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LSM9DS1.h
00001 /****************************************************************************** 00002 SFE_LSM9DS1.h 00003 SFE_LSM9DS1 Library Header File 00004 Jim Lindblom @ SparkFun Electronics 00005 Original Creation Date: February 27, 2015 00006 https://github.com/sparkfun/LSM9DS1_Breakout 00007 00008 This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In 00009 addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/ 00010 Magnetometer registers). 00011 00012 Development environment specifics: 00013 IDE: Arduino 1.6.0 00014 Hardware Platform: Arduino Uno 00015 LSM9DS1 Breakout Version: 1.0 00016 00017 This code is beerware; if you see me (or any other SparkFun employee) at the 00018 local, and you've found our code helpful, please buy us a round! 00019 00020 Distributed as-is; no warranty is given. 00021 ******************************************************************************/ 00022 #ifndef __SparkFunLSM9DS1_H__ 00023 #define __SparkFunLSM9DS1_H__ 00024 00025 //#if defined(ARDUINO) && ARDUINO >= 100 00026 // #include "Arduino.h" 00027 //#else 00028 // #include "WProgram.h" 00029 // #include "pins_arduino.h" 00030 //#endif 00031 00032 #include "mbed.h" 00033 #include <stdint.h> 00034 #include "LSM9DS1_Registers.h" 00035 #include "LSM9DS1_Types.h" 00036 00037 #define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B) 00038 #define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E) 00039 00040 enum lsm9ds1_axis { 00041 X_AXIS, 00042 Y_AXIS, 00043 Z_AXIS, 00044 ALL_AXIS 00045 }; 00046 00047 class LSM9DS1 00048 { 00049 public: 00050 IMUSettings settings; 00051 00052 // We'll store the gyro, accel, and magnetometer readings in a series of 00053 // public class variables. Each sensor gets three variables -- one for each 00054 // axis. Call readGyro(), readAccel(), and readMag() first, before using 00055 // these variables! 00056 // These values are the RAW signed 16-bit readings from the sensors. 00057 int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope 00058 int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer 00059 int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer 00060 int16_t temperature; // Chip temperature 00061 float gBias[3], aBias[3], mBias[3]; 00062 int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3]; 00063 00064 // LSM9DS1 -- LSM9DS1 class constructor 00065 // The constructor will set up a handful of private variables, and set the 00066 // communication mode as well. 00067 /**Input: 00068 * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using 00069 * to talk to the IC. 00070 * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope. 00071 * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG) 00072 * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer. 00073 * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M) 00074 00075 */ 00076 LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr); 00077 //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr); 00078 //LSM9DS1(); 00079 00080 00081 /** begin() -- Initialize the gyro, accelerometer, and magnetometer. 00082 *This will set up the scale and output rate of each sensor. The values set 00083 * in the IMUSettings struct will take effect after calling this function. 00084 */ 00085 uint16_t begin(); 00086 00087 void calibrate(bool autoCalc = true); 00088 void calibrateMag(bool loadIn = true); 00089 void magOffset(uint8_t axis, int16_t offset); 00090 00091 /** accelAvailable() -- Polls the accelerometer status register to check 00092 * if new data is available. 00093 * Output: 1 - New data available 00094 * 0 - No new data available 00095 */ 00096 uint8_t accelAvailable(); 00097 00098 /** gyroAvailable() -- Polls the gyroscope status register to check 00099 * if new data is available. 00100 * Output: 1 - New data available 00101 * 0 - No new data available 00102 */ 00103 uint8_t gyroAvailable(); 00104 00105 /** gyroAvailable() -- Polls the temperature status register to check 00106 * if new data is available. 00107 * Output: 1 - New data available 00108 * 0 - No new data available 00109 */ 00110 uint8_t tempAvailable(); 00111 00112 /** magAvailable() -- Polls the accelerometer status register to check 00113 * if new data is available. 00114 * Input: 00115 * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data 00116 * on one specific axis. Or ALL_AXIS (default) to check for new data 00117 * on all axes. 00118 * Output: 1 - New data available 00119 * 0 - No new data available 00120 */ 00121 uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS); 00122 00123 /** readGyro() -- Read the gyroscope output registers. 00124 * This function will read all six gyroscope output registers. 00125 * The readings are stored in the class' gx, gy, and gz variables. Read 00126 * those _after_ calling readGyro(). 00127 */ 00128 void readGyro(); 00129 00130 /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope. 00131 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. 00132 * Input: 00133 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. 00134 * Output: 00135 * A 16-bit signed integer with sensor data on requested axis. 00136 */ 00137 int16_t readGyro(lsm9ds1_axis axis); 00138 00139 /** readAccel() -- Read the accelerometer output registers. 00140 * This function will read all six accelerometer output registers. 00141 * The readings are stored in the class' ax, ay, and az variables. Read 00142 * those _after_ calling readAccel(). 00143 */ 00144 void readAccel(); 00145 00146 /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer. 00147 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. 00148 * Input: 00149 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. 00150 * Output: 00151 * A 16-bit signed integer with sensor data on requested axis. 00152 */ 00153 int16_t readAccel(lsm9ds1_axis axis); 00154 00155 /** readMag() -- Read the magnetometer output registers. 00156 * This function will read all six magnetometer output registers. 00157 * The readings are stored in the class' mx, my, and mz variables. Read 00158 * those _after_ calling readMag(). 00159 */ 00160 void readMag(); 00161 00162 /** int16_t readMag(axis) -- Read a specific axis of the magnetometer. 00163 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. 00164 * Input: 00165 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. 00166 * Output: 00167 * A 16-bit signed integer with sensor data on requested axis. 00168 */ 00169 int16_t readMag(lsm9ds1_axis axis); 00170 00171 /** readTemp() -- Read the temperature output register. 00172 * This function will read two temperature output registers. 00173 * The combined readings are stored in the class' temperature variables. Read 00174 * those _after_ calling readTemp(). 00175 */ 00176 void readTemp(); 00177 00178 /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second 00179 * This function reads in a signed 16-bit value and returns the scaled 00180 * DPS. This function relies on gScale and gRes being correct. 00181 * Input: 00182 * - gyro = A signed 16-bit raw reading from the gyroscope. 00183 */ 00184 float calcGyro(int16_t gyro); 00185 00186 /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's). 00187 * This function reads in a signed 16-bit value and returns the scaled 00188 * g's. This function relies on aScale and aRes being correct. 00189 * Input: 00190 * - accel = A signed 16-bit raw reading from the accelerometer. 00191 */ 00192 float calcAccel(int16_t accel); 00193 00194 /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs) 00195 * This function reads in a signed 16-bit value and returns the scaled 00196 * Gs. This function relies on mScale and mRes being correct. 00197 * Input: 00198 * - mag = A signed 16-bit raw reading from the magnetometer. 00199 */ 00200 float calcMag(int16_t mag); 00201 00202 /** setGyroScale() -- Set the full-scale range of the gyroscope. 00203 * This function can be called to set the scale of the gyroscope to 00204 * 245, 500, or 200 degrees per second. 00205 * Input: 00206 * - gScl = The desired gyroscope scale. Must be one of three possible 00207 * values from the gyro_scale. 00208 */ 00209 void setGyroScale(uint16_t gScl); 00210 00211 /** setAccelScale() -- Set the full-scale range of the accelerometer. 00212 * This function can be called to set the scale of the accelerometer to 00213 * 2, 4, 6, 8, or 16 g's. 00214 * Input: 00215 * - aScl = The desired accelerometer scale. Must be one of five possible 00216 * values from the accel_scale. 00217 */ 00218 void setAccelScale(uint8_t aScl); 00219 00220 /** setMagScale() -- Set the full-scale range of the magnetometer. 00221 * This function can be called to set the scale of the magnetometer to 00222 * 2, 4, 8, or 12 Gs. 00223 * Input: 00224 * - mScl = The desired magnetometer scale. Must be one of four possible 00225 * values from the mag_scale. 00226 */ 00227 void setMagScale(uint8_t mScl); 00228 00229 /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope 00230 * Input: 00231 * - gRate = The desired output rate and cutoff frequency of the gyro. 00232 */ 00233 void setGyroODR(uint8_t gRate); 00234 00235 // setAccelODR() -- Set the output data rate of the accelerometer 00236 // Input: 00237 // - aRate = The desired output rate of the accel. 00238 void setAccelODR(uint8_t aRate); 00239 00240 // setMagODR() -- Set the output data rate of the magnetometer 00241 // Input: 00242 // - mRate = The desired output rate of the mag. 00243 void setMagODR(uint8_t mRate); 00244 00245 // configInactivity() -- Configure inactivity interrupt parameters 00246 // Input: 00247 // - duration = Inactivity duration - actual value depends on gyro ODR 00248 // - threshold = Activity Threshold 00249 // - sleepOn = Gyroscope operating mode during inactivity. 00250 // true: gyroscope in sleep mode 00251 // false: gyroscope in power-down 00252 void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn); 00253 00254 // configAccelInt() -- Configure Accelerometer Interrupt Generator 00255 // Input: 00256 // - generator = Interrupt axis/high-low events 00257 // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL 00258 // - andInterrupts = AND/OR combination of interrupt events 00259 // true: AND combination 00260 // false: OR combination 00261 void configAccelInt(uint8_t generator, bool andInterrupts = false); 00262 00263 // configAccelThs() -- Configure the threshold of an accelereomter axis 00264 // Input: 00265 // - threshold = Interrupt threshold. Possible values: 0-255. 00266 // Multiply by 128 to get the actual raw accel value. 00267 // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS 00268 // - duration = Duration value must be above or below threshold to trigger interrupt 00269 // - wait = Wait function on duration counter 00270 // true: Wait for duration samples before exiting interrupt 00271 // false: Wait function off 00272 void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0); 00273 00274 // configGyroInt() -- Configure Gyroscope Interrupt Generator 00275 // Input: 00276 // - generator = Interrupt axis/high-low events 00277 // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G 00278 // - aoi = AND/OR combination of interrupt events 00279 // true: AND combination 00280 // false: OR combination 00281 // - latch: latch gyroscope interrupt request. 00282 void configGyroInt(uint8_t generator, bool aoi, bool latch); 00283 00284 // configGyroThs() -- Configure the threshold of a gyroscope axis 00285 // Input: 00286 // - threshold = Interrupt threshold. Possible values: 0-0x7FF. 00287 // Value is equivalent to raw gyroscope value. 00288 // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS 00289 // - duration = Duration value must be above or below threshold to trigger interrupt 00290 // - wait = Wait function on duration counter 00291 // true: Wait for duration samples before exiting interrupt 00292 // false: Wait function off 00293 void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait); 00294 00295 // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only) 00296 // Input: 00297 // - interrupt = Select INT1 or INT2 00298 // Possible values: XG_INT1 or XG_INT2 00299 // - generator = Or'd combination of interrupt generators. 00300 // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only) 00301 // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only) 00302 // - activeLow = Interrupt active configuration 00303 // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW 00304 // - pushPull = Push-pull or open drain interrupt configuration 00305 // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN 00306 void configInt(interrupt_select interupt, uint8_t generator, 00307 h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL); 00308 00309 /** configMagInt() -- Configure Magnetometer Interrupt Generator 00310 * Input: 00311 * - generator = Interrupt axis/high-low events 00312 * Any OR'd combination of ZIEN, YIEN, XIEN 00313 * - activeLow = Interrupt active configuration 00314 * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW 00315 * - latch: latch gyroscope interrupt request. **/ 00316 void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true); 00317 00318 /** configMagThs() -- Configure the threshold of a gyroscope axis 00319 * Input: 00320 * - threshold = Interrupt threshold. Possible values: 0-0x7FF. 00321 * Value is equivalent to raw magnetometer value. 00322 */ 00323 void configMagThs(uint16_t threshold); 00324 00325 //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register 00326 uint8_t getGyroIntSrc(); 00327 00328 //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register 00329 uint8_t getAccelIntSrc(); 00330 00331 //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register 00332 uint8_t getMagIntSrc(); 00333 00334 //! getGyroIntSrc() -- Get status of inactivity interrupt 00335 uint8_t getInactivity(); 00336 00337 /** sleepGyro() -- Sleep or wake the gyroscope 00338 * Input: 00339 * - enable: True = sleep gyro. False = wake gyro. 00340 */ 00341 void sleepGyro(bool enable = true); 00342 00343 /** enableFIFO() - Enable or disable the FIFO 00344 * Input: 00345 * - enable: true = enable, false = disable. 00346 */ 00347 void enableFIFO(bool enable = true); 00348 00349 /** setFIFO() - Configure FIFO mode and Threshold 00350 * Input: 00351 * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass 00352 * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT 00353 * - fifoThs: FIFO threshold level setting 00354 * Any value from 0-0x1F is acceptable. 00355 */ 00356 void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs); 00357 00358 //! getFIFOSamples() - Get number of FIFO samples 00359 uint8_t getFIFOSamples(); 00360 00361 00362 protected: 00363 // x_mAddress and gAddress store the I2C address or SPI chip select pin 00364 // for each sensor. 00365 uint8_t _mAddress, _xgAddress; 00366 00367 // gRes, aRes, and mRes store the current resolution for each sensor. 00368 // Units of these values would be DPS (or g's or Gs's) per ADC tick. 00369 // This value is calculated as (sensor scale) / (2^15). 00370 float gRes, aRes, mRes; 00371 00372 // _autoCalc keeps track of whether we're automatically subtracting off 00373 // accelerometer and gyroscope bias calculated in calibrate(). 00374 bool _autoCalc; 00375 00376 // init() -- Sets up gyro, accel, and mag settings to default. 00377 // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI) 00378 // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip 00379 // select pin connected to the CS_XG pin. 00380 // - mAddr - Sets either the I2C address of the magnetometer or SPI chip 00381 // select pin connected to the CS_M pin. 00382 void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr); 00383 00384 // initGyro() -- Sets up the gyroscope to begin reading. 00385 // This function steps through all five gyroscope control registers. 00386 // Upon exit, the following parameters will be set: 00387 // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. 00388 // 95 Hz ODR, 12.5 Hz cutoff frequency. 00389 // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency 00390 // set to 7.2 Hz (depends on ODR). 00391 // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and 00392 // active high). Data-ready output enabled on DRDY_G. 00393 // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower 00394 // address. Scale set to 245 DPS. SPI mode set to 4-wire. 00395 // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled. 00396 void initGyro(); 00397 00398 // initAccel() -- Sets up the accelerometer to begin reading. 00399 // This function steps through all accelerometer related control registers. 00400 // Upon exit these registers will be set as: 00401 // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode. 00402 // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update. 00403 // all axes enabled. 00404 // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW. 00405 // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin. 00406 void initAccel(); 00407 00408 // initMag() -- Sets up the magnetometer to begin reading. 00409 // This function steps through all magnetometer-related control registers. 00410 // Upon exit these registers will be set as: 00411 // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin. 00412 // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt 00413 // requests don't latch. Temperature sensor disabled. 00414 // - CTRL_REG6_XM = 0x00: 2 Gs scale. 00415 // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode. 00416 // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts. 00417 void initMag(); 00418 00419 // gReadByte() -- Reads a byte from a specified gyroscope register. 00420 // Input: 00421 // - subAddress = Register to be read from. 00422 // Output: 00423 // - An 8-bit value read from the requested address. 00424 uint8_t mReadByte(uint8_t subAddress); 00425 00426 // gReadBytes() -- Reads a number of bytes -- beginning at an address 00427 // and incrementing from there -- from the gyroscope. 00428 // Input: 00429 // - subAddress = Register to be read from. 00430 // - * dest = A pointer to an array of uint8_t's. Values read will be 00431 // stored in here on return. 00432 // - count = The number of bytes to be read. 00433 // Output: No value is returned, but the `dest` array will store 00434 // the data read upon exit. 00435 void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); 00436 00437 // gWriteByte() -- Write a byte to a register in the gyroscope. 00438 // Input: 00439 // - subAddress = Register to be written to. 00440 // - data = data to be written to the register. 00441 void mWriteByte(uint8_t subAddress, uint8_t data); 00442 00443 // xmReadByte() -- Read a byte from a register in the accel/mag sensor 00444 // Input: 00445 // - subAddress = Register to be read from. 00446 // Output: 00447 // - An 8-bit value read from the requested register. 00448 uint8_t xgReadByte(uint8_t subAddress); 00449 00450 // xmReadBytes() -- Reads a number of bytes -- beginning at an address 00451 // and incrementing from there -- from the accelerometer/magnetometer. 00452 // Input: 00453 // - subAddress = Register to be read from. 00454 // - * dest = A pointer to an array of uint8_t's. Values read will be 00455 // stored in here on return. 00456 // - count = The number of bytes to be read. 00457 // Output: No value is returned, but the `dest` array will store 00458 // the data read upon exit. 00459 void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); 00460 00461 // xmWriteByte() -- Write a byte to a register in the accel/mag sensor. 00462 // Input: 00463 // - subAddress = Register to be written to. 00464 // - data = data to be written to the register. 00465 void xgWriteByte(uint8_t subAddress, uint8_t data); 00466 00467 // calcgRes() -- Calculate the resolution of the gyroscope. 00468 // This function will set the value of the gRes variable. gScale must 00469 // be set prior to calling this function. 00470 void calcgRes(); 00471 00472 // calcmRes() -- Calculate the resolution of the magnetometer. 00473 // This function will set the value of the mRes variable. mScale must 00474 // be set prior to calling this function. 00475 void calcmRes(); 00476 00477 // calcaRes() -- Calculate the resolution of the accelerometer. 00478 // This function will set the value of the aRes variable. aScale must 00479 // be set prior to calling this function. 00480 void calcaRes(); 00481 00482 ////////////////////// 00483 // Helper Functions // 00484 ////////////////////// 00485 void constrainScales(); 00486 00487 /////////////////// 00488 // SPI Functions // 00489 /////////////////// 00490 // initSPI() -- Initialize the SPI hardware. 00491 // This function will setup all SPI pins and related hardware. 00492 void initSPI(); 00493 00494 // SPIwriteByte() -- Write a byte out of SPI to a register in the device 00495 // Input: 00496 // - csPin = The chip select pin of the slave device. 00497 // - subAddress = The register to be written to. 00498 // - data = Byte to be written to the register. 00499 void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data); 00500 00501 // SPIreadByte() -- Read a single byte from a register over SPI. 00502 // Input: 00503 // - csPin = The chip select pin of the slave device. 00504 // - subAddress = The register to be read from. 00505 // Output: 00506 // - The byte read from the requested address. 00507 uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress); 00508 00509 // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI 00510 // Input: 00511 // - csPin = The chip select pin of a slave device. 00512 // - subAddress = The register to begin reading. 00513 // - * dest = Pointer to an array where we'll store the readings. 00514 // - count = Number of registers to be read. 00515 // Output: No value is returned by the function, but the registers read are 00516 // all stored in the *dest array given. 00517 void SPIreadBytes(uint8_t csPin, uint8_t subAddress, 00518 uint8_t * dest, uint8_t count); 00519 00520 /////////////////// 00521 // I2C Functions // 00522 /////////////////// 00523 // initI2C() -- Initialize the I2C hardware. 00524 // This function will setup all I2C pins and related hardware. 00525 void initI2C(); 00526 00527 // I2CwriteByte() -- Write a byte out of I2C to a register in the device 00528 // Input: 00529 // - address = The 7-bit I2C address of the slave device. 00530 // - subAddress = The register to be written to. 00531 // - data = Byte to be written to the register. 00532 void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data); 00533 00534 // I2CreadByte() -- Read a single byte from a register over I2C. 00535 // Input: 00536 // - address = The 7-bit I2C address of the slave device. 00537 // - subAddress = The register to be read from. 00538 // Output: 00539 // - The byte read from the requested address. 00540 uint8_t I2CreadByte(uint8_t address, uint8_t subAddress); 00541 00542 // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI 00543 // Input: 00544 // - address = The 7-bit I2C address of the slave device. 00545 // - subAddress = The register to begin reading. 00546 // - * dest = Pointer to an array where we'll store the readings. 00547 // - count = Number of registers to be read. 00548 // Output: No value is returned by the function, but the registers read are 00549 // all stored in the *dest array given. 00550 uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count); 00551 00552 private: 00553 I2C i2c; 00554 }; 00555 00556 #endif // SFE_LSM9DS1_H //
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