Diff: LSM9DS1.cpp

Revision:

9:e0759c34eb93

Parent:

8:16e88babd42a

--- a/LSM9DS1.cpp	Mon Jun 19 02:25:48 2017 +0000
+++ b/LSM9DS1.cpp	Fri Feb 07 00:53:14 2020 +0000
@@ -7,7 +7,9 @@
     mAddress = mAddr;
 }
 
-bool LSM9DS1::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
+/* bool LSM9DS1::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
+                        gyro_odr gODR, accel_odr aODR, mag_odr mODR) */
+uint16_t LSM9DS1::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
                         gyro_odr gODR, accel_odr aODR, mag_odr mODR)
 {
     // Store the given scales in class variables. These scale variables
@@ -73,7 +75,8 @@
     initIntr();
 
     // Once everything is initialized, return the WHO_AM_I registers we read:
-    return ( ((xgTest << 8) | mTest) == (WHO_AM_I_AG_RSP << 8 | WHO_AM_I_M_RSP) );
+    /* return ( ((xgTest << 8) | mTest) == (WHO_AM_I_AG_RSP << 8 | WHO_AM_I_M_RSP) ); */
+    return (WHO_AM_I_AG_RSP << 8 | WHO_AM_I_M_RSP);
 }
 
 void LSM9DS1::initGyro()
@@ -89,7 +92,8 @@
 
     char cmd[4] = {
         CTRL_REG1_G,
-        gScale | G_ODR_119_BW_14,
+        /*gScale | G_ODR_119_BW_14,*/
+        (char)(gScale | G_ODR_119_BW_14),
         0x03,          // Data pass througn HPF and LPF2, default int out
         0x80           // Low-power mode, disable high-pass filter, default cut-off frequency
     };
@@ -103,7 +107,8 @@
     char cmd[4] = {
         CTRL_REG5_XL,
         0x38,       // Enable all axis and don't decimate data in out Registers
-        (A_ODR_119 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE),   // 119 Hz ODR, set scale, and auto BW
+        /* (A_ODR_119 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE),   // 119 Hz ODR, set scale, and auto BW */
+        (char)((A_ODR_119 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE)),   // 119 Hz ODR, set scale, and auto BW
         0           // Default resolution mode and filtering settings
     };
 
@@ -116,7 +121,8 @@
     char cmd[4] = {
         CTRL_REG1_M,
         0x10,       // Default data rate, xy axes mode, and temp comp
-        mScale << 5, // Set mag scale
+        /* mScale << 5, // Set mag scale */
+        (char)(mScale << 5), // Set mag scale
         0           // Enable I2C, write only SPI, not LP mode, Continuous conversion mode
     };
 
@@ -216,7 +222,8 @@
         aBiasRawTemp[1] += ay_raw;
         aBiasRawTemp[2] += az_raw;
         */
-        wait_ms(1); // 1 ms
+        /* wait_ms(1); // 1 ms */
+        ThisThread::sleep_for(1);
         samples++;
     }
 
@@ -249,7 +256,8 @@
             }
         }
         //
-        wait_ms(1); // 1 ms
+        /* wait_ms(1); // 1 ms */
+        ThisThread::sleep_for(1);
     }
 
     //
@@ -347,8 +355,9 @@
     // Temperature is a 12-bit signed integer
     temperature_raw = data[0] | (data[1] << 8);
 
-    temperature_c = (float)temperature_raw / 8.0 + 25;
-    temperature_f = temperature_c * 1.8 + 32;
+    // Feb. 5th, 2020 by JH1PJL / Arai
+    temperature_c = (float)temperature_raw / 16.0 + 25.0;
+    temperature_f = temperature_c * 1.8 + 32.0;
 }
 
 void LSM9DS1::readGyro()