Diff: LSM9DS1.h

Revision:

8:16e88babd42a

Parent:

6:28c4b3c8b43d

--- a/LSM9DS1.h	Thu Jun 15 08:42:23 2017 +0000
+++ b/LSM9DS1.h	Mon Jun 19 02:25:48 2017 +0000
@@ -104,12 +104,20 @@
 public:
 
     /// gyro_scale defines the possible full-scale ranges of the gyroscope:
+    /*
     enum gyro_scale
     {
         G_SCALE_245DPS = 0x0 << 3,     // 00 << 3: +/- 245 degrees per second
         G_SCALE_500DPS = 0x1 << 3,     // 01 << 3: +/- 500 dps
         G_SCALE_2000DPS = 0x3 << 3     // 11 << 3: +/- 2000 dps
     };
+    */
+    enum gyro_scale
+    {
+        G_SCALE_245DPS = 0x0,     // 00: +/- 245 degrees per second
+        G_SCALE_500DPS = 0x1,     // 01: +/- 500 dps
+        G_SCALE_2000DPS = 0x3     // 11: +/- 2000 dps
+    };
 
     /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
     enum gyro_odr
@@ -195,7 +203,7 @@
     int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
     int16_t mx_raw, my_raw, mz_raw; // x, y, and z axis readings of the magnetometer
     int16_t temperature_raw;
-    int16_t gBiasRaw[3], aBiasRaw[3]; 
+    int16_t gBiasRaw[3], aBiasRaw[3];
 
     // floating-point values of scaled data in real-world units
     float gx, gy, gz;
@@ -206,7 +214,7 @@
     float gBias[3], aBias[3];
 
     bool autoCalib;
-    
+
     /**  LSM9DS1 -- LSM9DS1 class constructor
     *  The constructor will set up a handful of private variables, and set the
     *  communication mode as well.
@@ -219,7 +227,7 @@
     *               If MODE_SPI, this is the cs pin of the mag (CS_M)
     */
     LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr = LSM9DS1_AG_I2C_ADDR(1), uint8_t mAddr = LSM9DS1_M_I2C_ADDR(1));
-    
+
     /**  begin() -- Initialize the gyro, accelerometer, and magnetometer.
     *  This will set up the scale and output rate of each sensor. It'll also
     *  "turn on" every sensor and every axis of every sensor.
@@ -234,59 +242,59 @@
     *       bytes of the output are the WHO_AM_I reading of the accel/gyro. The
     *       least significant two bytes are the WHO_AM_I reading of the mag.
     *  All parameters have a defaulted value, so you can call just "begin()".
-    *  Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for 
+    *  Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
     *  gyro, 119 Hz for accelerometer, 80 Hz for magnetometer.
     *  Use the return value of this function to verify communication.
     */
-    uint16_t begin(gyro_scale gScl = G_SCALE_500DPS, 
-                accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_4GS,
-                gyro_odr gODR = G_ODR_952_BW_100, accel_odr aODR = A_ODR_119, 
+    bool begin(gyro_scale gScl = G_SCALE_2000DPS,
+                accel_scale aScl = A_SCALE_8G, mag_scale mScl = M_SCALE_4GS,
+                gyro_odr gODR = G_ODR_119_BW_31, accel_odr aODR = A_ODR_119,
                 mag_odr mODR = M_ODR_80);
-    
+
     /**  readGyro() -- Read the gyroscope output registers.
     *  This function will read all six gyroscope output registers.
     *  The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
     *  those _after_ calling readGyro().
     */
     void readGyro();
-    
+
     /**  readAccel() -- Read the accelerometer output registers.
     *  This function will read all six accelerometer output registers.
     *  The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
     *  those _after_ calling readAccel().
     */
     void readAccel();
-    
+
     /**  readMag() -- Read the magnetometer output registers.
     *  This function will read all six magnetometer output registers.
     *  The readings are stored in the class' mx_raw, my_raw, and mz_raw variables. Read
     *  those _after_ calling readMag().
     */
     void readMag();
-    
+
     /** Read Interrupt **/
     void readIntr();
-    
+
     /**  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();
-    
+
     /** calibration() -- Calibrate Accel and Gyro sensor
     */
     void calibration();
-    
+
     /**  setGyroScale() -- Set the full-scale range of the gyroscope.
-    *  This function can be called to set the scale of the gyroscope to 
+    *  This function can be called to set the scale of the gyroscope to
     *  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.
     */
     void setGyroScale(gyro_scale gScl);
-    
+
     /**  setAccelScale() -- Set the full-scale range of the accelerometer.
     *  This function can be called to set the scale of the accelerometer to
     *  2, 4, 8, or 16 g's.
@@ -295,7 +303,7 @@
     *       values from the accel_scale enum.
     */
     void setAccelScale(accel_scale aScl);
-    
+
     /**  setMagScale() -- Set the full-scale range of the magnetometer.
     *  This function can be called to set the scale of the magnetometer to
     *  4, 8, 12, or 16 Gs.
@@ -304,29 +312,29 @@
     *       values from the mag_scale enum.
     */
     void setMagScale(mag_scale mScl);
-    
+
     /**  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).
     */
     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).
     */
     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).
     */
     void setMagODR(mag_odr mRate);
-    
-    
+
+
     /**  enableFIFO() -- Turn on FIFO state (CTRL_REG9)
     *  Input:
     *   - enable = true - turn on FIFO
@@ -342,58 +350,58 @@
     */
     void setXgFIFO(uint8_t fifoMode, uint8_t fifoThs);
 
-private:    
+private:
     /**  xgAddress and mAddress store the I2C address
     *  for each sensor.
     */
     uint8_t xgAddress, mAddress;
-    
+
     // I2C bus
     I2C i2c;
 
-    /**  gScale, aScale, and mScale store the current scale range for each 
+    /**  gScale, aScale, and mScale store the current scale range for each
     *  sensor. Should be updated whenever that value changes.
     */
     gyro_scale gScale;
     accel_scale aScale;
     mag_scale mScale;
-    
-    /**  gRes, aRes, and mRes store the current resolution for each sensor. 
+
+    /**  gRes, aRes, and mRes store the current resolution for each sensor.
     *  Units of these values would be DPS (or g's or Gs's) per ADC tick.
     *  This value is calculated as (sensor scale) / (2^15).
     */
     float gRes, aRes, mRes;
-    
+
     /**  initGyro() -- Sets up the gyroscope to begin reading.
     *  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.
     */
     void initAccel();
-    
+
     /** Initialize Interrupts **/
     void initIntr();
-    
+
     /**  initMag() -- Sets up the magnetometer to begin reading.
     *  This function steps through all magnetometer-related control registers.
     */
     void initMag();
-    
+
     /**  calcgRes() -- Calculate the resolution of the gyroscope.
     *  This function will set the value of the gRes variable. gScale must
     *  be set prior to calling this function.
     */
     void calcgRes();
-    
+
     /**  calcmRes() -- Calculate the resolution of the magnetometer.
     *  This function will set the value of the mRes variable. mScale must
     *  be set prior to calling this function.
     */
     void calcmRes();
-    
+
     /**  calcaRes() -- Calculate the resolution of the accelerometer.
     *  This function will set the value of the aRes variable. aScale must
     *  be set prior to calling this function.