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 
00041 LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr)
00042     :i2c(sda, scl)
00043 {
00044     init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B
00045 }
00046 /*
00047 LSM9DS1::LSM9DS1()
00048 {
00049     init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1));
00050 }
00051 
00052 LSM9DS1::LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
00053 {
00054     init(interface, xgAddr, mAddr);
00055 }
00056 */
00057 
00058 void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
00059 {
00060     settings.device.commInterface = interface;
00061     settings.device.agAddress = xgAddr;
00062     settings.device.mAddress = mAddr;
00063 
00064     settings.gyro.enabled = true;
00065     settings.gyro.enableX = true;
00066     settings.gyro.enableY = true;
00067     settings.gyro.enableZ = true;
00068     // gyro scale can be 245, 500, or 2000
00069     settings.gyro.scale = 245;
00070     // gyro sample rate: value between 1-6
00071     // 1 = 14.9    4 = 238
00072     // 2 = 59.5    5 = 476
00073     // 3 = 119     6 = 952
00074     settings.gyro.sampleRate = 6;
00075     // gyro cutoff frequency: value between 0-3
00076     // Actual value of cutoff frequency depends
00077     // on sample rate.
00078     settings.gyro.bandwidth = 0;
00079     settings.gyro.lowPowerEnable = false;
00080     settings.gyro.HPFEnable = false;
00081     // Gyro HPF cutoff frequency: value between 0-9
00082     // Actual value depends on sample rate. Only applies
00083     // if gyroHPFEnable is true.
00084     settings.gyro.HPFCutoff = 0;
00085     settings.gyro.flipX = false;
00086     settings.gyro.flipY = false;
00087     settings.gyro.flipZ = false;
00088     settings.gyro.orientation = 0;
00089     settings.gyro.latchInterrupt = true;
00090 
00091     settings.accel.enabled = true;
00092     settings.accel.enableX = true;
00093     settings.accel.enableY = true;
00094     settings.accel.enableZ = true;
00095     // accel scale can be 2, 4, 8, or 16
00096     settings.accel.scale = 2;
00097     // accel sample rate can be 1-6
00098     // 1 = 10 Hz    4 = 238 Hz
00099     // 2 = 50 Hz    5 = 476 Hz
00100     // 3 = 119 Hz   6 = 952 Hz
00101     settings.accel.sampleRate = 6;
00102     // Accel cutoff freqeuncy can be any value between -1 - 3.
00103     // -1 = bandwidth determined by sample rate
00104     // 0 = 408 Hz   2 = 105 Hz
00105     // 1 = 211 Hz   3 = 50 Hz
00106     settings.accel.bandwidth = -1;
00107     settings.accel.highResEnable = false;
00108     // accelHighResBandwidth can be any value between 0-3
00109     // LP cutoff is set to a factor of sample rate
00110     // 0 = ODR/50    2 = ODR/9
00111     // 1 = ODR/100   3 = ODR/400
00112     settings.accel.highResBandwidth = 0;
00113 
00114     settings.mag.enabled = true;
00115     // mag scale can be 4, 8, 12, or 16
00116     settings.mag.scale = 4;
00117     // mag data rate can be 0-7
00118     // 0 = 0.625 Hz  4 = 10 Hz
00119     // 1 = 1.25 Hz   5 = 20 Hz
00120     // 2 = 2.5 Hz    6 = 40 Hz
00121     // 3 = 5 Hz      7 = 80 Hz
00122     settings.mag.sampleRate = 7;
00123     settings.mag.tempCompensationEnable = false;
00124     // magPerformance can be any value between 0-3
00125     // 0 = Low power mode      2 = high performance
00126     // 1 = medium performance  3 = ultra-high performance
00127     settings.mag.XYPerformance = 3;
00128     settings.mag.ZPerformance = 3;
00129     settings.mag.lowPowerEnable = false;
00130     // magOperatingMode can be 0-2
00131     // 0 = continuous conversion
00132     // 1 = single-conversion
00133     // 2 = power down
00134     settings.mag.operatingMode = 0;
00135 
00136     settings.temp.enabled = true;
00137     for (int i=0; i<3; i++) {
00138         gBias[i] = 0;
00139         aBias[i] = 0;
00140         mBias[i] = 0;
00141         gBiasRaw[i] = 0;
00142         aBiasRaw[i] = 0;
00143         mBiasRaw[i] = 0;
00144     }
00145     _autoCalc = false;
00146     magCalibrated = false;
00147 }
00148 
00149 
00150 uint16_t LSM9DS1::begin()
00151 {
00152     //! Todo: don't use _xgAddress or _mAddress, duplicating memory
00153     _xgAddress = settings.device.agAddress;
00154     _mAddress = settings.device.mAddress;
00155 
00156     constrainScales();
00157     // Once we have the scale values, we can calculate the resolution
00158     // of each sensor. That's what these functions are for. One for each sensor
00159     calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
00160     calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
00161     calcaRes(); // Calculate g / ADC tick, stored in aRes variable
00162 
00163     // Now, initialize our hardware interface.
00164     if (settings.device.commInterface == IMU_MODE_I2C)  // If we're using I2C
00165         initI2C();  // Initialize I2C
00166     else if (settings.device.commInterface == IMU_MODE_SPI)     // else, if we're using SPI
00167         initSPI();  // Initialize SPI
00168 
00169     // To verify communication, we can read from the WHO_AM_I register of
00170     // each device. Store those in a variable so we can return them.
00171     uint8_t mTest = mReadByte(WHO_AM_I_M);      // Read the gyro WHO_AM_I
00172     uint8_t xgTest = xgReadByte(WHO_AM_I_XG);   // Read the accel/mag WHO_AM_I
00173     pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
00174     uint16_t whoAmICombined = (xgTest << 8) | mTest;
00175 
00176     if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
00177         return 0;
00178 
00179     // Gyro initialization stuff:
00180     initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
00181 
00182     // Accelerometer initialization stuff:
00183     initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
00184 
00185     // Magnetometer initialization stuff:
00186     initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
00187 
00188     // Once everything is initialized, return the WHO_AM_I registers we read:
00189     return whoAmICombined;
00190 }
00191 
00192 void LSM9DS1::initGyro()
00193 {
00194     uint8_t tempRegValue = 0;
00195 
00196     // CTRL_REG1_G (Default value: 0x00)
00197     // [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0]
00198     // ODR_G[2:0] - Output data rate selection
00199     // FS_G[1:0] - Gyroscope full-scale selection
00200     // BW_G[1:0] - Gyroscope bandwidth selection
00201 
00202     // To disable gyro, set sample rate bits to 0. We'll only set sample
00203     // rate if the gyro is enabled.
00204     if (settings.gyro.enabled) {
00205         tempRegValue = (settings.gyro.sampleRate & 0x07) << 5;
00206     }
00207     switch (settings.gyro.scale) {
00208         case 500:
00209             tempRegValue |= (0x1 << 3);
00210             break;
00211         case 2000:
00212             tempRegValue |= (0x3 << 3);
00213             break;
00214             // Otherwise we'll set it to 245 dps (0x0 << 4)
00215     }
00216     tempRegValue |= (settings.gyro.bandwidth & 0x3);
00217     xgWriteByte(CTRL_REG1_G, tempRegValue);
00218 
00219     // CTRL_REG2_G (Default value: 0x00)
00220     // [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0]
00221     // INT_SEL[1:0] - INT selection configuration
00222     // OUT_SEL[1:0] - Out selection configuration
00223     xgWriteByte(CTRL_REG2_G, 0x00);
00224 
00225     // CTRL_REG3_G (Default value: 0x00)
00226     // [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G]
00227     // LP_mode - Low-power mode enable (0: disabled, 1: enabled)
00228     // HP_EN - HPF enable (0:disabled, 1: enabled)
00229     // HPCF_G[3:0] - HPF cutoff frequency
00230     tempRegValue = settings.gyro.lowPowerEnable ? (1<<7) : 0;
00231     if (settings.gyro.HPFEnable) {
00232         tempRegValue |= (1<<6) | (settings.gyro.HPFCutoff & 0x0F);
00233     }
00234     xgWriteByte(CTRL_REG3_G, tempRegValue);
00235 
00236     // CTRL_REG4 (Default value: 0x38)
00237     // [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1]
00238     // Zen_G - Z-axis output enable (0:disable, 1:enable)
00239     // Yen_G - Y-axis output enable (0:disable, 1:enable)
00240     // Xen_G - X-axis output enable (0:disable, 1:enable)
00241     // LIR_XL1 - Latched interrupt (0:not latched, 1:latched)
00242     // 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used)
00243     tempRegValue = 0;
00244     if (settings.gyro.enableZ) tempRegValue |= (1<<5);
00245     if (settings.gyro.enableY) tempRegValue |= (1<<4);
00246     if (settings.gyro.enableX) tempRegValue |= (1<<3);
00247     if (settings.gyro.latchInterrupt) tempRegValue |= (1<<1);
00248     xgWriteByte(CTRL_REG4, tempRegValue);
00249 
00250     // ORIENT_CFG_G (Default value: 0x00)
00251     // [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0]
00252     // SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative)
00253     // Orient [2:0] - Directional user orientation selection
00254     tempRegValue = 0;
00255     if (settings.gyro.flipX) tempRegValue |= (1<<5);
00256     if (settings.gyro.flipY) tempRegValue |= (1<<4);
00257     if (settings.gyro.flipZ) tempRegValue |= (1<<3);
00258     xgWriteByte(ORIENT_CFG_G, tempRegValue);
00259 }
00260 
00261 void LSM9DS1::initAccel()
00262 {
00263     uint8_t tempRegValue = 0;
00264 
00265     //  CTRL_REG5_XL (0x1F) (Default value: 0x38)
00266     //  [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0]
00267     //  DEC[0:1] - Decimation of accel data on OUT REG and FIFO.
00268     //      00: None, 01: 2 samples, 10: 4 samples 11: 8 samples
00269     //  Zen_XL - Z-axis output enabled
00270     //  Yen_XL - Y-axis output enabled
00271     //  Xen_XL - X-axis output enabled
00272     if (settings.accel.enableZ) tempRegValue |= (1<<5);
00273     if (settings.accel.enableY) tempRegValue |= (1<<4);
00274     if (settings.accel.enableX) tempRegValue |= (1<<3);
00275 
00276     xgWriteByte(CTRL_REG5_XL, tempRegValue);
00277 
00278     // CTRL_REG6_XL (0x20) (Default value: 0x00)
00279     // [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0]
00280     // ODR_XL[2:0] - Output data rate & power mode selection
00281     // FS_XL[1:0] - Full-scale selection
00282     // BW_SCAL_ODR - Bandwidth selection
00283     // BW_XL[1:0] - Anti-aliasing filter bandwidth selection
00284     tempRegValue = 0;
00285     // To disable the accel, set the sampleRate bits to 0.
00286     if (settings.accel.enabled) {
00287         tempRegValue |= (settings.accel.sampleRate & 0x07) << 5;
00288     }
00289     switch (settings.accel.scale) {
00290         case 4:
00291             tempRegValue |= (0x2 << 3);
00292             break;
00293         case 8:
00294             tempRegValue |= (0x3 << 3);
00295             break;
00296         case 16:
00297             tempRegValue |= (0x1 << 3);
00298             break;
00299             // Otherwise it'll be set to 2g (0x0 << 3)
00300     }
00301     if (settings.accel.bandwidth >= 0) {
00302         tempRegValue |= (1<<2); // Set BW_SCAL_ODR
00303         tempRegValue |= (settings.accel.bandwidth & 0x03);
00304     }
00305     xgWriteByte(CTRL_REG6_XL, tempRegValue);
00306 
00307     // CTRL_REG7_XL (0x21) (Default value: 0x00)
00308     // [HR][DCF1][DCF0][0][0][FDS][0][HPIS1]
00309     // HR - High resolution mode (0: disable, 1: enable)
00310     // DCF[1:0] - Digital filter cutoff frequency
00311     // FDS - Filtered data selection
00312     // HPIS1 - HPF enabled for interrupt function
00313     tempRegValue = 0;
00314     if (settings.accel.highResEnable) {
00315         tempRegValue |= (1<<7); // Set HR bit
00316         tempRegValue |= (settings.accel.highResBandwidth & 0x3) << 5;
00317     }
00318     xgWriteByte(CTRL_REG7_XL, tempRegValue);
00319 }
00320 
00321 // This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average
00322 // them, scales them to  gs and deg/s, respectively, and then passes the biases to the main sketch
00323 // for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store
00324 // the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to
00325 // subtract the biases ourselves. This results in a more accurate measurement in general and can
00326 // remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
00327 // is good practice.
00328 void LSM9DS1::calibrate(bool autoCalc)
00329 {
00330     uint8_t data[6] = {0, 0, 0, 0, 0, 0};
00331     uint8_t samples = 0;
00332     int ii;
00333     int32_t aBiasRawTemp[3] = {0, 0, 0};
00334     int32_t gBiasRawTemp[3] = {0, 0, 0};
00335     pc.printf("\n\rPlace IMU on level surface and do not move it for gyro and accel calibration.\n\r");
00336     wait(1);
00337     // Turn on FIFO and set threshold to 32 samples
00338     enableFIFO(true);
00339     setFIFO(FIFO_THS, 0x1F);
00340     while (samples < 0x1F) {
00341         samples = (xgReadByte(FIFO_SRC) & 0x3F); // Read number of stored samples
00342     }
00343     for(ii = 0; ii < samples ; ii++) {
00344         // Read the gyro data stored in the FIFO
00345         readGyro();
00346         gBiasRawTemp[0] += gx;
00347         gBiasRawTemp[1] += gy;
00348         gBiasRawTemp[2] += gz;
00349         readAccel();
00350         aBiasRawTemp[0] += ax;
00351         aBiasRawTemp[1] += ay;
00352         aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up!
00353     }
00354     for (ii = 0; ii < 3; ii++) {
00355         gBiasRaw[ii] = gBiasRawTemp[ii] / samples;
00356         gBias[ii] = calcGyro(gBiasRaw[ii]);
00357         aBiasRaw[ii] = aBiasRawTemp[ii] / samples;
00358         aBias[ii] = calcAccel(aBiasRaw[ii]);
00359     }
00360 
00361     enableFIFO(false);
00362     setFIFO(FIFO_OFF, 0x00);
00363 
00364     if (autoCalc) _autoCalc = true;
00365 }
00366 
00367 void LSM9DS1::calibrateMag(bool loadIn)
00368 {
00369     int i, j;
00370     int16_t magMin[3] = {0, 0, 0};
00371     int16_t magMax[3] = {0, 0, 0}; // The road warrior
00372     pc.printf("\n\n\r Rotate IMU device at least 360 in horizontal plane for magnetometer calibration\n\r");
00373     wait(0.5);
00374     for (i=0; i<1000; i++) {
00375         while (!magAvailable(ALL_AXIS));
00376         readMag();
00377         int16_t magTemp[3] = {0, 0, 0};
00378         magTemp[0] = mx;
00379         magTemp[1] = my;
00380         magTemp[2] = mz;
00381         for (j = 0; j < 3; j++) {
00382             if (magTemp[j] > magMax[j]) magMax[j] = magTemp[j];
00383             if (magTemp[j] < magMin[j]) magMin[j] = magTemp[j];
00384         }
00385     }
00386     for (j = 0; j < 3; j++) {
00387         mBiasRaw[j] = (magMax[j] + magMin[j]) / 2;
00388         mScaleRaw[j] = (magMax[j] - magMin[j])/2;
00389         mBias[j] = calcMag(mBiasRaw[j]);
00390         mScale[j] = calcMag(mScaleRaw[j]);
00391         pc.printf("%f  ",mBias[j]);
00392         if (loadIn)
00393             magOffset(j, mBiasRaw[j]);
00394     }
00395     float avg = (mScale[0] + mScale[1] + mScale[2])/3;
00396     mScale[0] = avg / mScale[0];
00397     mScale[1] = avg / mScale[1];
00398     mScale[2] =avg / mScale[2];
00399     pc.printf("one: %f two: %f three: %f\n\r", mScale[0], mScale[1], mScale[2]);
00400     magCalibrated = true;
00401     pc.printf("\n\rMAG calibration done\n\r");
00402 }
00403 void LSM9DS1::magOffset(uint8_t axis, int16_t offset)
00404 {
00405     if (axis > 2)
00406         return;
00407     uint8_t msb, lsb;
00408     msb = (offset & 0xFF00) >> 8;
00409     lsb = offset & 0x00FF;
00410     mWriteByte(OFFSET_X_REG_L_M + (2 * axis), lsb);
00411     mWriteByte(OFFSET_X_REG_H_M + (2 * axis), msb);
00412 }
00413 
00414 void LSM9DS1::initMag()
00415 {
00416     uint8_t tempRegValue = 0;
00417 
00418     // CTRL_REG1_M (Default value: 0x10)
00419     // [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST]
00420     // TEMP_COMP - Temperature compensation
00421     // OM[1:0] - X & Y axes op mode selection
00422     //  00:low-power, 01:medium performance
00423     //  10: high performance, 11:ultra-high performance
00424     // DO[2:0] - Output data rate selection
00425     // ST - Self-test enable
00426     if (settings.mag.tempCompensationEnable) tempRegValue |= (1<<7);
00427     tempRegValue |= (settings.mag.XYPerformance & 0x3) << 5;
00428     tempRegValue |= (settings.mag.sampleRate & 0x7) << 2;
00429     mWriteByte(CTRL_REG1_M, tempRegValue);
00430 
00431     // CTRL_REG2_M (Default value 0x00)
00432     // [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0]
00433     // FS[1:0] - Full-scale configuration
00434     // REBOOT - Reboot memory content (0:normal, 1:reboot)
00435     // SOFT_RST - Reset config and user registers (0:default, 1:reset)
00436     tempRegValue = 0;
00437     switch (settings.mag.scale) {
00438         case 8:
00439             tempRegValue |= (0x1 << 5);
00440             break;
00441         case 12:
00442             tempRegValue |= (0x2 << 5);
00443             break;
00444         case 16:
00445             tempRegValue |= (0x3 << 5);
00446             break;
00447             // Otherwise we'll default to 4 gauss (00)
00448     }
00449     mWriteByte(CTRL_REG2_M, tempRegValue); // +/-4Gauss
00450 
00451     // CTRL_REG3_M (Default value: 0x03)
00452     // [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0]
00453     // I2C_DISABLE - Disable I2C interace (0:enable, 1:disable)
00454     // LP - Low-power mode cofiguration (1:enable)
00455     // SIM - SPI mode selection (0:write-only, 1:read/write enable)
00456     // MD[1:0] - Operating mode
00457     //  00:continuous conversion, 01:single-conversion,
00458     //  10,11: Power-down
00459     tempRegValue = 0;
00460     if (settings.mag.lowPowerEnable) tempRegValue |= (1<<5);
00461     tempRegValue |= (settings.mag.operatingMode & 0x3);
00462     mWriteByte(CTRL_REG3_M, tempRegValue); // Continuous conversion mode
00463 
00464     // CTRL_REG4_M (Default value: 0x00)
00465     // [0][0][0][0][OMZ1][OMZ0][BLE][0]
00466     // OMZ[1:0] - Z-axis operative mode selection
00467     //  00:low-power mode, 01:medium performance
00468     //  10:high performance, 10:ultra-high performance
00469     // BLE - Big/little endian data
00470     tempRegValue = 0;
00471     tempRegValue = (settings.mag.ZPerformance & 0x3) << 2;
00472     mWriteByte(CTRL_REG4_M, tempRegValue);
00473 
00474     // CTRL_REG5_M (Default value: 0x00)
00475     // [0][BDU][0][0][0][0][0][0]
00476     // BDU - Block data update for magnetic data
00477     //  0:continuous, 1:not updated until MSB/LSB are read
00478     tempRegValue = 0;
00479     mWriteByte(CTRL_REG5_M, tempRegValue);
00480 }
00481 
00482 uint8_t LSM9DS1::accelAvailable()
00483 {
00484     uint8_t status = xgReadByte(STATUS_REG_1);
00485 
00486     return (status & (1<<0));
00487 }
00488 
00489 uint8_t LSM9DS1::gyroAvailable()
00490 {
00491     uint8_t status = xgReadByte(STATUS_REG_1);
00492 
00493     return ((status & (1<<1)) >> 1);
00494 }
00495 
00496 uint8_t LSM9DS1::tempAvailable()
00497 {
00498     uint8_t status = xgReadByte(STATUS_REG_1);
00499 
00500     return ((status & (1<<2)) >> 2);
00501 }
00502 
00503 uint8_t LSM9DS1::magAvailable(lsm9ds1_axis axis)
00504 {
00505     uint8_t status;
00506     status = mReadByte(STATUS_REG_M);
00507 
00508     return ((status & (1<<axis)) >> axis);
00509 }
00510 
00511 void LSM9DS1::readAccel()
00512 {
00513     uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
00514     xgReadBytes(OUT_X_L_XL, temp, 6); // Read 6 bytes, beginning at OUT_X_L_XL
00515     ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
00516     ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
00517     az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
00518     if (_autoCalc) {
00519         ax -= aBiasRaw[X_AXIS];
00520         ay -= aBiasRaw[Y_AXIS];
00521         az -= aBiasRaw[Z_AXIS];
00522     }
00523 }
00524 
00525 int16_t LSM9DS1::readAccel(lsm9ds1_axis axis)
00526 {
00527     uint8_t temp[2];
00528     int16_t value;
00529     xgReadBytes(OUT_X_L_XL + (2 * axis), temp, 2);
00530     value = (temp[1] << 8) | temp[0];
00531 
00532     if (_autoCalc)
00533         value -= aBiasRaw[axis];
00534 
00535     return value;
00536 }
00537 
00538 void LSM9DS1::readMag()
00539 {
00540     uint8_t temp[6]; // We'll read six bytes from the mag into temp
00541     mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
00542     mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
00543     my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
00544     mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
00545     mx = mx - mBiasRaw[0];
00546     my = my - mBiasRaw[1];
00547     mz = mz - mBiasRaw[2];
00548     if(magCalibrated) {
00549         mx *= mScale[0];
00550         my *= mScale[1];
00551         mz *= mScale[2];
00552     }
00553 }
00554 
00555 int16_t LSM9DS1::readMag(lsm9ds1_axis axis)
00556 {
00557     uint8_t temp[2];
00558     mReadBytes(OUT_X_L_M + (2 * axis), temp, 2);
00559     return (temp[1] << 8) | temp[0];
00560 }
00561 
00562 void LSM9DS1::readTemp()
00563 {
00564     uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
00565     xgReadBytes(OUT_TEMP_L, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L
00566     temperature = (int16_t)((temp[1] << 8) | temp[0]);
00567 }
00568 
00569 void LSM9DS1::readGyro()
00570 {
00571     uint8_t temp[6]; // We'll read six bytes from the gyro into temp
00572     xgReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G
00573     gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx
00574     gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy
00575     gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz
00576     if (_autoCalc) {
00577         gx -= gBiasRaw[X_AXIS];
00578         gy -= gBiasRaw[Y_AXIS];
00579         gz -= gBiasRaw[Z_AXIS];
00580     }
00581 }
00582 
00583 int16_t LSM9DS1::readGyro(lsm9ds1_axis axis)
00584 {
00585     uint8_t temp[2];
00586     int16_t value;
00587 
00588     xgReadBytes(OUT_X_L_G + (2 * axis), temp, 2);
00589 
00590     value = (temp[1] << 8) | temp[0];
00591 
00592     if (_autoCalc)
00593         value -= gBiasRaw[axis];
00594 
00595     return value;
00596 }
00597 
00598 float LSM9DS1::calcGyro(int16_t gyro)
00599 {
00600     // Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
00601     return gRes * gyro;
00602 }
00603 
00604 float LSM9DS1::calcAccel(int16_t accel)
00605 {
00606     // Return the accel raw reading times our pre-calculated g's / (ADC tick):
00607     return aRes * accel;
00608 }
00609 
00610 float LSM9DS1::calcMag(int16_t mag)
00611 {
00612     // Return the mag raw reading times our pre-calculated Gs / (ADC tick):
00613     return mRes * mag;
00614 }
00615 
00616 void LSM9DS1::setGyroScale(uint16_t gScl)
00617 {
00618     // Read current value of CTRL_REG1_G:
00619     uint8_t ctrl1RegValue = xgReadByte(CTRL_REG1_G);
00620     // Mask out scale bits (3 & 4):
00621     ctrl1RegValue &= 0xE7;
00622     switch (gScl) {
00623         case 500:
00624             ctrl1RegValue |= (0x1 << 3);
00625             settings.gyro.scale = 500;
00626             break;
00627         case 2000:
00628             ctrl1RegValue |= (0x3 << 3);
00629             settings.gyro.scale = 2000;
00630             break;
00631         default: // Otherwise we'll set it to 245 dps (0x0 << 4)
00632             settings.gyro.scale = 245;
00633             break;
00634     }
00635     xgWriteByte(CTRL_REG1_G, ctrl1RegValue);
00636 
00637     calcgRes();
00638 }
00639 
00640 void LSM9DS1::setAccelScale(uint8_t aScl)
00641 {
00642     // We need to preserve the other bytes in CTRL_REG6_XL. So, first read it:
00643     uint8_t tempRegValue = xgReadByte(CTRL_REG6_XL);
00644     // Mask out accel scale bits:
00645     tempRegValue &= 0xE7;
00646 
00647     switch (aScl) {
00648         case 4:
00649             tempRegValue |= (0x2 << 3);
00650             settings.accel.scale = 4;
00651             break;
00652         case 8:
00653             tempRegValue |= (0x3 << 3);
00654             settings.accel.scale = 8;
00655             break;
00656         case 16:
00657             tempRegValue |= (0x1 << 3);
00658             settings.accel.scale = 16;
00659             break;
00660         default: // Otherwise it'll be set to 2g (0x0 << 3)
00661             settings.accel.scale = 2;
00662             break;
00663     }
00664     xgWriteByte(CTRL_REG6_XL, tempRegValue);
00665 
00666     // Then calculate a new aRes, which relies on aScale being set correctly:
00667     calcaRes();
00668 }
00669 
00670 void LSM9DS1::setMagScale(uint8_t mScl)
00671 {
00672     // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
00673     uint8_t temp = mReadByte(CTRL_REG2_M);
00674     // Then mask out the mag scale bits:
00675     temp &= 0xFF^(0x3 << 5);
00676 
00677     switch (mScl) {
00678         case 8:
00679             temp |= (0x1 << 5);
00680             settings.mag.scale = 8;
00681             break;
00682         case 12:
00683             temp |= (0x2 << 5);
00684             settings.mag.scale = 12;
00685             break;
00686         case 16:
00687             temp |= (0x3 << 5);
00688             settings.mag.scale = 16;
00689             break;
00690         default: // Otherwise we'll default to 4 gauss (00)
00691             settings.mag.scale = 4;
00692             break;
00693     }
00694 
00695     // And write the new register value back into CTRL_REG6_XM:
00696     mWriteByte(CTRL_REG2_M, temp);
00697 
00698     // We've updated the sensor, but we also need to update our class variables
00699     // First update mScale:
00700     //mScale = mScl;
00701     // Then calculate a new mRes, which relies on mScale being set correctly:
00702     calcmRes();
00703 }
00704 
00705 void LSM9DS1::setGyroODR(uint8_t gRate)
00706 {
00707     // Only do this if gRate is not 0 (which would disable the gyro)
00708     if ((gRate & 0x07) != 0) {
00709         // We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
00710         uint8_t temp = xgReadByte(CTRL_REG1_G);
00711         // Then mask out the gyro ODR bits:
00712         temp &= 0xFF^(0x7 << 5);
00713         temp |= (gRate & 0x07) << 5;
00714         // Update our settings struct
00715         settings.gyro.sampleRate = gRate & 0x07;
00716         // And write the new register value back into CTRL_REG1_G:
00717         xgWriteByte(CTRL_REG1_G, temp);
00718     }
00719 }
00720 
00721 void LSM9DS1::setAccelODR(uint8_t aRate)
00722 {
00723     // Only do this if aRate is not 0 (which would disable the accel)
00724     if ((aRate & 0x07) != 0) {
00725         // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
00726         uint8_t temp = xgReadByte(CTRL_REG6_XL);
00727         // Then mask out the accel ODR bits:
00728         temp &= 0x1F;
00729         // Then shift in our new ODR bits:
00730         temp |= ((aRate & 0x07) << 5);
00731         settings.accel.sampleRate = aRate & 0x07;
00732         // And write the new register value back into CTRL_REG1_XM:
00733         xgWriteByte(CTRL_REG6_XL, temp);
00734     }
00735 }
00736 
00737 void LSM9DS1::setMagODR(uint8_t mRate)
00738 {
00739     // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
00740     uint8_t temp = mReadByte(CTRL_REG1_M);
00741     // Then mask out the mag ODR bits:
00742     temp &= 0xFF^(0x7 << 2);
00743     // Then shift in our new ODR bits:
00744     temp |= ((mRate & 0x07) << 2);
00745     settings.mag.sampleRate = mRate & 0x07;
00746     // And write the new register value back into CTRL_REG5_XM:
00747     mWriteByte(CTRL_REG1_M, temp);
00748 }
00749 
00750 void LSM9DS1::calcgRes()
00751 {
00752     gRes = ((float) settings.gyro.scale) / 32768.0;
00753 }
00754 
00755 void LSM9DS1::calcaRes()
00756 {
00757     aRes = ((float) settings.accel.scale) / 32768.0;
00758 }
00759 
00760 void LSM9DS1::calcmRes()
00761 {
00762     //mRes = ((float) settings.mag.scale) / 32768.0;
00763     switch (settings.mag.scale) {
00764         case 4:
00765             mRes = magSensitivity[0];
00766             break;
00767         case 8:
00768             mRes = magSensitivity[1];
00769             break;
00770         case 12:
00771             mRes = magSensitivity[2];
00772             break;
00773         case 16:
00774             mRes = magSensitivity[3];
00775             break;
00776     }
00777 
00778 }
00779 
00780 void LSM9DS1::configInt(interrupt_select interrupt, uint8_t generator,
00781                         h_lactive activeLow, pp_od pushPull)
00782 {
00783     // Write to INT1_CTRL or INT2_CTRL. [interupt] should already be one of
00784     // those two values.
00785     // [generator] should be an OR'd list of values from the interrupt_generators enum
00786     xgWriteByte(interrupt, generator);
00787 
00788     // Configure CTRL_REG8
00789     uint8_t temp;
00790     temp = xgReadByte(CTRL_REG8);
00791 
00792     if (activeLow) temp |= (1<<5);
00793     else temp &= ~(1<<5);
00794 
00795     if (pushPull) temp &= ~(1<<4);
00796     else temp |= (1<<4);
00797 
00798     xgWriteByte(CTRL_REG8, temp);
00799 }
00800 
00801 void LSM9DS1::configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn)
00802 {
00803     uint8_t temp = 0;
00804 
00805     temp = threshold & 0x7F;
00806     if (sleepOn) temp |= (1<<7);
00807     xgWriteByte(ACT_THS, temp);
00808 
00809     xgWriteByte(ACT_DUR, duration);
00810 }
00811 
00812 uint8_t LSM9DS1::getInactivity()
00813 {
00814     uint8_t temp = xgReadByte(STATUS_REG_0);
00815     temp &= (0x10);
00816     return temp;
00817 }
00818 
00819 void LSM9DS1::configAccelInt(uint8_t generator, bool andInterrupts)
00820 {
00821     // Use variables from accel_interrupt_generator, OR'd together to create
00822     // the [generator]value.
00823     uint8_t temp = generator;
00824     if (andInterrupts) temp |= 0x80;
00825     xgWriteByte(INT_GEN_CFG_XL, temp);
00826 }
00827 
00828 void LSM9DS1::configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
00829 {
00830     // Write threshold value to INT_GEN_THS_?_XL.
00831     // axis will be 0, 1, or 2 (x, y, z respectively)
00832     xgWriteByte(INT_GEN_THS_X_XL + axis, threshold);
00833 
00834     // Write duration and wait to INT_GEN_DUR_XL
00835     uint8_t temp;
00836     temp = (duration & 0x7F);
00837     if (wait) temp |= 0x80;
00838     xgWriteByte(INT_GEN_DUR_XL, temp);
00839 }
00840 
00841 uint8_t LSM9DS1::getAccelIntSrc()
00842 {
00843     uint8_t intSrc = xgReadByte(INT_GEN_SRC_XL);
00844 
00845     // Check if the IA_XL (interrupt active) bit is set
00846     if (intSrc & (1<<6)) {
00847         return (intSrc & 0x3F);
00848     }
00849 
00850     return 0;
00851 }
00852 
00853 void LSM9DS1::configGyroInt(uint8_t generator, bool aoi, bool latch)
00854 {
00855     // Use variables from accel_interrupt_generator, OR'd together to create
00856     // the [generator]value.
00857     uint8_t temp = generator;
00858     if (aoi) temp |= 0x80;
00859     if (latch) temp |= 0x40;
00860     xgWriteByte(INT_GEN_CFG_G, temp);
00861 }
00862 
00863 void LSM9DS1::configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
00864 {
00865     uint8_t buffer[2];
00866     buffer[0] = (threshold & 0x7F00) >> 8;
00867     buffer[1] = (threshold & 0x00FF);
00868     // Write threshold value to INT_GEN_THS_?H_G and  INT_GEN_THS_?L_G.
00869     // axis will be 0, 1, or 2 (x, y, z respectively)
00870     xgWriteByte(INT_GEN_THS_XH_G + (axis * 2), buffer[0]);
00871     xgWriteByte(INT_GEN_THS_XH_G + 1 + (axis * 2), buffer[1]);
00872 
00873     // Write duration and wait to INT_GEN_DUR_XL
00874     uint8_t temp;
00875     temp = (duration & 0x7F);
00876     if (wait) temp |= 0x80;
00877     xgWriteByte(INT_GEN_DUR_G, temp);
00878 }
00879 
00880 uint8_t LSM9DS1::getGyroIntSrc()
00881 {
00882     uint8_t intSrc = xgReadByte(INT_GEN_SRC_G);
00883 
00884     // Check if the IA_G (interrupt active) bit is set
00885     if (intSrc & (1<<6)) {
00886         return (intSrc & 0x3F);
00887     }
00888 
00889     return 0;
00890 }
00891 
00892 void LSM9DS1::configMagInt(uint8_t generator, h_lactive activeLow, bool latch)
00893 {
00894     // Mask out non-generator bits (0-4)
00895     uint8_t config = (generator & 0xE0);
00896     // IEA bit is 0 for active-low, 1 for active-high.
00897     if (activeLow == INT_ACTIVE_HIGH) config |= (1<<2);
00898     // IEL bit is 0 for latched, 1 for not-latched
00899     if (!latch) config |= (1<<1);
00900     // As long as we have at least 1 generator, enable the interrupt
00901     if (generator != 0) config |= (1<<0);
00902 
00903     mWriteByte(INT_CFG_M, config);
00904 }
00905 
00906 void LSM9DS1::configMagThs(uint16_t threshold)
00907 {
00908     // Write high eight bits of [threshold] to INT_THS_H_M
00909     mWriteByte(INT_THS_H_M, uint8_t((threshold & 0x7F00) >> 8));
00910     // Write low eight bits of [threshold] to INT_THS_L_M
00911     mWriteByte(INT_THS_L_M, uint8_t(threshold & 0x00FF));
00912 }
00913 
00914 uint8_t LSM9DS1::getMagIntSrc()
00915 {
00916     uint8_t intSrc = mReadByte(INT_SRC_M);
00917 
00918     // Check if the INT (interrupt active) bit is set
00919     if (intSrc & (1<<0)) {
00920         return (intSrc & 0xFE);
00921     }
00922 
00923     return 0;
00924 }
00925 
00926 void LSM9DS1::sleepGyro(bool enable)
00927 {
00928     uint8_t temp = xgReadByte(CTRL_REG9);
00929     if (enable) temp |= (1<<6);
00930     else temp &= ~(1<<6);
00931     xgWriteByte(CTRL_REG9, temp);
00932 }
00933 
00934 void LSM9DS1::enableFIFO(bool enable)
00935 {
00936     uint8_t temp = xgReadByte(CTRL_REG9);
00937     if (enable) temp |= (1<<1);
00938     else temp &= ~(1<<1);
00939     xgWriteByte(CTRL_REG9, temp);
00940 }
00941 
00942 void LSM9DS1::setFIFO(fifoMode_type fifoMode, uint8_t fifoThs)
00943 {
00944     // Limit threshold - 0x1F (31) is the maximum. If more than that was asked
00945     // limit it to the maximum.
00946     uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F;
00947     xgWriteByte(FIFO_CTRL, ((fifoMode & 0x7) << 5) | (threshold & 0x1F));
00948 }
00949 
00950 uint8_t LSM9DS1::getFIFOSamples()
00951 {
00952     return (xgReadByte(FIFO_SRC) & 0x3F);
00953 }
00954 
00955 void LSM9DS1::constrainScales()
00956 {
00957     if ((settings.gyro.scale != 245) && (settings.gyro.scale != 500) &&
00958             (settings.gyro.scale != 2000)) {
00959         settings.gyro.scale = 245;
00960     }
00961 
00962     if ((settings.accel.scale != 2) && (settings.accel.scale != 4) &&
00963             (settings.accel.scale != 8) && (settings.accel.scale != 16)) {
00964         settings.accel.scale = 2;
00965     }
00966 
00967     if ((settings.mag.scale != 4) && (settings.mag.scale != 8) &&
00968             (settings.mag.scale != 12) && (settings.mag.scale != 16)) {
00969         settings.mag.scale = 4;
00970     }
00971 }
00972 
00973 void LSM9DS1::xgWriteByte(uint8_t subAddress, uint8_t data)
00974 {
00975     // Whether we're using I2C or SPI, write a byte using the
00976     // gyro-specific I2C address or SPI CS pin.
00977     if (settings.device.commInterface == IMU_MODE_I2C) {
00978         pc.printf("yo");
00979         I2CwriteByte(_xgAddress, subAddress, data);
00980     } else if (settings.device.commInterface == IMU_MODE_SPI) {
00981         SPIwriteByte(_xgAddress, subAddress, data);
00982     }
00983 }
00984 
00985 void LSM9DS1::mWriteByte(uint8_t subAddress, uint8_t data)
00986 {
00987     // Whether we're using I2C or SPI, write a byte using the
00988     // accelerometer-specific I2C address or SPI CS pin.
00989     if (settings.device.commInterface == IMU_MODE_I2C) {
00990         pc.printf("mo");
00991         return I2CwriteByte(_mAddress, subAddress, data);
00992     } else if (settings.device.commInterface == IMU_MODE_SPI)
00993         return SPIwriteByte(_mAddress, subAddress, data);
00994 }
00995 
00996 uint8_t LSM9DS1::xgReadByte(uint8_t subAddress)
00997 {
00998     // Whether we're using I2C or SPI, read a byte using the
00999     // gyro-specific I2C address or SPI CS pin.
01000     if (settings.device.commInterface == IMU_MODE_I2C)
01001         return I2CreadByte(_xgAddress, subAddress);
01002     else if (settings.device.commInterface == IMU_MODE_SPI)
01003         return SPIreadByte(_xgAddress, subAddress);
01004 }
01005 
01006 void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
01007 {
01008     // Whether we're using I2C or SPI, read multiple bytes using the
01009     // gyro-specific I2C address or SPI CS pin.
01010     if (settings.device.commInterface == IMU_MODE_I2C) {
01011         I2CreadBytes(_xgAddress, subAddress, dest, count);
01012     } else if (settings.device.commInterface == IMU_MODE_SPI) {
01013         SPIreadBytes(_xgAddress, subAddress, dest, count);
01014     }
01015 }
01016 
01017 uint8_t LSM9DS1::mReadByte(uint8_t subAddress)
01018 {
01019     // Whether we're using I2C or SPI, read a byte using the
01020     // accelerometer-specific I2C address or SPI CS pin.
01021     if (settings.device.commInterface == IMU_MODE_I2C)
01022         return I2CreadByte(_mAddress, subAddress);
01023     else if (settings.device.commInterface == IMU_MODE_SPI)
01024         return SPIreadByte(_mAddress, subAddress);
01025 }
01026 
01027 void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
01028 {
01029     // Whether we're using I2C or SPI, read multiple bytes using the
01030     // accelerometer-specific I2C address or SPI CS pin.
01031     if (settings.device.commInterface == IMU_MODE_I2C)
01032         I2CreadBytes(_mAddress, subAddress, dest, count);
01033     else if (settings.device.commInterface == IMU_MODE_SPI)
01034         SPIreadBytes(_mAddress, subAddress, dest, count);
01035 }
01036 
01037 void LSM9DS1::initSPI()
01038 {
01039     /*
01040     pinMode(_xgAddress, OUTPUT);
01041     digitalWrite(_xgAddress, HIGH);
01042     pinMode(_mAddress, OUTPUT);
01043     digitalWrite(_mAddress, HIGH);
01044 
01045     SPI.begin();
01046     // Maximum SPI frequency is 10MHz, could divide by 2 here:
01047     SPI.setClockDivider(SPI_CLOCK_DIV2);
01048     // Data is read and written MSb first.
01049     SPI.setBitOrder(MSBFIRST);
01050     // Data is captured on rising edge of clock (CPHA = 0)
01051     // Base value of the clock is HIGH (CPOL = 1)
01052     SPI.setDataMode(SPI_MODE0);
01053     */
01054 }
01055 
01056 void LSM9DS1::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data)
01057 {
01058     /*
01059     digitalWrite(csPin, LOW); // Initiate communication
01060 
01061     // If write, bit 0 (MSB) should be 0
01062     // If single write, bit 1 should be 0
01063     SPI.transfer(subAddress & 0x3F); // Send Address
01064     SPI.transfer(data); // Send data
01065 
01066     digitalWrite(csPin, HIGH); // Close communication
01067     */
01068 }
01069 
01070 uint8_t LSM9DS1::SPIreadByte(uint8_t csPin, uint8_t subAddress)
01071 {
01072     uint8_t temp;
01073     // Use the multiple read function to read 1 byte.
01074     // Value is returned to `temp`.
01075     SPIreadBytes(csPin, subAddress, &temp, 1);
01076     return temp;
01077 }
01078 
01079 void LSM9DS1::SPIreadBytes(uint8_t csPin, uint8_t subAddress,
01080                            uint8_t * dest, uint8_t count)
01081 {
01082     // To indicate a read, set bit 0 (msb) of first byte to 1
01083     uint8_t rAddress = 0x80 | (subAddress & 0x3F);
01084     // Mag SPI port is different. If we're reading multiple bytes,
01085     // set bit 1 to 1. The remaining six bytes are the address to be read
01086     if ((csPin == _mAddress) && count > 1)
01087         rAddress |= 0x40;
01088 
01089     /*
01090     digitalWrite(csPin, LOW); // Initiate communication
01091     SPI.transfer(rAddress);
01092     for (int i=0; i<count; i++)
01093     {
01094         dest[i] = SPI.transfer(0x00); // Read into destination array
01095     }
01096     digitalWrite(csPin, HIGH); // Close communication
01097     */
01098 }
01099 
01100 void LSM9DS1::initI2C()
01101 {
01102     /*
01103     Wire.begin();   // Initialize I2C library
01104     */
01105 
01106     //already initialized in constructor!
01107 }
01108 
01109 // Wire.h read and write protocols
01110 void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
01111 {
01112     /*
01113     Wire.beginTransmission(address);  // Initialize the Tx buffer
01114     Wire.write(subAddress);           // Put slave register address in Tx buffer
01115     Wire.write(data);                 // Put data in Tx buffer
01116     Wire.endTransmission();           // Send the Tx buffer
01117     */
01118     char temp_data[2] = {subAddress, data};
01119     i2c.write(address, temp_data, 2);
01120 }
01121 
01122 uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress)
01123 {
01124     /*
01125     int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
01126     uint8_t data; // `data` will store the register data
01127 
01128     Wire.beginTransmission(address);         // Initialize the Tx buffer
01129     Wire.write(subAddress);                  // Put slave register address in Tx buffer
01130     Wire.endTransmission(true);             // Send the Tx buffer, but send a restart to keep connection alive
01131     Wire.requestFrom(address, (uint8_t) 1);  // Read one byte from slave register address
01132     while ((Wire.available() < 1) && (timeout-- > 0))
01133         delay(1);
01134 
01135     if (timeout <= 0)
01136         return 255; //! Bad! 255 will be misinterpreted as a good value.
01137 
01138     data = Wire.read();                      // Fill Rx buffer with result
01139     return data;                             // Return data read from slave register
01140     */
01141     char data;
01142     char temp[2] = {subAddress};
01143 
01144     i2c.write(address, temp, 1);
01145     //i2c.write(address & 0xFE);
01146     temp[1] = 0x00;
01147     i2c.write(address, temp, 1);
01148     //i2c.write( address | 0x01);
01149     int a = i2c.read(address, &data, 1);
01150     return data;
01151 }
01152 
01153 uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
01154 {
01155     /*
01156     int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
01157     Wire.beginTransmission(address);   // Initialize the Tx buffer
01158     // Next send the register to be read. OR with 0x80 to indicate multi-read.
01159     Wire.write(subAddress | 0x80);     // Put slave register address in Tx buffer
01160 
01161     Wire.endTransmission(true);             // Send the Tx buffer, but send a restart to keep connection alive
01162     uint8_t i = 0;
01163     Wire.requestFrom(address, count);  // Read bytes from slave register address
01164     while ((Wire.available() < count) && (timeout-- > 0))
01165         delay(1);
01166     if (timeout <= 0)
01167         return -1;
01168 
01169     for (int i=0; i<count;)
01170     {
01171         if (Wire.available())
01172         {
01173             dest[i++] = Wire.read();
01174         }
01175     }
01176     return count;
01177     */
01178     int i;
01179     char temp_dest[count];
01180     char temp[1] = {subAddress};
01181     i2c.write(address, temp, 1);
01182     i2c.read(address, temp_dest, count);
01183 
01184     //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion
01185     for (i=0; i < count; i++) {
01186         dest[i] = temp_dest[i];
01187     }
01188     return count;
01189 }