Joseph Boettcher
.
Fork of
LSM9DS1_Library
by 
jim hamblen
Diff: LSM9DS1.h
- Revision:
- 1:87d535bf8c53
- Parent:
- 0:e8167f37725c
- Child:
- 2:e8c2301f7523
diff -r e8167f37725c -r 87d535bf8c53 LSM9DS1.h
--- a/LSM9DS1.h Mon Oct 26 14:55:43 2015 +0000
+++ b/LSM9DS1.h Mon Oct 26 16:14:04 2015 +0000
@@ -64,150 +64,172 @@
// LSM9DS1 -- LSM9DS1 class constructor
// The constructor will set up a handful of private variables, and set the
// communication mode as well.
- // Input:
- // - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
- // to talk to the IC.
- // - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
- // If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
- // - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
- // If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
+ /**Input:
+ * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
+ * to talk to the IC.
+ * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
+ * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
+ * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
+ * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
+
+ */
LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
- LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
- LSM9DS1();
-
- // begin() -- Initialize the gyro, accelerometer, and magnetometer.
- // This will set up the scale and output rate of each sensor. The values set
- // in the IMUSettings struct will take effect after calling this function.
+ //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
+ //LSM9DS1();
+
+
+ /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
+ *This will set up the scale and output rate of each sensor. The values set
+ * in the IMUSettings struct will take effect after calling this function.
+ */
uint16_t begin();
void calibrate(bool autoCalc = true);
void calibrateMag(bool loadIn = true);
void magOffset(uint8_t axis, int16_t offset);
- // accelAvailable() -- Polls the accelerometer status register to check
- // if new data is available.
- // Output: 1 - New data available
- // 0 - No new data available
+ /** accelAvailable() -- Polls the accelerometer status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
uint8_t accelAvailable();
- // gyroAvailable() -- Polls the gyroscope status register to check
- // if new data is available.
- // Output: 1 - New data available
- // 0 - No new data available
+ /** gyroAvailable() -- Polls the gyroscope status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
uint8_t gyroAvailable();
- // gyroAvailable() -- Polls the temperature status register to check
- // if new data is available.
- // Output: 1 - New data available
- // 0 - No new data available
+ /** gyroAvailable() -- Polls the temperature status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
uint8_t tempAvailable();
- // magAvailable() -- Polls the accelerometer status register to check
- // if new data is available.
- // Input:
- // - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
- // on one specific axis. Or ALL_AXIS (default) to check for new data
- // on all axes.
- // Output: 1 - New data available
- // 0 - No new data available
+ /** magAvailable() -- Polls the accelerometer status register to check
+ * if new data is available.
+ * Input:
+ * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
+ * on one specific axis. Or ALL_AXIS (default) to check for new data
+ * on all axes.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
- // readGyro() -- Read the gyroscope output registers.
- // This function will read all six gyroscope output registers.
- // The readings are stored in the class' gx, gy, and gz variables. Read
- // those _after_ calling readGyro().
+ /** readGyro() -- Read the gyroscope output registers.
+ * This function will read all six gyroscope output registers.
+ * The readings are stored in the class' gx, gy, and gz variables. Read
+ * those _after_ calling readGyro().
+ */
void readGyro();
- // int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
- // [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- // Input:
- // - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- // Output:
- // A 16-bit signed integer with sensor data on requested axis.
+ /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
int16_t readGyro(lsm9ds1_axis axis);
- // readAccel() -- Read the accelerometer output registers.
- // This function will read all six accelerometer output registers.
- // The readings are stored in the class' ax, ay, and az variables. Read
- // those _after_ calling readAccel().
+ /** readAccel() -- Read the accelerometer output registers.
+ * This function will read all six accelerometer output registers.
+ * The readings are stored in the class' ax, ay, and az variables. Read
+ * those _after_ calling readAccel().
+ */
void readAccel();
- // int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
- // [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- // Input:
- // - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- // Output:
- // A 16-bit signed integer with sensor data on requested axis.
+ /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
int16_t readAccel(lsm9ds1_axis axis);
- // readMag() -- Read the magnetometer output registers.
- // This function will read all six magnetometer output registers.
- // The readings are stored in the class' mx, my, and mz variables. Read
- // those _after_ calling readMag().
+ /** readMag() -- Read the magnetometer output registers.
+ * This function will read all six magnetometer output registers.
+ * The readings are stored in the class' mx, my, and mz variables. Read
+ * those _after_ calling readMag().
+ */
void readMag();
- // int16_t readMag(axis) -- Read a specific axis of the magnetometer.
- // [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- // Input:
- // - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- // Output:
- // A 16-bit signed integer with sensor data on requested axis.
+ /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
int16_t readMag(lsm9ds1_axis axis);
- // 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().
+ /** 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.
- // Input:
- // - gyro = A signed 16-bit raw reading from the gyroscope.
+ /** 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.
+ * Input:
+ * - gyro = A signed 16-bit raw reading from the gyroscope.
+ */
float calcGyro(int16_t gyro);
- // calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
- // This function reads in a signed 16-bit value and returns the scaled
- // g's. This function relies on aScale and aRes being correct.
- // Input:
- // - accel = A signed 16-bit raw reading from the accelerometer.
+ /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
+ * This function reads in a signed 16-bit value and returns the scaled
+ * g's. This function relies on aScale and aRes being correct.
+ * Input:
+ * - accel = A signed 16-bit raw reading from the accelerometer.
+ */
float calcAccel(int16_t accel);
- // calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
- // This function reads in a signed 16-bit value and returns the scaled
- // Gs. This function relies on mScale and mRes being correct.
- // Input:
- // - mag = A signed 16-bit raw reading from the magnetometer.
+ /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
+ * This function reads in a signed 16-bit value and returns the scaled
+ * Gs. This function relies on mScale and mRes being correct.
+ * Input:
+ * - mag = A signed 16-bit raw reading from the magnetometer.
+ */
float calcMag(int16_t mag);
- // 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.
- // Input:
- // - gScl = The desired gyroscope scale. Must be one of three possible
- // values from the gyro_scale.
+ /** 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.
+ * Input:
+ * - gScl = The desired gyroscope scale. Must be one of three possible
+ * values from the gyro_scale.
+ */
void setGyroScale(uint16_t 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, 6, 8, or 16 g's.
- // Input:
- // - aScl = The desired accelerometer scale. Must be one of five possible
- // values from the accel_scale.
+ /** 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.
+ * Input:
+ * - aScl = The desired accelerometer scale. Must be one of five possible
+ * values from the accel_scale.
+ */
void setAccelScale(uint8_t aScl);
- // 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.
- // Input:
- // - mScl = The desired magnetometer scale. Must be one of four possible
- // values from the mag_scale.
+ /** 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.
+ * Input:
+ * - mScl = The desired magnetometer scale. Must be one of four possible
+ * values from the mag_scale.
+ */
void setMagScale(uint8_t mScl);
- // setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
- // Input:
- // - gRate = The desired output rate and cutoff frequency of the gyro.
+ /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
+ * Input:
+ * - gRate = The desired output rate and cutoff frequency of the gyro.
+ */
void setGyroODR(uint8_t gRate);
// setAccelODR() -- Set the output data rate of the accelerometer
@@ -284,52 +306,56 @@
void configInt(interrupt_select interupt, uint8_t generator,
h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
- // configMagInt() -- Configure Magnetometer Interrupt Generator
- // Input:
- // - generator = Interrupt axis/high-low events
- // Any OR'd combination of ZIEN, YIEN, XIEN
- // - activeLow = Interrupt active configuration
- // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
- // - latch: latch gyroscope interrupt request.
+ /** configMagInt() -- Configure Magnetometer Interrupt Generator
+ * Input:
+ * - generator = Interrupt axis/high-low events
+ * Any OR'd combination of ZIEN, YIEN, XIEN
+ * - activeLow = Interrupt active configuration
+ * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
+ */ - latch: latch gyroscope interrupt request.
void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
- // configMagThs() -- Configure the threshold of a gyroscope axis
- // Input:
- // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
- // Value is equivalent to raw magnetometer value.
+ /** configMagThs() -- Configure the threshold of a gyroscope axis
+ * Input:
+ * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
+ * Value is equivalent to raw magnetometer value.
+ */
void configMagThs(uint16_t threshold);
- // getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
+ //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
uint8_t getGyroIntSrc();
- // getGyroIntSrc() -- Get contents of accelerometer interrupt source register
+ //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
uint8_t getAccelIntSrc();
- // getGyroIntSrc() -- Get contents of magnetometer interrupt source register
+ //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
uint8_t getMagIntSrc();
- // getGyroIntSrc() -- Get status of inactivity interrupt
+ //! getGyroIntSrc() -- Get status of inactivity interrupt
uint8_t getInactivity();
- // sleepGyro() -- Sleep or wake the gyroscope
- // Input:
- // - enable: True = sleep gyro. False = wake gyro.
+ /** sleepGyro() -- Sleep or wake the gyroscope
+ * Input:
+ * - enable: True = sleep gyro. False = wake gyro.
+ */
void sleepGyro(bool enable = true);
- // enableFIFO() - Enable or disable the FIFO
- // Input:
- // - enable: true = enable, false = disable.
+ /** enableFIFO() - Enable or disable the FIFO
+ * Input:
+ * - enable: true = enable, false = disable.
+ */
void enableFIFO(bool enable = true);
- // setFIFO() - Configure FIFO mode and Threshold
- // Input:
- // - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
- // Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
- // - fifoThs: FIFO threshold level setting
- // Any value from 0-0x1F is acceptable.
+ /** setFIFO() - Configure FIFO mode and Threshold
+ * Input:
+ * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
+ * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
+ * - fifoThs: FIFO threshold level setting
+ * Any value from 0-0x1F is acceptable.
+ */
void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
- // getFIFOSamples() - Get number of FIFO samples
+ //! getFIFOSamples() - Get number of FIFO samples
uint8_t getFIFOSamples();