. - * 95 Hz ODR, 12.5 Hz cutoff frequency. - * - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency - * set to 7.2 Hz (depends on ODR). - * - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and - * active high). Data-ready output enabled on DRDY_G. - * - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower - * address. Scale set to 245 DPS. SPI mode set to 4-wire. - * - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled. + * This function steps through all three gyroscope control registers. */ void initGyro(); /** initAccel() -- Sets up the accelerometer to begin reading. * This function steps through all accelerometer related control registers. - * Upon exit these registers will be set as: - * - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode. - * - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update. - * all axes enabled. - * - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW. - * - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin. */ void initAccel(); /** initMag() -- Sets up the magnetometer to begin reading. * This function steps through all magnetometer-related control registers. - * Upon exit these registers will be set as: - * - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin. - * - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt - * requests don't latch. Temperature sensor disabled. - * - CTRL_REG6_XM = 0x00: +/- 2 Gs scale. - * - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode. - * - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts. */ void initMag();