Diff: LSM9DS1.cpp

Revision:

4:7ffcb378cfd4

Parent:

3:f96b287c0bf7

Child:

6:28c4b3c8b43d

--- a/LSM9DS1.cpp	Tue Jun 21 22:27:17 2016 +0000
+++ b/LSM9DS1.cpp	Wed Jun 22 22:11:37 2016 +0000
@@ -60,6 +60,7 @@
     setMagODR(mODR); // Set the magnetometer output data rate.
     setMagScale(mScale); // Set the magnetometer's range.
     
+    // Interrupt initialization stuff
     initIntr();
     
     // Once everything is initialized, return the WHO_AM_I registers we read:
@@ -108,53 +109,69 @@
 void LSM9DS1::initIntr()
 {   
     char cmd[2];
+    uint16_t thresholdG = 500;
+    uint8_t durationG = 10;
+    uint8_t thresholdX = 20;
+    uint8_t durationX = 1;
+    uint16_t thresholdM = 10000;
     
+    // 1. Configure the gyro interrupt generator
     cmd[0] = INT_GEN_CFG_G;
     cmd[1] = (1 << 5);
     i2c.write(xgAddress, cmd, 2);
-    cmd[0] = INT_GEN_THS_XH_G + 6;
-    cmd[1] = (500 & 0x7F) >> 8;
+    // 2. Configure the gyro threshold
+    cmd[0] = INT_GEN_THS_ZH_G;
+    cmd[1] = (thresholdG & 0x7F00) >> 8;
     i2c.write(xgAddress, cmd, 2);
-    cmd[0] = INT_GEN_THS_XL_G + 6;
-    cmd[1] = (500 & 0x7F);
+    cmd[0] = INT_GEN_THS_ZL_G;
+    cmd[1] = (thresholdG & 0x00FF);
     i2c.write(xgAddress, cmd, 2);
     cmd[0] = INT_GEN_DUR_G;
-    cmd[1] = 0x80;
+    cmd[1] = (durationG & 0x7F) | 0x80;
     i2c.write(xgAddress, cmd, 2);
     
+    // 3. Configure accelerometer interrupt generator
     cmd[0] = INT_GEN_CFG_XL;
     cmd[1] = (1 << 1);
     i2c.write(xgAddress, cmd, 2);
-    cmd[0] = INT_GEN_THS_X_XL + 1;
-    cmd[1] = 20;
+    // 4. Configure accelerometer threshold
+    cmd[0] = INT_GEN_THS_X_XL;
+    cmd[1] = thresholdX;
     i2c.write(xgAddress, cmd, 2);
     cmd[0] = INT_GEN_DUR_XL;
-    cmd[1] = (1 & 0x7F);
+    cmd[1] = (durationX & 0x7F);
     i2c.write(xgAddress, cmd, 2);
     
+    // 5. Configure INT1 - assign it to gyro interrupt
     cmd[0] = INT1_CTRL;
+//    cmd[1] = 0xC0;
     cmd[1] = (1 << 7) | (1 << 6);
     i2c.write(xgAddress, cmd, 2);
     cmd[0] = CTRL_REG8;
-    cmd[1] = (1 << 5);
+//    cmd[1] = 0x04;
+    cmd[1] = (1 << 2) | (1 << 5) | (1 << 4);
     i2c.write(xgAddress, cmd, 2);
     
+    // Configure interrupt 2 to fire whenever new accelerometer
+    // or gyroscope data is available.
     cmd[0] = INT2_CTRL;
     cmd[1] = (1 << 0) | (1 << 1);
     i2c.write(xgAddress, cmd, 2);
     cmd[0] = CTRL_REG8;
-    cmd[1] = (1 << 5);
+    cmd[1] = (1 << 2) | (1 << 5) | (1 << 4);
     i2c.write(xgAddress, cmd, 2);
     
+    // Configure magnetometer interrupt
     cmd[0] = INT_CFG_M;
-    cmd[1] = (1 << 0);
+    cmd[1] = (1 << 7) | (1 << 0);
     i2c.write(xgAddress, cmd, 2);
     
+    // Configure magnetometer threshold
     cmd[0] = INT_THS_H_M;
-    cmd[1] = uint8_t((10000 & 0x7F00) >> 8);
+    cmd[1] = uint8_t((thresholdM & 0x7F00) >> 8);
     i2c.write(xgAddress, cmd, 2);
     cmd[0] = INT_THS_L_M;
-    cmd[1] = uint8_t(10000 & 0x00FF);
+    cmd[1] = uint8_t(thresholdM & 0x00FF);
     i2c.write(xgAddress, cmd, 2);
 }