Kenji Arai
only test purpose not official
Diff: LSM9DS1.h
- Revision:
- 8:16e88babd42a
- Parent:
- 6:28c4b3c8b43d
- Child:
- 9:e0759c34eb93
--- a/LSM9DS1.h Thu Jun 15 08:42:23 2017 +0000
+++ b/LSM9DS1.h Mon Jun 19 02:25:48 2017 +0000
@@ -104,12 +104,20 @@
public:
/// gyro_scale defines the possible full-scale ranges of the gyroscope:
+ /*
enum gyro_scale
{
G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
};
+ */
+ enum gyro_scale
+ {
+ G_SCALE_245DPS = 0x0, // 00: +/- 245 degrees per second
+ G_SCALE_500DPS = 0x1, // 01: +/- 500 dps
+ G_SCALE_2000DPS = 0x3 // 11: +/- 2000 dps
+ };
/// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
enum gyro_odr
@@ -195,7 +203,7 @@
int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
int16_t mx_raw, my_raw, mz_raw; // x, y, and z axis readings of the magnetometer
int16_t temperature_raw;
- int16_t gBiasRaw[3], aBiasRaw[3];
+ int16_t gBiasRaw[3], aBiasRaw[3];
// floating-point values of scaled data in real-world units
float gx, gy, gz;
@@ -206,7 +214,7 @@
float gBias[3], aBias[3];
bool autoCalib;
-
+
/** LSM9DS1 -- LSM9DS1 class constructor
* The constructor will set up a handful of private variables, and set the
* communication mode as well.
@@ -219,7 +227,7 @@
* If MODE_SPI, this is the cs pin of the mag (CS_M)
*/
LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr = LSM9DS1_AG_I2C_ADDR(1), uint8_t mAddr = LSM9DS1_M_I2C_ADDR(1));
-
+
/** begin() -- Initialize the gyro, accelerometer, and magnetometer.
* This will set up the scale and output rate of each sensor. It'll also
* "turn on" every sensor and every axis of every sensor.
@@ -234,59 +242,59 @@
* bytes of the output are the WHO_AM_I reading of the accel/gyro. The
* least significant two bytes are the WHO_AM_I reading of the mag.
* All parameters have a defaulted value, so you can call just "begin()".
- * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
+ * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
* gyro, 119 Hz for accelerometer, 80 Hz for magnetometer.
* Use the return value of this function to verify communication.
*/
- uint16_t begin(gyro_scale gScl = G_SCALE_500DPS,
- accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_4GS,
- gyro_odr gODR = G_ODR_952_BW_100, accel_odr aODR = A_ODR_119,
+ bool begin(gyro_scale gScl = G_SCALE_2000DPS,
+ accel_scale aScl = A_SCALE_8G, mag_scale mScl = M_SCALE_4GS,
+ gyro_odr gODR = G_ODR_119_BW_31, accel_odr aODR = A_ODR_119,
mag_odr mODR = M_ODR_80);
-
+
/** readGyro() -- Read the gyroscope output registers.
* This function will read all six gyroscope output registers.
* The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
* those _after_ calling readGyro().
*/
void readGyro();
-
+
/** readAccel() -- Read the accelerometer output registers.
* This function will read all six accelerometer output registers.
* The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
* those _after_ calling readAccel().
*/
void readAccel();
-
+
/** readMag() -- Read the magnetometer output registers.
* This function will read all six magnetometer output registers.
* The readings are stored in the class' mx_raw, my_raw, and mz_raw variables. Read
* those _after_ calling readMag().
*/
void readMag();
-
+
/** Read Interrupt **/
void readIntr();
-
+
/** 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();
-
+
/** calibration() -- Calibrate Accel and Gyro sensor
*/
void calibration();
-
+
/** setGyroScale() -- Set the full-scale range of the gyroscope.
- * This function can be called to set the scale of the gyroscope to
+ * This function can be called to set the scale of the gyroscope to
* 245, 500, or 2000 degrees per second.
* Input:
* - gScl = The desired gyroscope scale. Must be one of three possible
* values from the gyro_scale enum.
*/
void setGyroScale(gyro_scale 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, 8, or 16 g's.
@@ -295,7 +303,7 @@
* values from the accel_scale enum.
*/
void setAccelScale(accel_scale aScl);
-
+
/** setMagScale() -- Set the full-scale range of the magnetometer.
* This function can be called to set the scale of the magnetometer to
* 4, 8, 12, or 16 Gs.
@@ -304,29 +312,29 @@
* values from the mag_scale enum.
*/
void setMagScale(mag_scale mScl);
-
+
/** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
* Input:
* - gRate = The desired output rate and cutoff frequency of the gyro.
* Must be a value from the gyro_odr enum (check above).
*/
void setGyroODR(gyro_odr gRate);
-
+
/** setAccelODR() -- Set the output data rate of the accelerometer
* Input:
* - aRate = The desired output rate of the accel.
* Must be a value from the accel_odr enum (check above).
*/
void setAccelODR(accel_odr aRate);
-
+
/** setMagODR() -- Set the output data rate of the magnetometer
* Input:
* - mRate = The desired output rate of the mag.
* Must be a value from the mag_odr enum (check above).
*/
void setMagODR(mag_odr mRate);
-
-
+
+
/** enableFIFO() -- Turn on FIFO state (CTRL_REG9)
* Input:
* - enable = true - turn on FIFO
@@ -342,58 +350,58 @@
*/
void setXgFIFO(uint8_t fifoMode, uint8_t fifoThs);
-private:
+private:
/** xgAddress and mAddress store the I2C address
* for each sensor.
*/
uint8_t xgAddress, mAddress;
-
+
// I2C bus
I2C i2c;
- /** gScale, aScale, and mScale store the current scale range for each
+ /** gScale, aScale, and mScale store the current scale range for each
* sensor. Should be updated whenever that value changes.
*/
gyro_scale gScale;
accel_scale aScale;
mag_scale mScale;
-
- /** gRes, aRes, and mRes store the current resolution for each sensor.
+
+ /** gRes, aRes, and mRes store the current resolution for each sensor.
* Units of these values would be DPS (or g's or Gs's) per ADC tick.
* This value is calculated as (sensor scale) / (2^15).
*/
float gRes, aRes, mRes;
-
+
/** initGyro() -- Sets up the gyroscope to begin reading.
* This function steps through all three gyroscope control registers.
*/
void initGyro();
-
+
/** initAccel() -- Sets up the accelerometer to begin reading.
* This function steps through all accelerometer related control registers.
*/
void initAccel();
-
+
/** Initialize Interrupts **/
void initIntr();
-
+
/** initMag() -- Sets up the magnetometer to begin reading.
* This function steps through all magnetometer-related control registers.
*/
void initMag();
-
+
/** calcgRes() -- Calculate the resolution of the gyroscope.
* This function will set the value of the gRes variable. gScale must
* be set prior to calling this function.
*/
void calcgRes();
-
+
/** calcmRes() -- Calculate the resolution of the magnetometer.
* This function will set the value of the mRes variable. mScale must
* be set prior to calling this function.
*/
void calcmRes();
-
+
/** calcaRes() -- Calculate the resolution of the accelerometer.
* This function will set the value of the aRes variable. aScale must
* be set prior to calling this function.