Diff: LSM9DS1.cpp

Revision:

4:a1a57aaacc4c

Parent:

3:d4f9aaab3bc3

Child:

5:d6a0d907988f

--- a/LSM9DS1.cpp	Mon Jul 10 18:24:28 2017 +0000
+++ b/LSM9DS1.cpp	Tue Sep 26 14:11:26 2017 +0000
@@ -3,7 +3,8 @@
 #include "LSM9DS1_RegVals.h"
 #include "acd52832_bsp.h"
 
-LSM9DS1::LSM9DS1(I2C i2c) : _i2c(i2c){
+LSM9DS1::LSM9DS1(I2C *i2c){
+    _i2c = i2c;
 } 
 
 void LSM9DS1::startMag(){
@@ -11,23 +12,23 @@
 
     data[0] = (char)CTRL_REG1_M;          // Target register
     data[1] = (char)0x7C;                 // Data to write
-    _i2c.write(TWI_MAG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_MAG_ADDR, data, 0x02,0);
 
     data[0] = (char)CTRL_REG2_M;          // Target register
     data[1] = (char)0x00;                 // Full scale for the sensor (+-4g)
-    _i2c.write(TWI_MAG_ADDR, data, 0x02,0); 
+    _i2c->write(TWI_MAG_ADDR, data, 0x02,0); 
 
     data[0] = (char)CTRL_REG3_M;          // Target register
     data[1] = (char)0x00;                 // Data to write
-    _i2c.write(TWI_MAG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_MAG_ADDR, data, 0x02,0);
 
     data[0] = (char)CTRL_REG4_M;          // Target register
     data[1] = (char)(3<<3);                 // Data to write
-    _i2c.write(TWI_MAG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_MAG_ADDR, data, 0x02,0);
 
     data[0] = (char)CTRL_REG5_M;          // Target register
     data[1] = (char)0x00;                 // Data to write
-    _i2c.write(TWI_MAG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_MAG_ADDR, data, 0x02,0);
 }
 
 void LSM9DS1::readMag(int16_t *results){
@@ -35,8 +36,8 @@
     int16_t res_final[3];
     char out_x_l_m = OUT_X_L_M;
     
-    _i2c.write(TWI_MAG_ADDR, &out_x_l_m, 1, true);
-    _i2c.read(TWI_MAG_ADDR, results_, 6, 0);
+    _i2c->write(TWI_MAG_ADDR, &out_x_l_m, 1, true);
+    _i2c->read(TWI_MAG_ADDR, results_, 6, 0);
     res_final[0] = ((results_[1]<<8) | results_[0]);
     res_final[1] = ((results_[3]<<8) | results_[2]);
     res_final[2] = ((results_[5]<<8) | results_[4]);
@@ -51,12 +52,12 @@
     
     data[0] = (char)CTRL_REG5_XL;          // Target register
     data[1] = (char)0x38;                 // Data to write
-    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_AG_ADDR, data, 0x02,0);
      
     
     data[0] = (char)CTRL_REG6_XL;          // Target register
     data[1] = (char)0xC7;                  // +-2g -> See reference manual for more info (page 52) 
-    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_AG_ADDR, data, 0x02,0);
 }
 
 void LSM9DS1::readAcc(int16_t *results){
@@ -64,8 +65,8 @@
     int16_t res_final[3];
     char out_x_l_xl = OUT_X_L_XL;
     
-    _i2c.write(TWI_AG_ADDR, &out_x_l_xl, 1, true);
-    _i2c.read(TWI_AG_ADDR, results_, 6, 0);
+    _i2c->write(TWI_AG_ADDR, &out_x_l_xl, 1, true);
+    _i2c->read(TWI_AG_ADDR, results_, 6, 0);
     res_final[0] = ((results_[1]<<8) | results_[0]);
     res_final[1] = ((results_[3]<<8) | results_[2]);
     res_final[2] = ((results_[5]<<8) | results_[4]);
@@ -80,31 +81,31 @@
     
     data[0] = (char)CTRL_REG6_XL;                  // Target register
     data[1] = (char)0xC7 & (char)0x1F;             // Data to write
-    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_AG_ADDR, data, 0x02,0);
     
     data[0] = (char)CTRL_REG1_G;          // Target register
     data[1] = (char)0xC0;                 // 245 DPS scale
-    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_AG_ADDR, data, 0x02,0);
      
     
     data[0] = (char)CTRL_REG2_G;          // Target register
     data[1] = (char)0x00;                 // Data to write
-    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_AG_ADDR, data, 0x02,0);
      
     
     data[0] = (char)CTRL_REG3_G;          // Target register
     data[1] = (char)0x00;                 // Data to write
-    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_AG_ADDR, data, 0x02,0);
      
     
     data[0] = (char)CTRL_REG4;            // Target register
     data[1] = (char)0x3A;                 // Data to write
-    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_AG_ADDR, data, 0x02,0);
      
     
     data[0] = (char)ORIENT_CFG_G;          // Target register
     data[1] = (char)0x00;                 // Data to write
-    _i2c.write(TWI_AG_ADDR, data, 0x02,0);
+    _i2c->write(TWI_AG_ADDR, data, 0x02,0);
      
 }
 
@@ -113,8 +114,8 @@
     int16_t res_final[3];
     char out_x_l_g = OUT_X_L_G;
     
-    _i2c.write(TWI_AG_ADDR, &out_x_l_g, 1, true);
-    _i2c.read(TWI_AG_ADDR, results_, 6, 0);
+    _i2c->write(TWI_AG_ADDR, &out_x_l_g, 1, true);
+    _i2c->read(TWI_AG_ADDR, results_, 6, 0);
     res_final[0] = ((results_[1]<<8) | results_[0]);
     res_final[1] = ((results_[3]<<8) | results_[2]);
     res_final[2] = ((results_[5]<<8) | results_[4]);