Revision 2:ed14e6196255, committed 2016-06-21

Comitter:

5hel2l2y

Date:

Tue Jun 21 20:51:25 2016 +0000

Parent:

1:924c7dea286e

Commit message:

Adding interrupt.

Changed in this revision

--- a/LSM6DS3.cpp	Mon Jun 20 19:15:31 2016 +0000
+++ b/LSM6DS3.cpp	Tue Jun 21 20:51:25 2016 +0000
@@ -44,6 +44,9 @@
     setAccelODR(aODR); // Set the accel data rate.
     setAccelScale(aScale); // Set the accel range.
     
+    // Interrupt initialization stuff;
+    initIntr();
+    
     // Once everything is initialized, return the WHO_AM_I registers we read:
     return xgTest;
 }
@@ -74,6 +77,27 @@
     i2c.write(xgAddress, cmd, 4);
 }
 
+void LSM6DS3::initIntr()
+{
+    char cmd[2];
+    
+    cmd[0] = TAP_CFG;
+    cmd[1] = 0x0E;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = TAP_THS_6D;
+    cmd[1] = 0x03;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = INT_DUR2;
+    cmd[1] = 0x7F;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = WAKE_UP_THS;
+    cmd[1] = 0x80;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = MD1_CFG;
+    cmd[1] = 0x48;
+    i2c.write(xgAddress, cmd, 2);
+}
+
 void LSM6DS3::readAccel()
 {
     // The data we are going to read from the accel
@@ -112,6 +136,17 @@
     az = az_raw * aRes;
 }
 
+void LSM6DS3::readIntr()
+{
+    char data[1];
+    char subAddress = TAP_SRC;
+
+    i2c.write(xgAddress, &subAddress, 1, true);
+    i2c.read(xgAddress, data, 1);
+
+    intr = (float)data[0];
+}
+
 void LSM6DS3::readTemp()
 {
     // The data we are going to read from the temp

--- a/LSM6DS3.h	Mon Jun 20 19:15:31 2016 +0000
+++ b/LSM6DS3.h	Tue Jun 21 20:51:25 2016 +0000
@@ -150,6 +150,8 @@
         A_BW_105 = 0x6,         // 105 Hz (0x6)
         A_BW_50 = 0x7           // 50 Hz (0x7)
     };
+    
+    
 
     // We'll store the gyro, and accel, readings in a series of
     // public class variables. Each sensor gets three variables -- one for each
@@ -164,6 +166,7 @@
     float gx, gy, gz;
     float ax, ay, az;
     float temperature_c, temperature_f; // temperature in celcius and fahrenheit
+    float intr;
 
     
     /**  LSM6DS3 -- LSM6DS3 class constructor
@@ -217,6 +220,9 @@
     */
     void readTemp();
     
+    /** Read Interrupt **/
+    void readIntr();
+    
     /**  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 2000 degrees per second.
@@ -281,6 +287,9 @@
     */
     void initAccel();
     
+    /** Setup Interrupt **/
+    void initIntr();
+    
     /**  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.