Revision 1:87d535bf8c53, committed 2015-10-26

Comitter:

jmar7

Date:

Mon Oct 26 16:14:04 2015 +0000

Parent:

0:e8167f37725c

Commit message:

hello world for LSM9DS1

Changed in this revision

diff -r e8167f37725c -r 87d535bf8c53 LSM9DS1.cpp
--- a/LSM9DS1.cpp	Mon Oct 26 14:55:43 2015 +0000
+++ b/LSM9DS1.cpp	Mon Oct 26 16:14:04 2015 +0000
@@ -43,7 +43,7 @@
 {
     init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B
 }
-/* cw
+/*
 LSM9DS1::LSM9DS1()
 {
     init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1));
@@ -1044,7 +1044,7 @@
 
 void LSM9DS1::initSPI()
 {
-    /* cw
+    /* 
     pinMode(_xgAddress, OUTPUT);
     digitalWrite(_xgAddress, HIGH);
     pinMode(_mAddress, OUTPUT);
@@ -1063,7 +1063,7 @@
 
 void LSM9DS1::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data)
 {
-    /*cw
+    /*
     digitalWrite(csPin, LOW); // Initiate communication
     
     // If write, bit 0 (MSB) should be 0
@@ -1094,7 +1094,7 @@
     if ((csPin == _mAddress) && count > 1)
         rAddress |= 0x40;
     
-    /* cw
+    /* 
     digitalWrite(csPin, LOW); // Initiate communication
     SPI.transfer(rAddress);
     for (int i=0; i<count; i++)
@@ -1107,7 +1107,7 @@
 
 void LSM9DS1::initI2C()
 {
-    /* cw
+    /* 
     Wire.begin();   // Initialize I2C library
     */
     
@@ -1117,7 +1117,7 @@
 // Wire.h read and write protocols
 void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
 {
-    /* cw
+    /* 
     Wire.beginTransmission(address);  // Initialize the Tx buffer
     Wire.write(subAddress);           // Put slave register address in Tx buffer
     Wire.write(data);                 // Put data in Tx buffer
@@ -1129,7 +1129,7 @@
 
 uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress)
 {
-    /* cw
+    /* 
     int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
     uint8_t data; // `data` will store the register data    
     
@@ -1160,7 +1160,7 @@
 
 uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
 {  
-    /* cw
+    /* 
     int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
     Wire.beginTransmission(address);   // Initialize the Tx buffer
     // Next send the register to be read. OR with 0x80 to indicate multi-read.

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();