| User | Revision | Line number | New contents of line |
|---|
| pandirimukund |
13:8d8ac3189984
|
1
|
/******************************************************************************
|
| pandirimukund |
13:8d8ac3189984
|
2
|
SFE_LSM9DS1.cpp
|
| pandirimukund |
13:8d8ac3189984
|
3
|
SFE_LSM9DS1 Library Source File
|
| pandirimukund |
13:8d8ac3189984
|
4
|
Jim Lindblom @ SparkFun Electronics
|
| pandirimukund |
13:8d8ac3189984
|
5
|
Original Creation Date: February 27, 2015
|
| pandirimukund |
13:8d8ac3189984
|
6
|
https://github.com/sparkfun/LSM9DS1_Breakout
|
| pandirimukund |
13:8d8ac3189984
|
7
|
|
| pandirimukund |
13:8d8ac3189984
|
8
|
This file implements all functions of the LSM9DS1 class. Functions here range
|
| pandirimukund |
13:8d8ac3189984
|
9
|
from higher level stuff, like reading/writing LSM9DS1 registers to low-level,
|
| pandirimukund |
13:8d8ac3189984
|
10
|
hardware reads and writes. Both SPI and I2C handler functions can be found
|
| pandirimukund |
13:8d8ac3189984
|
11
|
towards the bottom of this file.
|
| pandirimukund |
13:8d8ac3189984
|
12
|
|
| pandirimukund |
13:8d8ac3189984
|
13
|
Development environment specifics:
|
| pandirimukund |
13:8d8ac3189984
|
14
|
IDE: Arduino 1.6
|
| pandirimukund |
13:8d8ac3189984
|
15
|
Hardware Platform: Arduino Uno
|
| pandirimukund |
13:8d8ac3189984
|
16
|
LSM9DS1 Breakout Version: 1.0
|
| pandirimukund |
13:8d8ac3189984
|
17
|
|
| pandirimukund |
13:8d8ac3189984
|
18
|
This code is beerware; if you see me (or any other SparkFun employee) at the
|
| pandirimukund |
13:8d8ac3189984
|
19
|
local, and you've found our code helpful, please buy us a round!
|
| pandirimukund |
13:8d8ac3189984
|
20
|
|
| pandirimukund |
13:8d8ac3189984
|
21
|
Distributed as-is; no warranty is given.
|
| pandirimukund |
13:8d8ac3189984
|
22
|
******************************************************************************/
|
| pandirimukund |
13:8d8ac3189984
|
23
|
|
| pandirimukund |
13:8d8ac3189984
|
24
|
#include "LSM9DS1.h"
|
| pandirimukund |
13:8d8ac3189984
|
25
|
#include "LSM9DS1_Registers.h"
|
| pandirimukund |
13:8d8ac3189984
|
26
|
#include "LSM9DS1_Types.h"
|
| pandirimukund |
13:8d8ac3189984
|
27
|
//#include <Wire.h> // Wire library is used for I2C
|
| pandirimukund |
13:8d8ac3189984
|
28
|
//#include <SPI.h> // SPI library is used for...SPI.
|
| pandirimukund |
13:8d8ac3189984
|
29
|
|
| pandirimukund |
13:8d8ac3189984
|
30
|
//#if defined(ARDUINO) && ARDUINO >= 100
|
| pandirimukund |
13:8d8ac3189984
|
31
|
// #include "Arduino.h"
|
| pandirimukund |
13:8d8ac3189984
|
32
|
//#else
|
| pandirimukund |
13:8d8ac3189984
|
33
|
// #include "WProgram.h"
|
| pandirimukund |
13:8d8ac3189984
|
34
|
//#endif
|
| pandirimukund |
13:8d8ac3189984
|
35
|
|
| pandirimukund |
13:8d8ac3189984
|
36
|
#define LSM9DS1_COMMUNICATION_TIMEOUT 1000
|
| pandirimukund |
13:8d8ac3189984
|
37
|
|
| pandirimukund |
13:8d8ac3189984
|
38
|
float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058};
|
| pandirimukund |
13:8d8ac3189984
|
39
|
extern Serial pc;
|
| pandirimukund |
13:8d8ac3189984
|
40
|
|
| pandirimukund |
13:8d8ac3189984
|
41
|
LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr)
|
| pandirimukund |
13:8d8ac3189984
|
42
|
:i2c(sda, scl)
|
| pandirimukund |
13:8d8ac3189984
|
43
|
{
|
| pandirimukund |
13:8d8ac3189984
|
44
|
init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B
|
| pandirimukund |
13:8d8ac3189984
|
45
|
}
|
| pandirimukund |
13:8d8ac3189984
|
46
|
/*
|
| pandirimukund |
13:8d8ac3189984
|
47
|
LSM9DS1::LSM9DS1()
|
| pandirimukund |
13:8d8ac3189984
|
48
|
{
|
| pandirimukund |
13:8d8ac3189984
|
49
|
init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1));
|
| pandirimukund |
13:8d8ac3189984
|
50
|
}
|
| pandirimukund |
13:8d8ac3189984
|
51
|
|
| pandirimukund |
13:8d8ac3189984
|
52
|
LSM9DS1::LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
|
| pandirimukund |
13:8d8ac3189984
|
53
|
{
|
| pandirimukund |
13:8d8ac3189984
|
54
|
init(interface, xgAddr, mAddr);
|
| pandirimukund |
13:8d8ac3189984
|
55
|
}
|
| pandirimukund |
13:8d8ac3189984
|
56
|
*/
|
| pandirimukund |
13:8d8ac3189984
|
57
|
|
| pandirimukund |
13:8d8ac3189984
|
58
|
void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
|
| pandirimukund |
13:8d8ac3189984
|
59
|
{
|
| pandirimukund |
13:8d8ac3189984
|
60
|
settings.device.commInterface = interface;
|
| pandirimukund |
13:8d8ac3189984
|
61
|
settings.device.agAddress = xgAddr;
|
| pandirimukund |
13:8d8ac3189984
|
62
|
settings.device.mAddress = mAddr;
|
| pandirimukund |
13:8d8ac3189984
|
63
|
|
| pandirimukund |
13:8d8ac3189984
|
64
|
settings.gyro.enabled = true;
|
| pandirimukund |
13:8d8ac3189984
|
65
|
settings.gyro.enableX = true;
|
| pandirimukund |
13:8d8ac3189984
|
66
|
settings.gyro.enableY = true;
|
| pandirimukund |
13:8d8ac3189984
|
67
|
settings.gyro.enableZ = true;
|
| pandirimukund |
13:8d8ac3189984
|
68
|
// gyro scale can be 245, 500, or 2000
|
| pandirimukund |
13:8d8ac3189984
|
69
|
settings.gyro.scale = 245;
|
| pandirimukund |
13:8d8ac3189984
|
70
|
// gyro sample rate: value between 1-6
|
| pandirimukund |
13:8d8ac3189984
|
71
|
// 1 = 14.9 4 = 238
|
| pandirimukund |
13:8d8ac3189984
|
72
|
// 2 = 59.5 5 = 476
|
| pandirimukund |
13:8d8ac3189984
|
73
|
// 3 = 119 6 = 952
|
| pandirimukund |
13:8d8ac3189984
|
74
|
settings.gyro.sampleRate = 6;
|
| pandirimukund |
13:8d8ac3189984
|
75
|
// gyro cutoff frequency: value between 0-3
|
| pandirimukund |
13:8d8ac3189984
|
76
|
// Actual value of cutoff frequency depends
|
| pandirimukund |
13:8d8ac3189984
|
77
|
// on sample rate.
|
| pandirimukund |
13:8d8ac3189984
|
78
|
settings.gyro.bandwidth = 0;
|
| pandirimukund |
13:8d8ac3189984
|
79
|
settings.gyro.lowPowerEnable = false;
|
| pandirimukund |
13:8d8ac3189984
|
80
|
settings.gyro.HPFEnable = false;
|
| pandirimukund |
13:8d8ac3189984
|
81
|
// Gyro HPF cutoff frequency: value between 0-9
|
| pandirimukund |
13:8d8ac3189984
|
82
|
// Actual value depends on sample rate. Only applies
|
| pandirimukund |
13:8d8ac3189984
|
83
|
// if gyroHPFEnable is true.
|
| pandirimukund |
13:8d8ac3189984
|
84
|
settings.gyro.HPFCutoff = 0;
|
| pandirimukund |
13:8d8ac3189984
|
85
|
settings.gyro.flipX = false;
|
| pandirimukund |
13:8d8ac3189984
|
86
|
settings.gyro.flipY = false;
|
| pandirimukund |
13:8d8ac3189984
|
87
|
settings.gyro.flipZ = false;
|
| pandirimukund |
13:8d8ac3189984
|
88
|
settings.gyro.orientation = 0;
|
| pandirimukund |
13:8d8ac3189984
|
89
|
settings.gyro.latchInterrupt = true;
|
| pandirimukund |
13:8d8ac3189984
|
90
|
|
| pandirimukund |
13:8d8ac3189984
|
91
|
settings.accel.enabled = true;
|
| pandirimukund |
13:8d8ac3189984
|
92
|
settings.accel.enableX = true;
|
| pandirimukund |
13:8d8ac3189984
|
93
|
settings.accel.enableY = true;
|
| pandirimukund |
13:8d8ac3189984
|
94
|
settings.accel.enableZ = true;
|
| pandirimukund |
13:8d8ac3189984
|
95
|
// accel scale can be 2, 4, 8, or 16
|
| pandirimukund |
13:8d8ac3189984
|
96
|
settings.accel.scale = 2;
|
| pandirimukund |
13:8d8ac3189984
|
97
|
// accel sample rate can be 1-6
|
| pandirimukund |
13:8d8ac3189984
|
98
|
// 1 = 10 Hz 4 = 238 Hz
|
| pandirimukund |
13:8d8ac3189984
|
99
|
// 2 = 50 Hz 5 = 476 Hz
|
| pandirimukund |
13:8d8ac3189984
|
100
|
// 3 = 119 Hz 6 = 952 Hz
|
| pandirimukund |
13:8d8ac3189984
|
101
|
settings.accel.sampleRate = 6;
|
| pandirimukund |
13:8d8ac3189984
|
102
|
// Accel cutoff freqeuncy can be any value between -1 - 3.
|
| pandirimukund |
13:8d8ac3189984
|
103
|
// -1 = bandwidth determined by sample rate
|
| pandirimukund |
13:8d8ac3189984
|
104
|
// 0 = 408 Hz 2 = 105 Hz
|
| pandirimukund |
13:8d8ac3189984
|
105
|
// 1 = 211 Hz 3 = 50 Hz
|
| pandirimukund |
13:8d8ac3189984
|
106
|
settings.accel.bandwidth = -1;
|
| pandirimukund |
13:8d8ac3189984
|
107
|
settings.accel.highResEnable = false;
|
| pandirimukund |
13:8d8ac3189984
|
108
|
// accelHighResBandwidth can be any value between 0-3
|
| pandirimukund |
13:8d8ac3189984
|
109
|
// LP cutoff is set to a factor of sample rate
|
| pandirimukund |
13:8d8ac3189984
|
110
|
// 0 = ODR/50 2 = ODR/9
|
| pandirimukund |
13:8d8ac3189984
|
111
|
// 1 = ODR/100 3 = ODR/400
|
| pandirimukund |
13:8d8ac3189984
|
112
|
settings.accel.highResBandwidth = 0;
|
| pandirimukund |
13:8d8ac3189984
|
113
|
|
| pandirimukund |
13:8d8ac3189984
|
114
|
settings.mag.enabled = true;
|
| pandirimukund |
13:8d8ac3189984
|
115
|
// mag scale can be 4, 8, 12, or 16
|
| pandirimukund |
13:8d8ac3189984
|
116
|
settings.mag.scale = 4;
|
| pandirimukund |
13:8d8ac3189984
|
117
|
// mag data rate can be 0-7
|
| pandirimukund |
13:8d8ac3189984
|
118
|
// 0 = 0.625 Hz 4 = 10 Hz
|
| pandirimukund |
13:8d8ac3189984
|
119
|
// 1 = 1.25 Hz 5 = 20 Hz
|
| pandirimukund |
13:8d8ac3189984
|
120
|
// 2 = 2.5 Hz 6 = 40 Hz
|
| pandirimukund |
13:8d8ac3189984
|
121
|
// 3 = 5 Hz 7 = 80 Hz
|
| pandirimukund |
13:8d8ac3189984
|
122
|
settings.mag.sampleRate = 7;
|
| pandirimukund |
13:8d8ac3189984
|
123
|
settings.mag.tempCompensationEnable = false;
|
| pandirimukund |
13:8d8ac3189984
|
124
|
// magPerformance can be any value between 0-3
|
| pandirimukund |
13:8d8ac3189984
|
125
|
// 0 = Low power mode 2 = high performance
|
| pandirimukund |
13:8d8ac3189984
|
126
|
// 1 = medium performance 3 = ultra-high performance
|
| pandirimukund |
13:8d8ac3189984
|
127
|
settings.mag.XYPerformance = 3;
|
| pandirimukund |
13:8d8ac3189984
|
128
|
settings.mag.ZPerformance = 3;
|
| pandirimukund |
13:8d8ac3189984
|
129
|
settings.mag.lowPowerEnable = false;
|
| pandirimukund |
13:8d8ac3189984
|
130
|
// magOperatingMode can be 0-2
|
| pandirimukund |
13:8d8ac3189984
|
131
|
// 0 = continuous conversion
|
| pandirimukund |
13:8d8ac3189984
|
132
|
// 1 = single-conversion
|
| pandirimukund |
13:8d8ac3189984
|
133
|
// 2 = power down
|
| pandirimukund |
13:8d8ac3189984
|
134
|
settings.mag.operatingMode = 0;
|
| pandirimukund |
13:8d8ac3189984
|
135
|
|
| pandirimukund |
13:8d8ac3189984
|
136
|
settings.temp.enabled = true;
|
| pandirimukund |
13:8d8ac3189984
|
137
|
for (int i=0; i<3; i++)
|
| pandirimukund |
13:8d8ac3189984
|
138
|
{
|
| pandirimukund |
13:8d8ac3189984
|
139
|
gBias[i] = 0;
|
| pandirimukund |
13:8d8ac3189984
|
140
|
aBias[i] = 0;
|
| pandirimukund |
13:8d8ac3189984
|
141
|
mBias[i] = 0;
|
| pandirimukund |
13:8d8ac3189984
|
142
|
gBiasRaw[i] = 0;
|
| pandirimukund |
13:8d8ac3189984
|
143
|
aBiasRaw[i] = 0;
|
| pandirimukund |
13:8d8ac3189984
|
144
|
mBiasRaw[i] = 0;
|
| pandirimukund |
13:8d8ac3189984
|
145
|
}
|
| pandirimukund |
13:8d8ac3189984
|
146
|
_autoCalc = false;
|
| pandirimukund |
13:8d8ac3189984
|
147
|
}
|
| pandirimukund |
13:8d8ac3189984
|
148
|
|
| pandirimukund |
13:8d8ac3189984
|
149
|
|
| pandirimukund |
13:8d8ac3189984
|
150
|
uint16_t LSM9DS1::begin()
|
| pandirimukund |
13:8d8ac3189984
|
151
|
{
|
| pandirimukund |
13:8d8ac3189984
|
152
|
//! Todo: don't use _xgAddress or _mAddress, duplicating memory
|
| pandirimukund |
13:8d8ac3189984
|
153
|
_xgAddress = settings.device.agAddress;
|
| pandirimukund |
13:8d8ac3189984
|
154
|
_mAddress = settings.device.mAddress;
|
| pandirimukund |
13:8d8ac3189984
|
155
|
|
| pandirimukund |
13:8d8ac3189984
|
156
|
constrainScales();
|
| pandirimukund |
13:8d8ac3189984
|
157
|
// Once we have the scale values, we can calculate the resolution
|
| pandirimukund |
13:8d8ac3189984
|
158
|
// of each sensor. That's what these functions are for. One for each sensor
|
| pandirimukund |
13:8d8ac3189984
|
159
|
calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
|
| pandirimukund |
13:8d8ac3189984
|
160
|
calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
|
| pandirimukund |
13:8d8ac3189984
|
161
|
calcaRes(); // Calculate g / ADC tick, stored in aRes variable
|
| pandirimukund |
13:8d8ac3189984
|
162
|
|
| pandirimukund |
13:8d8ac3189984
|
163
|
// Now, initialize our hardware interface.
|
| pandirimukund |
13:8d8ac3189984
|
164
|
if (settings.device.commInterface == IMU_MODE_I2C) // If we're using I2C
|
| pandirimukund |
13:8d8ac3189984
|
165
|
initI2C(); // Initialize I2C
|
| pandirimukund |
13:8d8ac3189984
|
166
|
else if (settings.device.commInterface == IMU_MODE_SPI) // else, if we're using SPI
|
| pandirimukund |
13:8d8ac3189984
|
167
|
initSPI(); // Initialize SPI
|
| pandirimukund |
13:8d8ac3189984
|
168
|
|
| pandirimukund |
13:8d8ac3189984
|
169
|
// To verify communication, we can read from the WHO_AM_I register of
|
| pandirimukund |
13:8d8ac3189984
|
170
|
// each device. Store those in a variable so we can return them.
|
| pandirimukund |
13:8d8ac3189984
|
171
|
uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I
|
| pandirimukund |
13:8d8ac3189984
|
172
|
uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I
|
| pandirimukund |
13:8d8ac3189984
|
173
|
pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
|
| pandirimukund |
13:8d8ac3189984
|
174
|
uint16_t whoAmICombined = (xgTest << 8) | mTest;
|
| pandirimukund |
13:8d8ac3189984
|
175
|
|
| pandirimukund |
13:8d8ac3189984
|
176
|
if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
|
| pandirimukund |
13:8d8ac3189984
|
177
|
return 0;
|
| pandirimukund |
13:8d8ac3189984
|
178
|
|
| pandirimukund |
13:8d8ac3189984
|
179
|
// Gyro initialization stuff:
|
| pandirimukund |
13:8d8ac3189984
|
180
|
initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
|
| pandirimukund |
13:8d8ac3189984
|
181
|
|
| pandirimukund |
13:8d8ac3189984
|
182
|
// Accelerometer initialization stuff:
|
| pandirimukund |
13:8d8ac3189984
|
183
|
initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
|
| pandirimukund |
13:8d8ac3189984
|
184
|
|
| pandirimukund |
13:8d8ac3189984
|
185
|
// Magnetometer initialization stuff:
|
| pandirimukund |
13:8d8ac3189984
|
186
|
initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
|
| pandirimukund |
13:8d8ac3189984
|
187
|
|
| pandirimukund |
13:8d8ac3189984
|
188
|
// Once everything is initialized, return the WHO_AM_I registers we read:
|
| pandirimukund |
13:8d8ac3189984
|
189
|
return whoAmICombined;
|
| pandirimukund |
13:8d8ac3189984
|
190
|
}
|
| pandirimukund |
13:8d8ac3189984
|
191
|
|
| pandirimukund |
13:8d8ac3189984
|
192
|
void LSM9DS1::initGyro()
|
| pandirimukund |
13:8d8ac3189984
|
193
|
{
|
| pandirimukund |
13:8d8ac3189984
|
194
|
uint8_t tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
195
|
|
| pandirimukund |
13:8d8ac3189984
|
196
|
// CTRL_REG1_G (Default value: 0x00)
|
| pandirimukund |
13:8d8ac3189984
|
197
|
// [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0]
|
| pandirimukund |
13:8d8ac3189984
|
198
|
// ODR_G[2:0] - Output data rate selection
|
| pandirimukund |
13:8d8ac3189984
|
199
|
// FS_G[1:0] - Gyroscope full-scale selection
|
| pandirimukund |
13:8d8ac3189984
|
200
|
// BW_G[1:0] - Gyroscope bandwidth selection
|
| pandirimukund |
13:8d8ac3189984
|
201
|
|
| pandirimukund |
13:8d8ac3189984
|
202
|
// To disable gyro, set sample rate bits to 0. We'll only set sample
|
| pandirimukund |
13:8d8ac3189984
|
203
|
// rate if the gyro is enabled.
|
| pandirimukund |
13:8d8ac3189984
|
204
|
if (settings.gyro.enabled)
|
| pandirimukund |
13:8d8ac3189984
|
205
|
{
|
| pandirimukund |
13:8d8ac3189984
|
206
|
tempRegValue = (settings.gyro.sampleRate & 0x07) << 5;
|
| pandirimukund |
13:8d8ac3189984
|
207
|
}
|
| pandirimukund |
13:8d8ac3189984
|
208
|
switch (settings.gyro.scale)
|
| pandirimukund |
13:8d8ac3189984
|
209
|
{
|
| pandirimukund |
13:8d8ac3189984
|
210
|
case 500:
|
| pandirimukund |
13:8d8ac3189984
|
211
|
tempRegValue |= (0x1 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
212
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
213
|
case 2000:
|
| pandirimukund |
13:8d8ac3189984
|
214
|
tempRegValue |= (0x3 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
215
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
216
|
// Otherwise we'll set it to 245 dps (0x0 << 4)
|
| pandirimukund |
13:8d8ac3189984
|
217
|
}
|
| pandirimukund |
13:8d8ac3189984
|
218
|
tempRegValue |= (settings.gyro.bandwidth & 0x3);
|
| pandirimukund |
13:8d8ac3189984
|
219
|
xgWriteByte(CTRL_REG1_G, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
220
|
|
| pandirimukund |
13:8d8ac3189984
|
221
|
// CTRL_REG2_G (Default value: 0x00)
|
| pandirimukund |
13:8d8ac3189984
|
222
|
// [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0]
|
| pandirimukund |
13:8d8ac3189984
|
223
|
// INT_SEL[1:0] - INT selection configuration
|
| pandirimukund |
13:8d8ac3189984
|
224
|
// OUT_SEL[1:0] - Out selection configuration
|
| pandirimukund |
13:8d8ac3189984
|
225
|
xgWriteByte(CTRL_REG2_G, 0x00);
|
| pandirimukund |
13:8d8ac3189984
|
226
|
|
| pandirimukund |
13:8d8ac3189984
|
227
|
// CTRL_REG3_G (Default value: 0x00)
|
| pandirimukund |
13:8d8ac3189984
|
228
|
// [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G]
|
| pandirimukund |
13:8d8ac3189984
|
229
|
// LP_mode - Low-power mode enable (0: disabled, 1: enabled)
|
| pandirimukund |
13:8d8ac3189984
|
230
|
// HP_EN - HPF enable (0:disabled, 1: enabled)
|
| pandirimukund |
13:8d8ac3189984
|
231
|
// HPCF_G[3:0] - HPF cutoff frequency
|
| pandirimukund |
13:8d8ac3189984
|
232
|
tempRegValue = settings.gyro.lowPowerEnable ? (1<<7) : 0;
|
| pandirimukund |
13:8d8ac3189984
|
233
|
if (settings.gyro.HPFEnable)
|
| pandirimukund |
13:8d8ac3189984
|
234
|
{
|
| pandirimukund |
13:8d8ac3189984
|
235
|
tempRegValue |= (1<<6) | (settings.gyro.HPFCutoff & 0x0F);
|
| pandirimukund |
13:8d8ac3189984
|
236
|
}
|
| pandirimukund |
13:8d8ac3189984
|
237
|
xgWriteByte(CTRL_REG3_G, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
238
|
|
| pandirimukund |
13:8d8ac3189984
|
239
|
// CTRL_REG4 (Default value: 0x38)
|
| pandirimukund |
13:8d8ac3189984
|
240
|
// [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1]
|
| pandirimukund |
13:8d8ac3189984
|
241
|
// Zen_G - Z-axis output enable (0:disable, 1:enable)
|
| pandirimukund |
13:8d8ac3189984
|
242
|
// Yen_G - Y-axis output enable (0:disable, 1:enable)
|
| pandirimukund |
13:8d8ac3189984
|
243
|
// Xen_G - X-axis output enable (0:disable, 1:enable)
|
| pandirimukund |
13:8d8ac3189984
|
244
|
// LIR_XL1 - Latched interrupt (0:not latched, 1:latched)
|
| pandirimukund |
13:8d8ac3189984
|
245
|
// 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used)
|
| pandirimukund |
13:8d8ac3189984
|
246
|
tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
247
|
if (settings.gyro.enableZ) tempRegValue |= (1<<5);
|
| pandirimukund |
13:8d8ac3189984
|
248
|
if (settings.gyro.enableY) tempRegValue |= (1<<4);
|
| pandirimukund |
13:8d8ac3189984
|
249
|
if (settings.gyro.enableX) tempRegValue |= (1<<3);
|
| pandirimukund |
13:8d8ac3189984
|
250
|
if (settings.gyro.latchInterrupt) tempRegValue |= (1<<1);
|
| pandirimukund |
13:8d8ac3189984
|
251
|
xgWriteByte(CTRL_REG4, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
252
|
|
| pandirimukund |
13:8d8ac3189984
|
253
|
// ORIENT_CFG_G (Default value: 0x00)
|
| pandirimukund |
13:8d8ac3189984
|
254
|
// [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0]
|
| pandirimukund |
13:8d8ac3189984
|
255
|
// SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative)
|
| pandirimukund |
13:8d8ac3189984
|
256
|
// Orient [2:0] - Directional user orientation selection
|
| pandirimukund |
13:8d8ac3189984
|
257
|
tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
258
|
if (settings.gyro.flipX) tempRegValue |= (1<<5);
|
| pandirimukund |
13:8d8ac3189984
|
259
|
if (settings.gyro.flipY) tempRegValue |= (1<<4);
|
| pandirimukund |
13:8d8ac3189984
|
260
|
if (settings.gyro.flipZ) tempRegValue |= (1<<3);
|
| pandirimukund |
13:8d8ac3189984
|
261
|
xgWriteByte(ORIENT_CFG_G, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
262
|
}
|
| pandirimukund |
13:8d8ac3189984
|
263
|
|
| pandirimukund |
13:8d8ac3189984
|
264
|
void LSM9DS1::initAccel()
|
| pandirimukund |
13:8d8ac3189984
|
265
|
{
|
| pandirimukund |
13:8d8ac3189984
|
266
|
uint8_t tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
267
|
|
| pandirimukund |
13:8d8ac3189984
|
268
|
// CTRL_REG5_XL (0x1F) (Default value: 0x38)
|
| pandirimukund |
13:8d8ac3189984
|
269
|
// [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0]
|
| pandirimukund |
13:8d8ac3189984
|
270
|
// DEC[0:1] - Decimation of accel data on OUT REG and FIFO.
|
| pandirimukund |
13:8d8ac3189984
|
271
|
// 00: None, 01: 2 samples, 10: 4 samples 11: 8 samples
|
| pandirimukund |
13:8d8ac3189984
|
272
|
// Zen_XL - Z-axis output enabled
|
| pandirimukund |
13:8d8ac3189984
|
273
|
// Yen_XL - Y-axis output enabled
|
| pandirimukund |
13:8d8ac3189984
|
274
|
// Xen_XL - X-axis output enabled
|
| pandirimukund |
13:8d8ac3189984
|
275
|
if (settings.accel.enableZ) tempRegValue |= (1<<5);
|
| pandirimukund |
13:8d8ac3189984
|
276
|
if (settings.accel.enableY) tempRegValue |= (1<<4);
|
| pandirimukund |
13:8d8ac3189984
|
277
|
if (settings.accel.enableX) tempRegValue |= (1<<3);
|
| pandirimukund |
13:8d8ac3189984
|
278
|
|
| pandirimukund |
13:8d8ac3189984
|
279
|
xgWriteByte(CTRL_REG5_XL, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
280
|
|
| pandirimukund |
13:8d8ac3189984
|
281
|
// CTRL_REG6_XL (0x20) (Default value: 0x00)
|
| pandirimukund |
13:8d8ac3189984
|
282
|
// [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0]
|
| pandirimukund |
13:8d8ac3189984
|
283
|
// ODR_XL[2:0] - Output data rate & power mode selection
|
| pandirimukund |
13:8d8ac3189984
|
284
|
// FS_XL[1:0] - Full-scale selection
|
| pandirimukund |
13:8d8ac3189984
|
285
|
// BW_SCAL_ODR - Bandwidth selection
|
| pandirimukund |
13:8d8ac3189984
|
286
|
// BW_XL[1:0] - Anti-aliasing filter bandwidth selection
|
| pandirimukund |
13:8d8ac3189984
|
287
|
tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
288
|
// To disable the accel, set the sampleRate bits to 0.
|
| pandirimukund |
13:8d8ac3189984
|
289
|
if (settings.accel.enabled)
|
| pandirimukund |
13:8d8ac3189984
|
290
|
{
|
| pandirimukund |
13:8d8ac3189984
|
291
|
tempRegValue |= (settings.accel.sampleRate & 0x07) << 5;
|
| pandirimukund |
13:8d8ac3189984
|
292
|
}
|
| pandirimukund |
13:8d8ac3189984
|
293
|
switch (settings.accel.scale)
|
| pandirimukund |
13:8d8ac3189984
|
294
|
{
|
| pandirimukund |
13:8d8ac3189984
|
295
|
case 4:
|
| pandirimukund |
13:8d8ac3189984
|
296
|
tempRegValue |= (0x2 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
297
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
298
|
case 8:
|
| pandirimukund |
13:8d8ac3189984
|
299
|
tempRegValue |= (0x3 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
300
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
301
|
case 16:
|
| pandirimukund |
13:8d8ac3189984
|
302
|
tempRegValue |= (0x1 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
303
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
304
|
// Otherwise it'll be set to 2g (0x0 << 3)
|
| pandirimukund |
13:8d8ac3189984
|
305
|
}
|
| pandirimukund |
13:8d8ac3189984
|
306
|
if (settings.accel.bandwidth >= 0)
|
| pandirimukund |
13:8d8ac3189984
|
307
|
{
|
| pandirimukund |
13:8d8ac3189984
|
308
|
tempRegValue |= (1<<2); // Set BW_SCAL_ODR
|
| pandirimukund |
13:8d8ac3189984
|
309
|
tempRegValue |= (settings.accel.bandwidth & 0x03);
|
| pandirimukund |
13:8d8ac3189984
|
310
|
}
|
| pandirimukund |
13:8d8ac3189984
|
311
|
xgWriteByte(CTRL_REG6_XL, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
312
|
|
| pandirimukund |
13:8d8ac3189984
|
313
|
// CTRL_REG7_XL (0x21) (Default value: 0x00)
|
| pandirimukund |
13:8d8ac3189984
|
314
|
// [HR][DCF1][DCF0][0][0][FDS][0][HPIS1]
|
| pandirimukund |
13:8d8ac3189984
|
315
|
// HR - High resolution mode (0: disable, 1: enable)
|
| pandirimukund |
13:8d8ac3189984
|
316
|
// DCF[1:0] - Digital filter cutoff frequency
|
| pandirimukund |
13:8d8ac3189984
|
317
|
// FDS - Filtered data selection
|
| pandirimukund |
13:8d8ac3189984
|
318
|
// HPIS1 - HPF enabled for interrupt function
|
| pandirimukund |
13:8d8ac3189984
|
319
|
tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
320
|
if (settings.accel.highResEnable)
|
| pandirimukund |
13:8d8ac3189984
|
321
|
{
|
| pandirimukund |
13:8d8ac3189984
|
322
|
tempRegValue |= (1<<7); // Set HR bit
|
| pandirimukund |
13:8d8ac3189984
|
323
|
tempRegValue |= (settings.accel.highResBandwidth & 0x3) << 5;
|
| pandirimukund |
13:8d8ac3189984
|
324
|
}
|
| pandirimukund |
13:8d8ac3189984
|
325
|
xgWriteByte(CTRL_REG7_XL, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
326
|
}
|
| pandirimukund |
13:8d8ac3189984
|
327
|
|
| pandirimukund |
13:8d8ac3189984
|
328
|
// This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average
|
| pandirimukund |
13:8d8ac3189984
|
329
|
// them, scales them to gs and deg/s, respectively, and then passes the biases to the main sketch
|
| pandirimukund |
13:8d8ac3189984
|
330
|
// for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store
|
| pandirimukund |
13:8d8ac3189984
|
331
|
// the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to
|
| pandirimukund |
13:8d8ac3189984
|
332
|
// subtract the biases ourselves. This results in a more accurate measurement in general and can
|
| pandirimukund |
13:8d8ac3189984
|
333
|
// remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
|
| pandirimukund |
13:8d8ac3189984
|
334
|
// is good practice.
|
| pandirimukund |
13:8d8ac3189984
|
335
|
void LSM9DS1::calibrate(bool autoCalc)
|
| pandirimukund |
13:8d8ac3189984
|
336
|
{
|
| pandirimukund |
13:8d8ac3189984
|
337
|
uint8_t data[6] = {0, 0, 0, 0, 0, 0};
|
| pandirimukund |
13:8d8ac3189984
|
338
|
uint8_t samples = 0;
|
| pandirimukund |
13:8d8ac3189984
|
339
|
int ii;
|
| pandirimukund |
13:8d8ac3189984
|
340
|
int32_t aBiasRawTemp[3] = {0, 0, 0};
|
| pandirimukund |
13:8d8ac3189984
|
341
|
int32_t gBiasRawTemp[3] = {0, 0, 0};
|
| pandirimukund |
13:8d8ac3189984
|
342
|
|
| pandirimukund |
13:8d8ac3189984
|
343
|
// Turn on FIFO and set threshold to 32 samples
|
| pandirimukund |
13:8d8ac3189984
|
344
|
enableFIFO(true);
|
| pandirimukund |
13:8d8ac3189984
|
345
|
setFIFO(FIFO_THS, 0x1F);
|
| pandirimukund |
13:8d8ac3189984
|
346
|
while (samples < 0x1F)
|
| pandirimukund |
13:8d8ac3189984
|
347
|
{
|
| pandirimukund |
13:8d8ac3189984
|
348
|
samples = (xgReadByte(FIFO_SRC) & 0x3F); // Read number of stored samples
|
| pandirimukund |
13:8d8ac3189984
|
349
|
}
|
| pandirimukund |
13:8d8ac3189984
|
350
|
for(ii = 0; ii < samples ; ii++)
|
| pandirimukund |
13:8d8ac3189984
|
351
|
{ // Read the gyro data stored in the FIFO
|
| pandirimukund |
13:8d8ac3189984
|
352
|
readGyro();
|
| pandirimukund |
13:8d8ac3189984
|
353
|
gBiasRawTemp[0] += gx;
|
| pandirimukund |
13:8d8ac3189984
|
354
|
gBiasRawTemp[1] += gy;
|
| pandirimukund |
13:8d8ac3189984
|
355
|
gBiasRawTemp[2] += gz;
|
| pandirimukund |
13:8d8ac3189984
|
356
|
readAccel();
|
| pandirimukund |
13:8d8ac3189984
|
357
|
aBiasRawTemp[0] += ax;
|
| pandirimukund |
13:8d8ac3189984
|
358
|
aBiasRawTemp[1] += ay;
|
| pandirimukund |
13:8d8ac3189984
|
359
|
aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up!
|
| pandirimukund |
13:8d8ac3189984
|
360
|
}
|
| pandirimukund |
13:8d8ac3189984
|
361
|
for (ii = 0; ii < 3; ii++)
|
| pandirimukund |
13:8d8ac3189984
|
362
|
{
|
| pandirimukund |
13:8d8ac3189984
|
363
|
gBiasRaw[ii] = gBiasRawTemp[ii] / samples;
|
| pandirimukund |
13:8d8ac3189984
|
364
|
gBias[ii] = calcGyro(gBiasRaw[ii]);
|
| pandirimukund |
13:8d8ac3189984
|
365
|
aBiasRaw[ii] = aBiasRawTemp[ii] / samples;
|
| pandirimukund |
13:8d8ac3189984
|
366
|
aBias[ii] = calcAccel(aBiasRaw[ii]);
|
| pandirimukund |
13:8d8ac3189984
|
367
|
}
|
| pandirimukund |
13:8d8ac3189984
|
368
|
|
| pandirimukund |
13:8d8ac3189984
|
369
|
enableFIFO(false);
|
| pandirimukund |
13:8d8ac3189984
|
370
|
setFIFO(FIFO_OFF, 0x00);
|
| pandirimukund |
13:8d8ac3189984
|
371
|
|
| pandirimukund |
13:8d8ac3189984
|
372
|
if (autoCalc) _autoCalc = true;
|
| pandirimukund |
13:8d8ac3189984
|
373
|
}
|
| pandirimukund |
13:8d8ac3189984
|
374
|
|
| pandirimukund |
13:8d8ac3189984
|
375
|
void LSM9DS1::calibrateMag(bool loadIn)
|
| pandirimukund |
13:8d8ac3189984
|
376
|
{
|
| pandirimukund |
13:8d8ac3189984
|
377
|
int i, j;
|
| pandirimukund |
13:8d8ac3189984
|
378
|
int16_t magMin[3] = {0, 0, 0};
|
| pandirimukund |
13:8d8ac3189984
|
379
|
int16_t magMax[3] = {0, 0, 0}; // The road warrior
|
| pandirimukund |
13:8d8ac3189984
|
380
|
|
| pandirimukund |
13:8d8ac3189984
|
381
|
for (i=0; i<128; i++)
|
| pandirimukund |
13:8d8ac3189984
|
382
|
{
|
| pandirimukund |
13:8d8ac3189984
|
383
|
while (!magAvailable())
|
| pandirimukund |
13:8d8ac3189984
|
384
|
;
|
| pandirimukund |
13:8d8ac3189984
|
385
|
readMag();
|
| pandirimukund |
13:8d8ac3189984
|
386
|
int16_t magTemp[3] = {0, 0, 0};
|
| pandirimukund |
13:8d8ac3189984
|
387
|
magTemp[0] = mx;
|
| pandirimukund |
13:8d8ac3189984
|
388
|
magTemp[1] = my;
|
| pandirimukund |
13:8d8ac3189984
|
389
|
magTemp[2] = mz;
|
| pandirimukund |
13:8d8ac3189984
|
390
|
for (j = 0; j < 3; j++)
|
| pandirimukund |
13:8d8ac3189984
|
391
|
{
|
| pandirimukund |
13:8d8ac3189984
|
392
|
if (magTemp[j] > magMax[j]) magMax[j] = magTemp[j];
|
| pandirimukund |
13:8d8ac3189984
|
393
|
if (magTemp[j] < magMin[j]) magMin[j] = magTemp[j];
|
| pandirimukund |
13:8d8ac3189984
|
394
|
}
|
| pandirimukund |
13:8d8ac3189984
|
395
|
}
|
| pandirimukund |
13:8d8ac3189984
|
396
|
for (j = 0; j < 3; j++)
|
| pandirimukund |
13:8d8ac3189984
|
397
|
{
|
| pandirimukund |
13:8d8ac3189984
|
398
|
mBiasRaw[j] = (magMax[j] + magMin[j]) / 2;
|
| pandirimukund |
13:8d8ac3189984
|
399
|
mBias[j] = calcMag(mBiasRaw[j]);
|
| pandirimukund |
13:8d8ac3189984
|
400
|
if (loadIn)
|
| pandirimukund |
13:8d8ac3189984
|
401
|
magOffset(j, mBiasRaw[j]);
|
| pandirimukund |
13:8d8ac3189984
|
402
|
}
|
| pandirimukund |
13:8d8ac3189984
|
403
|
|
| pandirimukund |
13:8d8ac3189984
|
404
|
}
|
| pandirimukund |
13:8d8ac3189984
|
405
|
void LSM9DS1::magOffset(uint8_t axis, int16_t offset)
|
| pandirimukund |
13:8d8ac3189984
|
406
|
{
|
| pandirimukund |
13:8d8ac3189984
|
407
|
if (axis > 2)
|
| pandirimukund |
13:8d8ac3189984
|
408
|
return;
|
| pandirimukund |
13:8d8ac3189984
|
409
|
uint8_t msb, lsb;
|
| pandirimukund |
13:8d8ac3189984
|
410
|
msb = (offset & 0xFF00) >> 8;
|
| pandirimukund |
13:8d8ac3189984
|
411
|
lsb = offset & 0x00FF;
|
| pandirimukund |
13:8d8ac3189984
|
412
|
mWriteByte(OFFSET_X_REG_L_M + (2 * axis), lsb);
|
| pandirimukund |
13:8d8ac3189984
|
413
|
mWriteByte(OFFSET_X_REG_H_M + (2 * axis), msb);
|
| pandirimukund |
13:8d8ac3189984
|
414
|
}
|
| pandirimukund |
13:8d8ac3189984
|
415
|
|
| pandirimukund |
13:8d8ac3189984
|
416
|
void LSM9DS1::initMag()
|
| pandirimukund |
13:8d8ac3189984
|
417
|
{
|
| pandirimukund |
13:8d8ac3189984
|
418
|
uint8_t tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
419
|
|
| pandirimukund |
13:8d8ac3189984
|
420
|
// CTRL_REG1_M (Default value: 0x10)
|
| pandirimukund |
13:8d8ac3189984
|
421
|
// [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST]
|
| pandirimukund |
13:8d8ac3189984
|
422
|
// TEMP_COMP - Temperature compensation
|
| pandirimukund |
13:8d8ac3189984
|
423
|
// OM[1:0] - X & Y axes op mode selection
|
| pandirimukund |
13:8d8ac3189984
|
424
|
// 00:low-power, 01:medium performance
|
| pandirimukund |
13:8d8ac3189984
|
425
|
// 10: high performance, 11:ultra-high performance
|
| pandirimukund |
13:8d8ac3189984
|
426
|
// DO[2:0] - Output data rate selection
|
| pandirimukund |
13:8d8ac3189984
|
427
|
// ST - Self-test enable
|
| pandirimukund |
13:8d8ac3189984
|
428
|
if (settings.mag.tempCompensationEnable) tempRegValue |= (1<<7);
|
| pandirimukund |
13:8d8ac3189984
|
429
|
tempRegValue |= (settings.mag.XYPerformance & 0x3) << 5;
|
| pandirimukund |
13:8d8ac3189984
|
430
|
tempRegValue |= (settings.mag.sampleRate & 0x7) << 2;
|
| pandirimukund |
13:8d8ac3189984
|
431
|
mWriteByte(CTRL_REG1_M, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
432
|
|
| pandirimukund |
13:8d8ac3189984
|
433
|
// CTRL_REG2_M (Default value 0x00)
|
| pandirimukund |
13:8d8ac3189984
|
434
|
// [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0]
|
| pandirimukund |
13:8d8ac3189984
|
435
|
// FS[1:0] - Full-scale configuration
|
| pandirimukund |
13:8d8ac3189984
|
436
|
// REBOOT - Reboot memory content (0:normal, 1:reboot)
|
| pandirimukund |
13:8d8ac3189984
|
437
|
// SOFT_RST - Reset config and user registers (0:default, 1:reset)
|
| pandirimukund |
13:8d8ac3189984
|
438
|
tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
439
|
switch (settings.mag.scale)
|
| pandirimukund |
13:8d8ac3189984
|
440
|
{
|
| pandirimukund |
13:8d8ac3189984
|
441
|
case 8:
|
| pandirimukund |
13:8d8ac3189984
|
442
|
tempRegValue |= (0x1 << 5);
|
| pandirimukund |
13:8d8ac3189984
|
443
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
444
|
case 12:
|
| pandirimukund |
13:8d8ac3189984
|
445
|
tempRegValue |= (0x2 << 5);
|
| pandirimukund |
13:8d8ac3189984
|
446
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
447
|
case 16:
|
| pandirimukund |
13:8d8ac3189984
|
448
|
tempRegValue |= (0x3 << 5);
|
| pandirimukund |
13:8d8ac3189984
|
449
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
450
|
// Otherwise we'll default to 4 gauss (00)
|
| pandirimukund |
13:8d8ac3189984
|
451
|
}
|
| pandirimukund |
13:8d8ac3189984
|
452
|
mWriteByte(CTRL_REG2_M, tempRegValue); // +/-4Gauss
|
| pandirimukund |
13:8d8ac3189984
|
453
|
|
| pandirimukund |
13:8d8ac3189984
|
454
|
// CTRL_REG3_M (Default value: 0x03)
|
| pandirimukund |
13:8d8ac3189984
|
455
|
// [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0]
|
| pandirimukund |
13:8d8ac3189984
|
456
|
// I2C_DISABLE - Disable I2C interace (0:enable, 1:disable)
|
| pandirimukund |
13:8d8ac3189984
|
457
|
// LP - Low-power mode cofiguration (1:enable)
|
| pandirimukund |
13:8d8ac3189984
|
458
|
// SIM - SPI mode selection (0:write-only, 1:read/write enable)
|
| pandirimukund |
13:8d8ac3189984
|
459
|
// MD[1:0] - Operating mode
|
| pandirimukund |
13:8d8ac3189984
|
460
|
// 00:continuous conversion, 01:single-conversion,
|
| pandirimukund |
13:8d8ac3189984
|
461
|
// 10,11: Power-down
|
| pandirimukund |
13:8d8ac3189984
|
462
|
tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
463
|
if (settings.mag.lowPowerEnable) tempRegValue |= (1<<5);
|
| pandirimukund |
13:8d8ac3189984
|
464
|
tempRegValue |= (settings.mag.operatingMode & 0x3);
|
| pandirimukund |
13:8d8ac3189984
|
465
|
mWriteByte(CTRL_REG3_M, tempRegValue); // Continuous conversion mode
|
| pandirimukund |
13:8d8ac3189984
|
466
|
|
| pandirimukund |
13:8d8ac3189984
|
467
|
// CTRL_REG4_M (Default value: 0x00)
|
| pandirimukund |
13:8d8ac3189984
|
468
|
// [0][0][0][0][OMZ1][OMZ0][BLE][0]
|
| pandirimukund |
13:8d8ac3189984
|
469
|
// OMZ[1:0] - Z-axis operative mode selection
|
| pandirimukund |
13:8d8ac3189984
|
470
|
// 00:low-power mode, 01:medium performance
|
| pandirimukund |
13:8d8ac3189984
|
471
|
// 10:high performance, 10:ultra-high performance
|
| pandirimukund |
13:8d8ac3189984
|
472
|
// BLE - Big/little endian data
|
| pandirimukund |
13:8d8ac3189984
|
473
|
tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
474
|
tempRegValue = (settings.mag.ZPerformance & 0x3) << 2;
|
| pandirimukund |
13:8d8ac3189984
|
475
|
mWriteByte(CTRL_REG4_M, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
476
|
|
| pandirimukund |
13:8d8ac3189984
|
477
|
// CTRL_REG5_M (Default value: 0x00)
|
| pandirimukund |
13:8d8ac3189984
|
478
|
// [0][BDU][0][0][0][0][0][0]
|
| pandirimukund |
13:8d8ac3189984
|
479
|
// BDU - Block data update for magnetic data
|
| pandirimukund |
13:8d8ac3189984
|
480
|
// 0:continuous, 1:not updated until MSB/LSB are read
|
| pandirimukund |
13:8d8ac3189984
|
481
|
tempRegValue = 0;
|
| pandirimukund |
13:8d8ac3189984
|
482
|
mWriteByte(CTRL_REG5_M, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
483
|
}
|
| pandirimukund |
13:8d8ac3189984
|
484
|
|
| pandirimukund |
13:8d8ac3189984
|
485
|
uint8_t LSM9DS1::accelAvailable()
|
| pandirimukund |
13:8d8ac3189984
|
486
|
{
|
| pandirimukund |
13:8d8ac3189984
|
487
|
uint8_t status = xgReadByte(STATUS_REG_1);
|
| pandirimukund |
13:8d8ac3189984
|
488
|
|
| pandirimukund |
13:8d8ac3189984
|
489
|
return (status & (1<<0));
|
| pandirimukund |
13:8d8ac3189984
|
490
|
}
|
| pandirimukund |
13:8d8ac3189984
|
491
|
|
| pandirimukund |
13:8d8ac3189984
|
492
|
uint8_t LSM9DS1::gyroAvailable()
|
| pandirimukund |
13:8d8ac3189984
|
493
|
{
|
| pandirimukund |
13:8d8ac3189984
|
494
|
uint8_t status = xgReadByte(STATUS_REG_1);
|
| pandirimukund |
13:8d8ac3189984
|
495
|
|
| pandirimukund |
13:8d8ac3189984
|
496
|
return ((status & (1<<1)) >> 1);
|
| pandirimukund |
13:8d8ac3189984
|
497
|
}
|
| pandirimukund |
13:8d8ac3189984
|
498
|
|
| pandirimukund |
13:8d8ac3189984
|
499
|
uint8_t LSM9DS1::tempAvailable()
|
| pandirimukund |
13:8d8ac3189984
|
500
|
{
|
| pandirimukund |
13:8d8ac3189984
|
501
|
uint8_t status = xgReadByte(STATUS_REG_1);
|
| pandirimukund |
13:8d8ac3189984
|
502
|
|
| pandirimukund |
13:8d8ac3189984
|
503
|
return ((status & (1<<2)) >> 2);
|
| pandirimukund |
13:8d8ac3189984
|
504
|
}
|
| pandirimukund |
13:8d8ac3189984
|
505
|
|
| pandirimukund |
13:8d8ac3189984
|
506
|
uint8_t LSM9DS1::magAvailable(lsm9ds1_axis axis)
|
| pandirimukund |
13:8d8ac3189984
|
507
|
{
|
| pandirimukund |
13:8d8ac3189984
|
508
|
uint8_t status;
|
| pandirimukund |
13:8d8ac3189984
|
509
|
status = mReadByte(STATUS_REG_M);
|
| pandirimukund |
13:8d8ac3189984
|
510
|
|
| pandirimukund |
13:8d8ac3189984
|
511
|
return ((status & (1<<axis)) >> axis);
|
| pandirimukund |
13:8d8ac3189984
|
512
|
}
|
| pandirimukund |
13:8d8ac3189984
|
513
|
|
| pandirimukund |
13:8d8ac3189984
|
514
|
void LSM9DS1::readAccel()
|
| pandirimukund |
13:8d8ac3189984
|
515
|
{
|
| pandirimukund |
13:8d8ac3189984
|
516
|
uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
|
| pandirimukund |
13:8d8ac3189984
|
517
|
xgReadBytes(OUT_X_L_XL, temp, 6); // Read 6 bytes, beginning at OUT_X_L_XL
|
| pandirimukund |
13:8d8ac3189984
|
518
|
ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
|
| pandirimukund |
13:8d8ac3189984
|
519
|
ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
|
| pandirimukund |
13:8d8ac3189984
|
520
|
az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
|
| pandirimukund |
13:8d8ac3189984
|
521
|
if (_autoCalc)
|
| pandirimukund |
13:8d8ac3189984
|
522
|
{
|
| pandirimukund |
13:8d8ac3189984
|
523
|
ax -= aBiasRaw[X_AXIS];
|
| pandirimukund |
13:8d8ac3189984
|
524
|
ay -= aBiasRaw[Y_AXIS];
|
| pandirimukund |
13:8d8ac3189984
|
525
|
az -= aBiasRaw[Z_AXIS];
|
| pandirimukund |
13:8d8ac3189984
|
526
|
}
|
| pandirimukund |
13:8d8ac3189984
|
527
|
}
|
| pandirimukund |
13:8d8ac3189984
|
528
|
|
| pandirimukund |
13:8d8ac3189984
|
529
|
int16_t LSM9DS1::readAccel(lsm9ds1_axis axis)
|
| pandirimukund |
13:8d8ac3189984
|
530
|
{
|
| pandirimukund |
13:8d8ac3189984
|
531
|
uint8_t temp[2];
|
| pandirimukund |
13:8d8ac3189984
|
532
|
int16_t value;
|
| pandirimukund |
13:8d8ac3189984
|
533
|
xgReadBytes(OUT_X_L_XL + (2 * axis), temp, 2);
|
| pandirimukund |
13:8d8ac3189984
|
534
|
value = (temp[1] << 8) | temp[0];
|
| pandirimukund |
13:8d8ac3189984
|
535
|
|
| pandirimukund |
13:8d8ac3189984
|
536
|
if (_autoCalc)
|
| pandirimukund |
13:8d8ac3189984
|
537
|
value -= aBiasRaw[axis];
|
| pandirimukund |
13:8d8ac3189984
|
538
|
|
| pandirimukund |
13:8d8ac3189984
|
539
|
return value;
|
| pandirimukund |
13:8d8ac3189984
|
540
|
}
|
| pandirimukund |
13:8d8ac3189984
|
541
|
|
| pandirimukund |
13:8d8ac3189984
|
542
|
void LSM9DS1::readMag()
|
| pandirimukund |
13:8d8ac3189984
|
543
|
{
|
| pandirimukund |
13:8d8ac3189984
|
544
|
uint8_t temp[6]; // We'll read six bytes from the mag into temp
|
| pandirimukund |
13:8d8ac3189984
|
545
|
mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
|
| pandirimukund |
13:8d8ac3189984
|
546
|
mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
|
| pandirimukund |
13:8d8ac3189984
|
547
|
my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
|
| pandirimukund |
13:8d8ac3189984
|
548
|
mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
|
| pandirimukund |
13:8d8ac3189984
|
549
|
}
|
| pandirimukund |
13:8d8ac3189984
|
550
|
|
| pandirimukund |
13:8d8ac3189984
|
551
|
int16_t LSM9DS1::readMag(lsm9ds1_axis axis)
|
| pandirimukund |
13:8d8ac3189984
|
552
|
{
|
| pandirimukund |
13:8d8ac3189984
|
553
|
uint8_t temp[2];
|
| pandirimukund |
13:8d8ac3189984
|
554
|
mReadBytes(OUT_X_L_M + (2 * axis), temp, 2);
|
| pandirimukund |
13:8d8ac3189984
|
555
|
return (temp[1] << 8) | temp[0];
|
| pandirimukund |
13:8d8ac3189984
|
556
|
}
|
| pandirimukund |
13:8d8ac3189984
|
557
|
|
| pandirimukund |
13:8d8ac3189984
|
558
|
void LSM9DS1::readTemp()
|
| pandirimukund |
13:8d8ac3189984
|
559
|
{
|
| pandirimukund |
13:8d8ac3189984
|
560
|
uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
|
| pandirimukund |
13:8d8ac3189984
|
561
|
xgReadBytes(OUT_TEMP_L, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L
|
| pandirimukund |
13:8d8ac3189984
|
562
|
temperature = ((int16_t)temp[1] << 8) | temp[0];
|
| pandirimukund |
13:8d8ac3189984
|
563
|
}
|
| pandirimukund |
13:8d8ac3189984
|
564
|
|
| pandirimukund |
13:8d8ac3189984
|
565
|
void LSM9DS1::readGyro()
|
| pandirimukund |
13:8d8ac3189984
|
566
|
{
|
| pandirimukund |
13:8d8ac3189984
|
567
|
uint8_t temp[6]; // We'll read six bytes from the gyro into temp
|
| pandirimukund |
13:8d8ac3189984
|
568
|
xgReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G
|
| pandirimukund |
13:8d8ac3189984
|
569
|
gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx
|
| pandirimukund |
13:8d8ac3189984
|
570
|
gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy
|
| pandirimukund |
13:8d8ac3189984
|
571
|
gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz
|
| pandirimukund |
13:8d8ac3189984
|
572
|
if (_autoCalc)
|
| pandirimukund |
13:8d8ac3189984
|
573
|
{
|
| pandirimukund |
13:8d8ac3189984
|
574
|
gx -= gBiasRaw[X_AXIS];
|
| pandirimukund |
13:8d8ac3189984
|
575
|
gy -= gBiasRaw[Y_AXIS];
|
| pandirimukund |
13:8d8ac3189984
|
576
|
gz -= gBiasRaw[Z_AXIS];
|
| pandirimukund |
13:8d8ac3189984
|
577
|
}
|
| pandirimukund |
13:8d8ac3189984
|
578
|
}
|
| pandirimukund |
13:8d8ac3189984
|
579
|
|
| pandirimukund |
13:8d8ac3189984
|
580
|
int16_t LSM9DS1::readGyro(lsm9ds1_axis axis)
|
| pandirimukund |
13:8d8ac3189984
|
581
|
{
|
| pandirimukund |
13:8d8ac3189984
|
582
|
uint8_t temp[2];
|
| pandirimukund |
13:8d8ac3189984
|
583
|
int16_t value;
|
| pandirimukund |
13:8d8ac3189984
|
584
|
|
| pandirimukund |
13:8d8ac3189984
|
585
|
xgReadBytes(OUT_X_L_G + (2 * axis), temp, 2);
|
| pandirimukund |
13:8d8ac3189984
|
586
|
|
| pandirimukund |
13:8d8ac3189984
|
587
|
value = (temp[1] << 8) | temp[0];
|
| pandirimukund |
13:8d8ac3189984
|
588
|
|
| pandirimukund |
13:8d8ac3189984
|
589
|
if (_autoCalc)
|
| pandirimukund |
13:8d8ac3189984
|
590
|
value -= gBiasRaw[axis];
|
| pandirimukund |
13:8d8ac3189984
|
591
|
|
| pandirimukund |
13:8d8ac3189984
|
592
|
return value;
|
| pandirimukund |
13:8d8ac3189984
|
593
|
}
|
| pandirimukund |
13:8d8ac3189984
|
594
|
|
| pandirimukund |
13:8d8ac3189984
|
595
|
float LSM9DS1::calcGyro(int16_t gyro)
|
| pandirimukund |
13:8d8ac3189984
|
596
|
{
|
| pandirimukund |
13:8d8ac3189984
|
597
|
// Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
|
| pandirimukund |
13:8d8ac3189984
|
598
|
return gRes * gyro;
|
| pandirimukund |
13:8d8ac3189984
|
599
|
}
|
| pandirimukund |
13:8d8ac3189984
|
600
|
|
| pandirimukund |
13:8d8ac3189984
|
601
|
float LSM9DS1::calcAccel(int16_t accel)
|
| pandirimukund |
13:8d8ac3189984
|
602
|
{
|
| pandirimukund |
13:8d8ac3189984
|
603
|
// Return the accel raw reading times our pre-calculated g's / (ADC tick):
|
| pandirimukund |
13:8d8ac3189984
|
604
|
return aRes * accel;
|
| pandirimukund |
13:8d8ac3189984
|
605
|
}
|
| pandirimukund |
13:8d8ac3189984
|
606
|
|
| pandirimukund |
13:8d8ac3189984
|
607
|
float LSM9DS1::calcMag(int16_t mag)
|
| pandirimukund |
13:8d8ac3189984
|
608
|
{
|
| pandirimukund |
13:8d8ac3189984
|
609
|
// Return the mag raw reading times our pre-calculated Gs / (ADC tick):
|
| pandirimukund |
13:8d8ac3189984
|
610
|
return mRes * mag;
|
| pandirimukund |
13:8d8ac3189984
|
611
|
}
|
| pandirimukund |
13:8d8ac3189984
|
612
|
|
| pandirimukund |
13:8d8ac3189984
|
613
|
void LSM9DS1::setGyroScale(uint16_t gScl)
|
| pandirimukund |
13:8d8ac3189984
|
614
|
{
|
| pandirimukund |
13:8d8ac3189984
|
615
|
// Read current value of CTRL_REG1_G:
|
| pandirimukund |
13:8d8ac3189984
|
616
|
uint8_t ctrl1RegValue = xgReadByte(CTRL_REG1_G);
|
| pandirimukund |
13:8d8ac3189984
|
617
|
// Mask out scale bits (3 & 4):
|
| pandirimukund |
13:8d8ac3189984
|
618
|
ctrl1RegValue &= 0xE7;
|
| pandirimukund |
13:8d8ac3189984
|
619
|
switch (gScl)
|
| pandirimukund |
13:8d8ac3189984
|
620
|
{
|
| pandirimukund |
13:8d8ac3189984
|
621
|
case 500:
|
| pandirimukund |
13:8d8ac3189984
|
622
|
ctrl1RegValue |= (0x1 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
623
|
settings.gyro.scale = 500;
|
| pandirimukund |
13:8d8ac3189984
|
624
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
625
|
case 2000:
|
| pandirimukund |
13:8d8ac3189984
|
626
|
ctrl1RegValue |= (0x3 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
627
|
settings.gyro.scale = 2000;
|
| pandirimukund |
13:8d8ac3189984
|
628
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
629
|
default: // Otherwise we'll set it to 245 dps (0x0 << 4)
|
| pandirimukund |
13:8d8ac3189984
|
630
|
settings.gyro.scale = 245;
|
| pandirimukund |
13:8d8ac3189984
|
631
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
632
|
}
|
| pandirimukund |
13:8d8ac3189984
|
633
|
xgWriteByte(CTRL_REG1_G, ctrl1RegValue);
|
| pandirimukund |
13:8d8ac3189984
|
634
|
|
| pandirimukund |
13:8d8ac3189984
|
635
|
calcgRes();
|
| pandirimukund |
13:8d8ac3189984
|
636
|
}
|
| pandirimukund |
13:8d8ac3189984
|
637
|
|
| pandirimukund |
13:8d8ac3189984
|
638
|
void LSM9DS1::setAccelScale(uint8_t aScl)
|
| pandirimukund |
13:8d8ac3189984
|
639
|
{
|
| pandirimukund |
13:8d8ac3189984
|
640
|
// We need to preserve the other bytes in CTRL_REG6_XL. So, first read it:
|
| pandirimukund |
13:8d8ac3189984
|
641
|
uint8_t tempRegValue = xgReadByte(CTRL_REG6_XL);
|
| pandirimukund |
13:8d8ac3189984
|
642
|
// Mask out accel scale bits:
|
| pandirimukund |
13:8d8ac3189984
|
643
|
tempRegValue &= 0xE7;
|
| pandirimukund |
13:8d8ac3189984
|
644
|
|
| pandirimukund |
13:8d8ac3189984
|
645
|
switch (aScl)
|
| pandirimukund |
13:8d8ac3189984
|
646
|
{
|
| pandirimukund |
13:8d8ac3189984
|
647
|
case 4:
|
| pandirimukund |
13:8d8ac3189984
|
648
|
tempRegValue |= (0x2 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
649
|
settings.accel.scale = 4;
|
| pandirimukund |
13:8d8ac3189984
|
650
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
651
|
case 8:
|
| pandirimukund |
13:8d8ac3189984
|
652
|
tempRegValue |= (0x3 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
653
|
settings.accel.scale = 8;
|
| pandirimukund |
13:8d8ac3189984
|
654
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
655
|
case 16:
|
| pandirimukund |
13:8d8ac3189984
|
656
|
tempRegValue |= (0x1 << 3);
|
| pandirimukund |
13:8d8ac3189984
|
657
|
settings.accel.scale = 16;
|
| pandirimukund |
13:8d8ac3189984
|
658
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
659
|
default: // Otherwise it'll be set to 2g (0x0 << 3)
|
| pandirimukund |
13:8d8ac3189984
|
660
|
settings.accel.scale = 2;
|
| pandirimukund |
13:8d8ac3189984
|
661
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
662
|
}
|
| pandirimukund |
13:8d8ac3189984
|
663
|
xgWriteByte(CTRL_REG6_XL, tempRegValue);
|
| pandirimukund |
13:8d8ac3189984
|
664
|
|
| pandirimukund |
13:8d8ac3189984
|
665
|
// Then calculate a new aRes, which relies on aScale being set correctly:
|
| pandirimukund |
13:8d8ac3189984
|
666
|
calcaRes();
|
| pandirimukund |
13:8d8ac3189984
|
667
|
}
|
| pandirimukund |
13:8d8ac3189984
|
668
|
|
| pandirimukund |
13:8d8ac3189984
|
669
|
void LSM9DS1::setMagScale(uint8_t mScl)
|
| pandirimukund |
13:8d8ac3189984
|
670
|
{
|
| pandirimukund |
13:8d8ac3189984
|
671
|
// We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
|
| pandirimukund |
13:8d8ac3189984
|
672
|
uint8_t temp = mReadByte(CTRL_REG2_M);
|
| pandirimukund |
13:8d8ac3189984
|
673
|
// Then mask out the mag scale bits:
|
| pandirimukund |
13:8d8ac3189984
|
674
|
temp &= 0xFF^(0x3 << 5);
|
| pandirimukund |
13:8d8ac3189984
|
675
|
|
| pandirimukund |
13:8d8ac3189984
|
676
|
switch (mScl)
|
| pandirimukund |
13:8d8ac3189984
|
677
|
{
|
| pandirimukund |
13:8d8ac3189984
|
678
|
case 8:
|
| pandirimukund |
13:8d8ac3189984
|
679
|
temp |= (0x1 << 5);
|
| pandirimukund |
13:8d8ac3189984
|
680
|
settings.mag.scale = 8;
|
| pandirimukund |
13:8d8ac3189984
|
681
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
682
|
case 12:
|
| pandirimukund |
13:8d8ac3189984
|
683
|
temp |= (0x2 << 5);
|
| pandirimukund |
13:8d8ac3189984
|
684
|
settings.mag.scale = 12;
|
| pandirimukund |
13:8d8ac3189984
|
685
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
686
|
case 16:
|
| pandirimukund |
13:8d8ac3189984
|
687
|
temp |= (0x3 << 5);
|
| pandirimukund |
13:8d8ac3189984
|
688
|
settings.mag.scale = 16;
|
| pandirimukund |
13:8d8ac3189984
|
689
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
690
|
default: // Otherwise we'll default to 4 gauss (00)
|
| pandirimukund |
13:8d8ac3189984
|
691
|
settings.mag.scale = 4;
|
| pandirimukund |
13:8d8ac3189984
|
692
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
693
|
}
|
| pandirimukund |
13:8d8ac3189984
|
694
|
|
| pandirimukund |
13:8d8ac3189984
|
695
|
// And write the new register value back into CTRL_REG6_XM:
|
| pandirimukund |
13:8d8ac3189984
|
696
|
mWriteByte(CTRL_REG2_M, temp);
|
| pandirimukund |
13:8d8ac3189984
|
697
|
|
| pandirimukund |
13:8d8ac3189984
|
698
|
// We've updated the sensor, but we also need to update our class variables
|
| pandirimukund |
13:8d8ac3189984
|
699
|
// First update mScale:
|
| pandirimukund |
13:8d8ac3189984
|
700
|
//mScale = mScl;
|
| pandirimukund |
13:8d8ac3189984
|
701
|
// Then calculate a new mRes, which relies on mScale being set correctly:
|
| pandirimukund |
13:8d8ac3189984
|
702
|
calcmRes();
|
| pandirimukund |
13:8d8ac3189984
|
703
|
}
|
| pandirimukund |
13:8d8ac3189984
|
704
|
|
| pandirimukund |
13:8d8ac3189984
|
705
|
void LSM9DS1::setGyroODR(uint8_t gRate)
|
| pandirimukund |
13:8d8ac3189984
|
706
|
{
|
| pandirimukund |
13:8d8ac3189984
|
707
|
// Only do this if gRate is not 0 (which would disable the gyro)
|
| pandirimukund |
13:8d8ac3189984
|
708
|
if ((gRate & 0x07) != 0)
|
| pandirimukund |
13:8d8ac3189984
|
709
|
{
|
| pandirimukund |
13:8d8ac3189984
|
710
|
// We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
|
| pandirimukund |
13:8d8ac3189984
|
711
|
uint8_t temp = xgReadByte(CTRL_REG1_G);
|
| pandirimukund |
13:8d8ac3189984
|
712
|
// Then mask out the gyro ODR bits:
|
| pandirimukund |
13:8d8ac3189984
|
713
|
temp &= 0xFF^(0x7 << 5);
|
| pandirimukund |
13:8d8ac3189984
|
714
|
temp |= (gRate & 0x07) << 5;
|
| pandirimukund |
13:8d8ac3189984
|
715
|
// Update our settings struct
|
| pandirimukund |
13:8d8ac3189984
|
716
|
settings.gyro.sampleRate = gRate & 0x07;
|
| pandirimukund |
13:8d8ac3189984
|
717
|
// And write the new register value back into CTRL_REG1_G:
|
| pandirimukund |
13:8d8ac3189984
|
718
|
xgWriteByte(CTRL_REG1_G, temp);
|
| pandirimukund |
13:8d8ac3189984
|
719
|
}
|
| pandirimukund |
13:8d8ac3189984
|
720
|
}
|
| pandirimukund |
13:8d8ac3189984
|
721
|
|
| pandirimukund |
13:8d8ac3189984
|
722
|
void LSM9DS1::setAccelODR(uint8_t aRate)
|
| pandirimukund |
13:8d8ac3189984
|
723
|
{
|
| pandirimukund |
13:8d8ac3189984
|
724
|
// Only do this if aRate is not 0 (which would disable the accel)
|
| pandirimukund |
13:8d8ac3189984
|
725
|
if ((aRate & 0x07) != 0)
|
| pandirimukund |
13:8d8ac3189984
|
726
|
{
|
| pandirimukund |
13:8d8ac3189984
|
727
|
// We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
|
| pandirimukund |
13:8d8ac3189984
|
728
|
uint8_t temp = xgReadByte(CTRL_REG6_XL);
|
| pandirimukund |
13:8d8ac3189984
|
729
|
// Then mask out the accel ODR bits:
|
| pandirimukund |
13:8d8ac3189984
|
730
|
temp &= 0x1F;
|
| pandirimukund |
13:8d8ac3189984
|
731
|
// Then shift in our new ODR bits:
|
| pandirimukund |
13:8d8ac3189984
|
732
|
temp |= ((aRate & 0x07) << 5);
|
| pandirimukund |
13:8d8ac3189984
|
733
|
settings.accel.sampleRate = aRate & 0x07;
|
| pandirimukund |
13:8d8ac3189984
|
734
|
// And write the new register value back into CTRL_REG1_XM:
|
| pandirimukund |
13:8d8ac3189984
|
735
|
xgWriteByte(CTRL_REG6_XL, temp);
|
| pandirimukund |
13:8d8ac3189984
|
736
|
}
|
| pandirimukund |
13:8d8ac3189984
|
737
|
}
|
| pandirimukund |
13:8d8ac3189984
|
738
|
|
| pandirimukund |
13:8d8ac3189984
|
739
|
void LSM9DS1::setMagODR(uint8_t mRate)
|
| pandirimukund |
13:8d8ac3189984
|
740
|
{
|
| pandirimukund |
13:8d8ac3189984
|
741
|
// We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
|
| pandirimukund |
13:8d8ac3189984
|
742
|
uint8_t temp = mReadByte(CTRL_REG1_M);
|
| pandirimukund |
13:8d8ac3189984
|
743
|
// Then mask out the mag ODR bits:
|
| pandirimukund |
13:8d8ac3189984
|
744
|
temp &= 0xFF^(0x7 << 2);
|
| pandirimukund |
13:8d8ac3189984
|
745
|
// Then shift in our new ODR bits:
|
| pandirimukund |
13:8d8ac3189984
|
746
|
temp |= ((mRate & 0x07) << 2);
|
| pandirimukund |
13:8d8ac3189984
|
747
|
settings.mag.sampleRate = mRate & 0x07;
|
| pandirimukund |
13:8d8ac3189984
|
748
|
// And write the new register value back into CTRL_REG5_XM:
|
| pandirimukund |
13:8d8ac3189984
|
749
|
mWriteByte(CTRL_REG1_M, temp);
|
| pandirimukund |
13:8d8ac3189984
|
750
|
}
|
| pandirimukund |
13:8d8ac3189984
|
751
|
|
| pandirimukund |
13:8d8ac3189984
|
752
|
void LSM9DS1::calcgRes()
|
| pandirimukund |
13:8d8ac3189984
|
753
|
{
|
| pandirimukund |
13:8d8ac3189984
|
754
|
gRes = ((float) settings.gyro.scale) / 32768.0;
|
| pandirimukund |
13:8d8ac3189984
|
755
|
}
|
| pandirimukund |
13:8d8ac3189984
|
756
|
|
| pandirimukund |
13:8d8ac3189984
|
757
|
void LSM9DS1::calcaRes()
|
| pandirimukund |
13:8d8ac3189984
|
758
|
{
|
| pandirimukund |
13:8d8ac3189984
|
759
|
aRes = ((float) settings.accel.scale) / 32768.0;
|
| pandirimukund |
13:8d8ac3189984
|
760
|
}
|
| pandirimukund |
13:8d8ac3189984
|
761
|
|
| pandirimukund |
13:8d8ac3189984
|
762
|
void LSM9DS1::calcmRes()
|
| pandirimukund |
13:8d8ac3189984
|
763
|
{
|
| pandirimukund |
13:8d8ac3189984
|
764
|
//mRes = ((float) settings.mag.scale) / 32768.0;
|
| pandirimukund |
13:8d8ac3189984
|
765
|
switch (settings.mag.scale)
|
| pandirimukund |
13:8d8ac3189984
|
766
|
{
|
| pandirimukund |
13:8d8ac3189984
|
767
|
case 4:
|
| pandirimukund |
13:8d8ac3189984
|
768
|
mRes = magSensitivity[0];
|
| pandirimukund |
13:8d8ac3189984
|
769
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
770
|
case 8:
|
| pandirimukund |
13:8d8ac3189984
|
771
|
mRes = magSensitivity[1];
|
| pandirimukund |
13:8d8ac3189984
|
772
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
773
|
case 12:
|
| pandirimukund |
13:8d8ac3189984
|
774
|
mRes = magSensitivity[2];
|
| pandirimukund |
13:8d8ac3189984
|
775
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
776
|
case 16:
|
| pandirimukund |
13:8d8ac3189984
|
777
|
mRes = magSensitivity[3];
|
| pandirimukund |
13:8d8ac3189984
|
778
|
break;
|
| pandirimukund |
13:8d8ac3189984
|
779
|
}
|
| pandirimukund |
13:8d8ac3189984
|
780
|
|
| pandirimukund |
13:8d8ac3189984
|
781
|
}
|
| pandirimukund |
13:8d8ac3189984
|
782
|
|
| pandirimukund |
13:8d8ac3189984
|
783
|
void LSM9DS1::configInt(interrupt_select interrupt, uint8_t generator,
|
| pandirimukund |
13:8d8ac3189984
|
784
|
h_lactive activeLow, pp_od pushPull)
|
| pandirimukund |
13:8d8ac3189984
|
785
|
{
|
| pandirimukund |
13:8d8ac3189984
|
786
|
// Write to INT1_CTRL or INT2_CTRL. [interupt] should already be one of
|
| pandirimukund |
13:8d8ac3189984
|
787
|
// those two values.
|
| pandirimukund |
13:8d8ac3189984
|
788
|
// [generator] should be an OR'd list of values from the interrupt_generators enum
|
| pandirimukund |
13:8d8ac3189984
|
789
|
xgWriteByte(interrupt, generator);
|
| pandirimukund |
13:8d8ac3189984
|
790
|
|
| pandirimukund |
13:8d8ac3189984
|
791
|
// Configure CTRL_REG8
|
| pandirimukund |
13:8d8ac3189984
|
792
|
uint8_t temp;
|
| pandirimukund |
13:8d8ac3189984
|
793
|
temp = xgReadByte(CTRL_REG8);
|
| pandirimukund |
13:8d8ac3189984
|
794
|
|
| pandirimukund |
13:8d8ac3189984
|
795
|
if (activeLow) temp |= (1<<5);
|
| pandirimukund |
13:8d8ac3189984
|
796
|
else temp &= ~(1<<5);
|
| pandirimukund |
13:8d8ac3189984
|
797
|
|
| pandirimukund |
13:8d8ac3189984
|
798
|
if (pushPull) temp &= ~(1<<4);
|
| pandirimukund |
13:8d8ac3189984
|
799
|
else temp |= (1<<4);
|
| pandirimukund |
13:8d8ac3189984
|
800
|
|
| pandirimukund |
13:8d8ac3189984
|
801
|
xgWriteByte(CTRL_REG8, temp);
|
| pandirimukund |
13:8d8ac3189984
|
802
|
}
|
| pandirimukund |
13:8d8ac3189984
|
803
|
|
| pandirimukund |
13:8d8ac3189984
|
804
|
void LSM9DS1::configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn)
|
| pandirimukund |
13:8d8ac3189984
|
805
|
{
|
| pandirimukund |
13:8d8ac3189984
|
806
|
uint8_t temp = 0;
|
| pandirimukund |
13:8d8ac3189984
|
807
|
|
| pandirimukund |
13:8d8ac3189984
|
808
|
temp = threshold & 0x7F;
|
| pandirimukund |
13:8d8ac3189984
|
809
|
if (sleepOn) temp |= (1<<7);
|
| pandirimukund |
13:8d8ac3189984
|
810
|
xgWriteByte(ACT_THS, temp);
|
| pandirimukund |
13:8d8ac3189984
|
811
|
|
| pandirimukund |
13:8d8ac3189984
|
812
|
xgWriteByte(ACT_DUR, duration);
|
| pandirimukund |
13:8d8ac3189984
|
813
|
}
|
| pandirimukund |
13:8d8ac3189984
|
814
|
|
| pandirimukund |
13:8d8ac3189984
|
815
|
uint8_t LSM9DS1::getInactivity()
|
| pandirimukund |
13:8d8ac3189984
|
816
|
{
|
| pandirimukund |
13:8d8ac3189984
|
817
|
uint8_t temp = xgReadByte(STATUS_REG_0);
|
| pandirimukund |
13:8d8ac3189984
|
818
|
temp &= (0x10);
|
| pandirimukund |
13:8d8ac3189984
|
819
|
return temp;
|
| pandirimukund |
13:8d8ac3189984
|
820
|
}
|
| pandirimukund |
13:8d8ac3189984
|
821
|
|
| pandirimukund |
13:8d8ac3189984
|
822
|
void LSM9DS1::configAccelInt(uint8_t generator, bool andInterrupts)
|
| pandirimukund |
13:8d8ac3189984
|
823
|
{
|
| pandirimukund |
13:8d8ac3189984
|
824
|
// Use variables from accel_interrupt_generator, OR'd together to create
|
| pandirimukund |
13:8d8ac3189984
|
825
|
// the [generator]value.
|
| pandirimukund |
13:8d8ac3189984
|
826
|
uint8_t temp = generator;
|
| pandirimukund |
13:8d8ac3189984
|
827
|
if (andInterrupts) temp |= 0x80;
|
| pandirimukund |
13:8d8ac3189984
|
828
|
xgWriteByte(INT_GEN_CFG_XL, temp);
|
| pandirimukund |
13:8d8ac3189984
|
829
|
}
|
| pandirimukund |
13:8d8ac3189984
|
830
|
|
| pandirimukund |
13:8d8ac3189984
|
831
|
void LSM9DS1::configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
|
| pandirimukund |
13:8d8ac3189984
|
832
|
{
|
| pandirimukund |
13:8d8ac3189984
|
833
|
// Write threshold value to INT_GEN_THS_?_XL.
|
| pandirimukund |
13:8d8ac3189984
|
834
|
// axis will be 0, 1, or 2 (x, y, z respectively)
|
| pandirimukund |
13:8d8ac3189984
|
835
|
xgWriteByte(INT_GEN_THS_X_XL + axis, threshold);
|
| pandirimukund |
13:8d8ac3189984
|
836
|
|
| pandirimukund |
13:8d8ac3189984
|
837
|
// Write duration and wait to INT_GEN_DUR_XL
|
| pandirimukund |
13:8d8ac3189984
|
838
|
uint8_t temp;
|
| pandirimukund |
13:8d8ac3189984
|
839
|
temp = (duration & 0x7F);
|
| pandirimukund |
13:8d8ac3189984
|
840
|
if (wait) temp |= 0x80;
|
| pandirimukund |
13:8d8ac3189984
|
841
|
xgWriteByte(INT_GEN_DUR_XL, temp);
|
| pandirimukund |
13:8d8ac3189984
|
842
|
}
|
| pandirimukund |
13:8d8ac3189984
|
843
|
|
| pandirimukund |
13:8d8ac3189984
|
844
|
uint8_t LSM9DS1::getAccelIntSrc()
|
| pandirimukund |
13:8d8ac3189984
|
845
|
{
|
| pandirimukund |
13:8d8ac3189984
|
846
|
uint8_t intSrc = xgReadByte(INT_GEN_SRC_XL);
|
| pandirimukund |
13:8d8ac3189984
|
847
|
|
| pandirimukund |
13:8d8ac3189984
|
848
|
// Check if the IA_XL (interrupt active) bit is set
|
| pandirimukund |
13:8d8ac3189984
|
849
|
if (intSrc & (1<<6))
|
| pandirimukund |
13:8d8ac3189984
|
850
|
{
|
| pandirimukund |
13:8d8ac3189984
|
851
|
return (intSrc & 0x3F);
|
| pandirimukund |
13:8d8ac3189984
|
852
|
}
|
| pandirimukund |
13:8d8ac3189984
|
853
|
|
| pandirimukund |
13:8d8ac3189984
|
854
|
return 0;
|
| pandirimukund |
13:8d8ac3189984
|
855
|
}
|
| pandirimukund |
13:8d8ac3189984
|
856
|
|
| pandirimukund |
13:8d8ac3189984
|
857
|
void LSM9DS1::configGyroInt(uint8_t generator, bool aoi, bool latch)
|
| pandirimukund |
13:8d8ac3189984
|
858
|
{
|
| pandirimukund |
13:8d8ac3189984
|
859
|
// Use variables from accel_interrupt_generator, OR'd together to create
|
| pandirimukund |
13:8d8ac3189984
|
860
|
// the [generator]value.
|
| pandirimukund |
13:8d8ac3189984
|
861
|
uint8_t temp = generator;
|
| pandirimukund |
13:8d8ac3189984
|
862
|
if (aoi) temp |= 0x80;
|
| pandirimukund |
13:8d8ac3189984
|
863
|
if (latch) temp |= 0x40;
|
| pandirimukund |
13:8d8ac3189984
|
864
|
xgWriteByte(INT_GEN_CFG_G, temp);
|
| pandirimukund |
13:8d8ac3189984
|
865
|
}
|
| pandirimukund |
13:8d8ac3189984
|
866
|
|
| pandirimukund |
13:8d8ac3189984
|
867
|
void LSM9DS1::configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
|
| pandirimukund |
13:8d8ac3189984
|
868
|
{
|
| pandirimukund |
13:8d8ac3189984
|
869
|
uint8_t buffer[2];
|
| pandirimukund |
13:8d8ac3189984
|
870
|
buffer[0] = (threshold & 0x7F00) >> 8;
|
| pandirimukund |
13:8d8ac3189984
|
871
|
buffer[1] = (threshold & 0x00FF);
|
| pandirimukund |
13:8d8ac3189984
|
872
|
// Write threshold value to INT_GEN_THS_?H_G and INT_GEN_THS_?L_G.
|
| pandirimukund |
13:8d8ac3189984
|
873
|
// axis will be 0, 1, or 2 (x, y, z respectively)
|
| pandirimukund |
13:8d8ac3189984
|
874
|
xgWriteByte(INT_GEN_THS_XH_G + (axis * 2), buffer[0]);
|
| pandirimukund |
13:8d8ac3189984
|
875
|
xgWriteByte(INT_GEN_THS_XH_G + 1 + (axis * 2), buffer[1]);
|
| pandirimukund |
13:8d8ac3189984
|
876
|
|
| pandirimukund |
13:8d8ac3189984
|
877
|
// Write duration and wait to INT_GEN_DUR_XL
|
| pandirimukund |
13:8d8ac3189984
|
878
|
uint8_t temp;
|
| pandirimukund |
13:8d8ac3189984
|
879
|
temp = (duration & 0x7F);
|
| pandirimukund |
13:8d8ac3189984
|
880
|
if (wait) temp |= 0x80;
|
| pandirimukund |
13:8d8ac3189984
|
881
|
xgWriteByte(INT_GEN_DUR_G, temp);
|
| pandirimukund |
13:8d8ac3189984
|
882
|
}
|
| pandirimukund |
13:8d8ac3189984
|
883
|
|
| pandirimukund |
13:8d8ac3189984
|
884
|
uint8_t LSM9DS1::getGyroIntSrc()
|
| pandirimukund |
13:8d8ac3189984
|
885
|
{
|
| pandirimukund |
13:8d8ac3189984
|
886
|
uint8_t intSrc = xgReadByte(INT_GEN_SRC_G);
|
| pandirimukund |
13:8d8ac3189984
|
887
|
|
| pandirimukund |
13:8d8ac3189984
|
888
|
// Check if the IA_G (interrupt active) bit is set
|
| pandirimukund |
13:8d8ac3189984
|
889
|
if (intSrc & (1<<6))
|
| pandirimukund |
13:8d8ac3189984
|
890
|
{
|
| pandirimukund |
13:8d8ac3189984
|
891
|
return (intSrc & 0x3F);
|
| pandirimukund |
13:8d8ac3189984
|
892
|
}
|
| pandirimukund |
13:8d8ac3189984
|
893
|
|
| pandirimukund |
13:8d8ac3189984
|
894
|
return 0;
|
| pandirimukund |
13:8d8ac3189984
|
895
|
}
|
| pandirimukund |
13:8d8ac3189984
|
896
|
|
| pandirimukund |
13:8d8ac3189984
|
897
|
void LSM9DS1::configMagInt(uint8_t generator, h_lactive activeLow, bool latch)
|
| pandirimukund |
13:8d8ac3189984
|
898
|
{
|
| pandirimukund |
13:8d8ac3189984
|
899
|
// Mask out non-generator bits (0-4)
|
| pandirimukund |
13:8d8ac3189984
|
900
|
uint8_t config = (generator & 0xE0);
|
| pandirimukund |
13:8d8ac3189984
|
901
|
// IEA bit is 0 for active-low, 1 for active-high.
|
| pandirimukund |
13:8d8ac3189984
|
902
|
if (activeLow == INT_ACTIVE_HIGH) config |= (1<<2);
|
| pandirimukund |
13:8d8ac3189984
|
903
|
// IEL bit is 0 for latched, 1 for not-latched
|
| pandirimukund |
13:8d8ac3189984
|
904
|
if (!latch) config |= (1<<1);
|
| pandirimukund |
13:8d8ac3189984
|
905
|
// As long as we have at least 1 generator, enable the interrupt
|
| pandirimukund |
13:8d8ac3189984
|
906
|
if (generator != 0) config |= (1<<0);
|
| pandirimukund |
13:8d8ac3189984
|
907
|
|
| pandirimukund |
13:8d8ac3189984
|
908
|
mWriteByte(INT_CFG_M, config);
|
| pandirimukund |
13:8d8ac3189984
|
909
|
}
|
| pandirimukund |
13:8d8ac3189984
|
910
|
|
| pandirimukund |
13:8d8ac3189984
|
911
|
void LSM9DS1::configMagThs(uint16_t threshold)
|
| pandirimukund |
13:8d8ac3189984
|
912
|
{
|
| pandirimukund |
13:8d8ac3189984
|
913
|
// Write high eight bits of [threshold] to INT_THS_H_M
|
| pandirimukund |
13:8d8ac3189984
|
914
|
mWriteByte(INT_THS_H_M, uint8_t((threshold & 0x7F00) >> 8));
|
| pandirimukund |
13:8d8ac3189984
|
915
|
// Write low eight bits of [threshold] to INT_THS_L_M
|
| pandirimukund |
13:8d8ac3189984
|
916
|
mWriteByte(INT_THS_L_M, uint8_t(threshold & 0x00FF));
|
| pandirimukund |
13:8d8ac3189984
|
917
|
}
|
| pandirimukund |
13:8d8ac3189984
|
918
|
|
| pandirimukund |
13:8d8ac3189984
|
919
|
uint8_t LSM9DS1::getMagIntSrc()
|
| pandirimukund |
13:8d8ac3189984
|
920
|
{
|
| pandirimukund |
13:8d8ac3189984
|
921
|
uint8_t intSrc = mReadByte(INT_SRC_M);
|
| pandirimukund |
13:8d8ac3189984
|
922
|
|
| pandirimukund |
13:8d8ac3189984
|
923
|
// Check if the INT (interrupt active) bit is set
|
| pandirimukund |
13:8d8ac3189984
|
924
|
if (intSrc & (1<<0))
|
| pandirimukund |
13:8d8ac3189984
|
925
|
{
|
| pandirimukund |
13:8d8ac3189984
|
926
|
return (intSrc & 0xFE);
|
| pandirimukund |
13:8d8ac3189984
|
927
|
}
|
| pandirimukund |
13:8d8ac3189984
|
928
|
|
| pandirimukund |
13:8d8ac3189984
|
929
|
return 0;
|
| pandirimukund |
13:8d8ac3189984
|
930
|
}
|
| pandirimukund |
13:8d8ac3189984
|
931
|
|
| pandirimukund |
13:8d8ac3189984
|
932
|
void LSM9DS1::sleepGyro(bool enable)
|
| pandirimukund |
13:8d8ac3189984
|
933
|
{
|
| pandirimukund |
13:8d8ac3189984
|
934
|
uint8_t temp = xgReadByte(CTRL_REG9);
|
| pandirimukund |
13:8d8ac3189984
|
935
|
if (enable) temp |= (1<<6);
|
| pandirimukund |
13:8d8ac3189984
|
936
|
else temp &= ~(1<<6);
|
| pandirimukund |
13:8d8ac3189984
|
937
|
xgWriteByte(CTRL_REG9, temp);
|
| pandirimukund |
13:8d8ac3189984
|
938
|
}
|
| pandirimukund |
13:8d8ac3189984
|
939
|
|
| pandirimukund |
13:8d8ac3189984
|
940
|
void LSM9DS1::enableFIFO(bool enable)
|
| pandirimukund |
13:8d8ac3189984
|
941
|
{
|
| pandirimukund |
13:8d8ac3189984
|
942
|
uint8_t temp = xgReadByte(CTRL_REG9);
|
| pandirimukund |
13:8d8ac3189984
|
943
|
if (enable) temp |= (1<<1);
|
| pandirimukund |
13:8d8ac3189984
|
944
|
else temp &= ~(1<<1);
|
| pandirimukund |
13:8d8ac3189984
|
945
|
xgWriteByte(CTRL_REG9, temp);
|
| pandirimukund |
13:8d8ac3189984
|
946
|
}
|
| pandirimukund |
13:8d8ac3189984
|
947
|
|
| pandirimukund |
13:8d8ac3189984
|
948
|
void LSM9DS1::setFIFO(fifoMode_type fifoMode, uint8_t fifoThs)
|
| pandirimukund |
13:8d8ac3189984
|
949
|
{
|
| pandirimukund |
13:8d8ac3189984
|
950
|
// Limit threshold - 0x1F (31) is the maximum. If more than that was asked
|
| pandirimukund |
13:8d8ac3189984
|
951
|
// limit it to the maximum.
|
| pandirimukund |
13:8d8ac3189984
|
952
|
uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F;
|
| pandirimukund |
13:8d8ac3189984
|
953
|
xgWriteByte(FIFO_CTRL, ((fifoMode & 0x7) << 5) | (threshold & 0x1F));
|
| pandirimukund |
13:8d8ac3189984
|
954
|
}
|
| pandirimukund |
13:8d8ac3189984
|
955
|
|
| pandirimukund |
13:8d8ac3189984
|
956
|
uint8_t LSM9DS1::getFIFOSamples()
|
| pandirimukund |
13:8d8ac3189984
|
957
|
{
|
| pandirimukund |
13:8d8ac3189984
|
958
|
return (xgReadByte(FIFO_SRC) & 0x3F);
|
| pandirimukund |
13:8d8ac3189984
|
959
|
}
|
| pandirimukund |
13:8d8ac3189984
|
960
|
|
| pandirimukund |
13:8d8ac3189984
|
961
|
void LSM9DS1::constrainScales()
|
| pandirimukund |
13:8d8ac3189984
|
962
|
{
|
| pandirimukund |
13:8d8ac3189984
|
963
|
if ((settings.gyro.scale != 245) && (settings.gyro.scale != 500) &&
|
| pandirimukund |
13:8d8ac3189984
|
964
|
(settings.gyro.scale != 2000))
|
| pandirimukund |
13:8d8ac3189984
|
965
|
{
|
| pandirimukund |
13:8d8ac3189984
|
966
|
settings.gyro.scale = 245;
|
| pandirimukund |
13:8d8ac3189984
|
967
|
}
|
| pandirimukund |
13:8d8ac3189984
|
968
|
|
| pandirimukund |
13:8d8ac3189984
|
969
|
if ((settings.accel.scale != 2) && (settings.accel.scale != 4) &&
|
| pandirimukund |
13:8d8ac3189984
|
970
|
(settings.accel.scale != 8) && (settings.accel.scale != 16))
|
| pandirimukund |
13:8d8ac3189984
|
971
|
{
|
| pandirimukund |
13:8d8ac3189984
|
972
|
settings.accel.scale = 2;
|
| pandirimukund |
13:8d8ac3189984
|
973
|
}
|
| pandirimukund |
13:8d8ac3189984
|
974
|
|
| pandirimukund |
13:8d8ac3189984
|
975
|
if ((settings.mag.scale != 4) && (settings.mag.scale != 8) &&
|
| pandirimukund |
13:8d8ac3189984
|
976
|
(settings.mag.scale != 12) && (settings.mag.scale != 16))
|
| pandirimukund |
13:8d8ac3189984
|
977
|
{
|
| pandirimukund |
13:8d8ac3189984
|
978
|
settings.mag.scale = 4;
|
| pandirimukund |
13:8d8ac3189984
|
979
|
}
|
| pandirimukund |
13:8d8ac3189984
|
980
|
}
|
| pandirimukund |
13:8d8ac3189984
|
981
|
|
| pandirimukund |
13:8d8ac3189984
|
982
|
void LSM9DS1::xgWriteByte(uint8_t subAddress, uint8_t data)
|
| pandirimukund |
13:8d8ac3189984
|
983
|
{
|
| pandirimukund |
13:8d8ac3189984
|
984
|
// Whether we're using I2C or SPI, write a byte using the
|
| pandirimukund |
13:8d8ac3189984
|
985
|
// gyro-specific I2C address or SPI CS pin.
|
| pandirimukund |
13:8d8ac3189984
|
986
|
if (settings.device.commInterface == IMU_MODE_I2C) {
|
| pandirimukund |
13:8d8ac3189984
|
987
|
printf("yo");
|
| pandirimukund |
13:8d8ac3189984
|
988
|
I2CwriteByte(_xgAddress, subAddress, data);
|
| pandirimukund |
13:8d8ac3189984
|
989
|
} else if (settings.device.commInterface == IMU_MODE_SPI) {
|
| pandirimukund |
13:8d8ac3189984
|
990
|
SPIwriteByte(_xgAddress, subAddress, data);
|
| pandirimukund |
13:8d8ac3189984
|
991
|
}
|
| pandirimukund |
13:8d8ac3189984
|
992
|
}
|
| pandirimukund |
13:8d8ac3189984
|
993
|
|
| pandirimukund |
13:8d8ac3189984
|
994
|
void LSM9DS1::mWriteByte(uint8_t subAddress, uint8_t data)
|
| pandirimukund |
13:8d8ac3189984
|
995
|
{
|
| pandirimukund |
13:8d8ac3189984
|
996
|
// Whether we're using I2C or SPI, write a byte using the
|
| pandirimukund |
13:8d8ac3189984
|
997
|
// accelerometer-specific I2C address or SPI CS pin.
|
| pandirimukund |
13:8d8ac3189984
|
998
|
if (settings.device.commInterface == IMU_MODE_I2C)
|
| pandirimukund |
13:8d8ac3189984
|
999
|
return I2CwriteByte(_mAddress, subAddress, data);
|
| pandirimukund |
13:8d8ac3189984
|
1000
|
else if (settings.device.commInterface == IMU_MODE_SPI)
|
| pandirimukund |
13:8d8ac3189984
|
1001
|
return SPIwriteByte(_mAddress, subAddress, data);
|
| pandirimukund |
13:8d8ac3189984
|
1002
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1003
|
|
| pandirimukund |
13:8d8ac3189984
|
1004
|
uint8_t LSM9DS1::xgReadByte(uint8_t subAddress)
|
| pandirimukund |
13:8d8ac3189984
|
1005
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1006
|
// Whether we're using I2C or SPI, read a byte using the
|
| pandirimukund |
13:8d8ac3189984
|
1007
|
// gyro-specific I2C address or SPI CS pin.
|
| pandirimukund |
13:8d8ac3189984
|
1008
|
if (settings.device.commInterface == IMU_MODE_I2C)
|
| pandirimukund |
13:8d8ac3189984
|
1009
|
return I2CreadByte(_xgAddress, subAddress);
|
| pandirimukund |
13:8d8ac3189984
|
1010
|
else if (settings.device.commInterface == IMU_MODE_SPI)
|
| pandirimukund |
13:8d8ac3189984
|
1011
|
return SPIreadByte(_xgAddress, subAddress);
|
| pandirimukund |
13:8d8ac3189984
|
1012
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1013
|
|
| pandirimukund |
13:8d8ac3189984
|
1014
|
void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
|
| pandirimukund |
13:8d8ac3189984
|
1015
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1016
|
// Whether we're using I2C or SPI, read multiple bytes using the
|
| pandirimukund |
13:8d8ac3189984
|
1017
|
// gyro-specific I2C address or SPI CS pin.
|
| pandirimukund |
13:8d8ac3189984
|
1018
|
if (settings.device.commInterface == IMU_MODE_I2C) {
|
| pandirimukund |
13:8d8ac3189984
|
1019
|
I2CreadBytes(_xgAddress, subAddress, dest, count);
|
| pandirimukund |
13:8d8ac3189984
|
1020
|
} else if (settings.device.commInterface == IMU_MODE_SPI) {
|
| pandirimukund |
13:8d8ac3189984
|
1021
|
SPIreadBytes(_xgAddress, subAddress, dest, count);
|
| pandirimukund |
13:8d8ac3189984
|
1022
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1023
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1024
|
|
| pandirimukund |
13:8d8ac3189984
|
1025
|
uint8_t LSM9DS1::mReadByte(uint8_t subAddress)
|
| pandirimukund |
13:8d8ac3189984
|
1026
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1027
|
// Whether we're using I2C or SPI, read a byte using the
|
| pandirimukund |
13:8d8ac3189984
|
1028
|
// accelerometer-specific I2C address or SPI CS pin.
|
| pandirimukund |
13:8d8ac3189984
|
1029
|
if (settings.device.commInterface == IMU_MODE_I2C)
|
| pandirimukund |
13:8d8ac3189984
|
1030
|
return I2CreadByte(_mAddress, subAddress);
|
| pandirimukund |
13:8d8ac3189984
|
1031
|
else if (settings.device.commInterface == IMU_MODE_SPI)
|
| pandirimukund |
13:8d8ac3189984
|
1032
|
return SPIreadByte(_mAddress, subAddress);
|
| pandirimukund |
13:8d8ac3189984
|
1033
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1034
|
|
| pandirimukund |
13:8d8ac3189984
|
1035
|
void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
|
| pandirimukund |
13:8d8ac3189984
|
1036
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1037
|
// Whether we're using I2C or SPI, read multiple bytes using the
|
| pandirimukund |
13:8d8ac3189984
|
1038
|
// accelerometer-specific I2C address or SPI CS pin.
|
| pandirimukund |
13:8d8ac3189984
|
1039
|
if (settings.device.commInterface == IMU_MODE_I2C)
|
| pandirimukund |
13:8d8ac3189984
|
1040
|
I2CreadBytes(_mAddress, subAddress, dest, count);
|
| pandirimukund |
13:8d8ac3189984
|
1041
|
else if (settings.device.commInterface == IMU_MODE_SPI)
|
| pandirimukund |
13:8d8ac3189984
|
1042
|
SPIreadBytes(_mAddress, subAddress, dest, count);
|
| pandirimukund |
13:8d8ac3189984
|
1043
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1044
|
|
| pandirimukund |
13:8d8ac3189984
|
1045
|
void LSM9DS1::initSPI()
|
| pandirimukund |
13:8d8ac3189984
|
1046
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1047
|
/*
|
| pandirimukund |
13:8d8ac3189984
|
1048
|
pinMode(_xgAddress, OUTPUT);
|
| pandirimukund |
13:8d8ac3189984
|
1049
|
digitalWrite(_xgAddress, HIGH);
|
| pandirimukund |
13:8d8ac3189984
|
1050
|
pinMode(_mAddress, OUTPUT);
|
| pandirimukund |
13:8d8ac3189984
|
1051
|
digitalWrite(_mAddress, HIGH);
|
| pandirimukund |
13:8d8ac3189984
|
1052
|
|
| pandirimukund |
13:8d8ac3189984
|
1053
|
SPI.begin();
|
| pandirimukund |
13:8d8ac3189984
|
1054
|
// Maximum SPI frequency is 10MHz, could divide by 2 here:
|
| pandirimukund |
13:8d8ac3189984
|
1055
|
SPI.setClockDivider(SPI_CLOCK_DIV2);
|
| pandirimukund |
13:8d8ac3189984
|
1056
|
// Data is read and written MSb first.
|
| pandirimukund |
13:8d8ac3189984
|
1057
|
SPI.setBitOrder(MSBFIRST);
|
| pandirimukund |
13:8d8ac3189984
|
1058
|
// Data is captured on rising edge of clock (CPHA = 0)
|
| pandirimukund |
13:8d8ac3189984
|
1059
|
// Base value of the clock is HIGH (CPOL = 1)
|
| pandirimukund |
13:8d8ac3189984
|
1060
|
SPI.setDataMode(SPI_MODE0);
|
| pandirimukund |
13:8d8ac3189984
|
1061
|
*/
|
| pandirimukund |
13:8d8ac3189984
|
1062
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1063
|
|
| pandirimukund |
13:8d8ac3189984
|
1064
|
void LSM9DS1::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data)
|
| pandirimukund |
13:8d8ac3189984
|
1065
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1066
|
/*
|
| pandirimukund |
13:8d8ac3189984
|
1067
|
digitalWrite(csPin, LOW); // Initiate communication
|
| pandirimukund |
13:8d8ac3189984
|
1068
|
|
| pandirimukund |
13:8d8ac3189984
|
1069
|
// If write, bit 0 (MSB) should be 0
|
| pandirimukund |
13:8d8ac3189984
|
1070
|
// If single write, bit 1 should be 0
|
| pandirimukund |
13:8d8ac3189984
|
1071
|
SPI.transfer(subAddress & 0x3F); // Send Address
|
| pandirimukund |
13:8d8ac3189984
|
1072
|
SPI.transfer(data); // Send data
|
| pandirimukund |
13:8d8ac3189984
|
1073
|
|
| pandirimukund |
13:8d8ac3189984
|
1074
|
digitalWrite(csPin, HIGH); // Close communication
|
| pandirimukund |
13:8d8ac3189984
|
1075
|
*/
|
| pandirimukund |
13:8d8ac3189984
|
1076
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1077
|
|
| pandirimukund |
13:8d8ac3189984
|
1078
|
uint8_t LSM9DS1::SPIreadByte(uint8_t csPin, uint8_t subAddress)
|
| pandirimukund |
13:8d8ac3189984
|
1079
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1080
|
uint8_t temp;
|
| pandirimukund |
13:8d8ac3189984
|
1081
|
// Use the multiple read function to read 1 byte.
|
| pandirimukund |
13:8d8ac3189984
|
1082
|
// Value is returned to `temp`.
|
| pandirimukund |
13:8d8ac3189984
|
1083
|
SPIreadBytes(csPin, subAddress, &temp, 1);
|
| pandirimukund |
13:8d8ac3189984
|
1084
|
return temp;
|
| pandirimukund |
13:8d8ac3189984
|
1085
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1086
|
|
| pandirimukund |
13:8d8ac3189984
|
1087
|
void LSM9DS1::SPIreadBytes(uint8_t csPin, uint8_t subAddress,
|
| pandirimukund |
13:8d8ac3189984
|
1088
|
uint8_t * dest, uint8_t count)
|
| pandirimukund |
13:8d8ac3189984
|
1089
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1090
|
// To indicate a read, set bit 0 (msb) of first byte to 1
|
| pandirimukund |
13:8d8ac3189984
|
1091
|
uint8_t rAddress = 0x80 | (subAddress & 0x3F);
|
| pandirimukund |
13:8d8ac3189984
|
1092
|
// Mag SPI port is different. If we're reading multiple bytes,
|
| pandirimukund |
13:8d8ac3189984
|
1093
|
// set bit 1 to 1. The remaining six bytes are the address to be read
|
| pandirimukund |
13:8d8ac3189984
|
1094
|
if ((csPin == _mAddress) && count > 1)
|
| pandirimukund |
13:8d8ac3189984
|
1095
|
rAddress |= 0x40;
|
| pandirimukund |
13:8d8ac3189984
|
1096
|
|
| pandirimukund |
13:8d8ac3189984
|
1097
|
/*
|
| pandirimukund |
13:8d8ac3189984
|
1098
|
digitalWrite(csPin, LOW); // Initiate communication
|
| pandirimukund |
13:8d8ac3189984
|
1099
|
SPI.transfer(rAddress);
|
| pandirimukund |
13:8d8ac3189984
|
1100
|
for (int i=0; i<count; i++)
|
| pandirimukund |
13:8d8ac3189984
|
1101
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1102
|
dest[i] = SPI.transfer(0x00); // Read into destination array
|
| pandirimukund |
13:8d8ac3189984
|
1103
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1104
|
digitalWrite(csPin, HIGH); // Close communication
|
| pandirimukund |
13:8d8ac3189984
|
1105
|
*/
|
| pandirimukund |
13:8d8ac3189984
|
1106
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1107
|
|
| pandirimukund |
13:8d8ac3189984
|
1108
|
void LSM9DS1::initI2C()
|
| pandirimukund |
13:8d8ac3189984
|
1109
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1110
|
/*
|
| pandirimukund |
13:8d8ac3189984
|
1111
|
Wire.begin(); // Initialize I2C library
|
| pandirimukund |
13:8d8ac3189984
|
1112
|
*/
|
| pandirimukund |
13:8d8ac3189984
|
1113
|
|
| pandirimukund |
13:8d8ac3189984
|
1114
|
//already initialized in constructor!
|
| pandirimukund |
13:8d8ac3189984
|
1115
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1116
|
|
| pandirimukund |
13:8d8ac3189984
|
1117
|
// Wire.h read and write protocols
|
| pandirimukund |
13:8d8ac3189984
|
1118
|
void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
|
| pandirimukund |
13:8d8ac3189984
|
1119
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1120
|
/*
|
| pandirimukund |
13:8d8ac3189984
|
1121
|
Wire.beginTransmission(address); // Initialize the Tx buffer
|
| pandirimukund |
13:8d8ac3189984
|
1122
|
Wire.write(subAddress); // Put slave register address in Tx buffer
|
| pandirimukund |
13:8d8ac3189984
|
1123
|
Wire.write(data); // Put data in Tx buffer
|
| pandirimukund |
13:8d8ac3189984
|
1124
|
Wire.endTransmission(); // Send the Tx buffer
|
| pandirimukund |
13:8d8ac3189984
|
1125
|
*/
|
| pandirimukund |
13:8d8ac3189984
|
1126
|
char temp_data[2] = {subAddress, data};
|
| pandirimukund |
13:8d8ac3189984
|
1127
|
i2c.write(address, temp_data, 2);
|
| pandirimukund |
13:8d8ac3189984
|
1128
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1129
|
|
| pandirimukund |
13:8d8ac3189984
|
1130
|
uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress)
|
| pandirimukund |
13:8d8ac3189984
|
1131
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1132
|
/*
|
| pandirimukund |
13:8d8ac3189984
|
1133
|
int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
|
| pandirimukund |
13:8d8ac3189984
|
1134
|
uint8_t data; // `data` will store the register data
|
| pandirimukund |
13:8d8ac3189984
|
1135
|
|
| pandirimukund |
13:8d8ac3189984
|
1136
|
Wire.beginTransmission(address); // Initialize the Tx buffer
|
| pandirimukund |
13:8d8ac3189984
|
1137
|
Wire.write(subAddress); // Put slave register address in Tx buffer
|
| pandirimukund |
13:8d8ac3189984
|
1138
|
Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive
|
| pandirimukund |
13:8d8ac3189984
|
1139
|
Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address
|
| pandirimukund |
13:8d8ac3189984
|
1140
|
while ((Wire.available() < 1) && (timeout-- > 0))
|
| pandirimukund |
13:8d8ac3189984
|
1141
|
delay(1);
|
| pandirimukund |
13:8d8ac3189984
|
1142
|
|
| pandirimukund |
13:8d8ac3189984
|
1143
|
if (timeout <= 0)
|
| pandirimukund |
13:8d8ac3189984
|
1144
|
return 255; //! Bad! 255 will be misinterpreted as a good value.
|
| pandirimukund |
13:8d8ac3189984
|
1145
|
|
| pandirimukund |
13:8d8ac3189984
|
1146
|
data = Wire.read(); // Fill Rx buffer with result
|
| pandirimukund |
13:8d8ac3189984
|
1147
|
return data; // Return data read from slave register
|
| pandirimukund |
13:8d8ac3189984
|
1148
|
*/
|
| pandirimukund |
13:8d8ac3189984
|
1149
|
char data;
|
| pandirimukund |
13:8d8ac3189984
|
1150
|
char temp[1] = {subAddress};
|
| pandirimukund |
13:8d8ac3189984
|
1151
|
|
| pandirimukund |
13:8d8ac3189984
|
1152
|
i2c.write(address, temp, 1);
|
| pandirimukund |
13:8d8ac3189984
|
1153
|
//i2c.write(address & 0xFE);
|
| pandirimukund |
13:8d8ac3189984
|
1154
|
temp[1] = 0x00;
|
| pandirimukund |
13:8d8ac3189984
|
1155
|
i2c.write(address, temp, 1);
|
| pandirimukund |
13:8d8ac3189984
|
1156
|
//i2c.write( address | 0x01);
|
| pandirimukund |
13:8d8ac3189984
|
1157
|
int a = i2c.read(address, &data, 1);
|
| pandirimukund |
13:8d8ac3189984
|
1158
|
return data;
|
| pandirimukund |
13:8d8ac3189984
|
1159
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1160
|
|
| pandirimukund |
13:8d8ac3189984
|
1161
|
uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
|
| pandirimukund |
13:8d8ac3189984
|
1162
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1163
|
/*
|
| pandirimukund |
13:8d8ac3189984
|
1164
|
int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
|
| pandirimukund |
13:8d8ac3189984
|
1165
|
Wire.beginTransmission(address); // Initialize the Tx buffer
|
| pandirimukund |
13:8d8ac3189984
|
1166
|
// Next send the register to be read. OR with 0x80 to indicate multi-read.
|
| pandirimukund |
13:8d8ac3189984
|
1167
|
Wire.write(subAddress | 0x80); // Put slave register address in Tx buffer
|
| pandirimukund |
13:8d8ac3189984
|
1168
|
|
| pandirimukund |
13:8d8ac3189984
|
1169
|
Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive
|
| pandirimukund |
13:8d8ac3189984
|
1170
|
uint8_t i = 0;
|
| pandirimukund |
13:8d8ac3189984
|
1171
|
Wire.requestFrom(address, count); // Read bytes from slave register address
|
| pandirimukund |
13:8d8ac3189984
|
1172
|
while ((Wire.available() < count) && (timeout-- > 0))
|
| pandirimukund |
13:8d8ac3189984
|
1173
|
delay(1);
|
| pandirimukund |
13:8d8ac3189984
|
1174
|
if (timeout <= 0)
|
| pandirimukund |
13:8d8ac3189984
|
1175
|
return -1;
|
| pandirimukund |
13:8d8ac3189984
|
1176
|
|
| pandirimukund |
13:8d8ac3189984
|
1177
|
for (int i=0; i<count;)
|
| pandirimukund |
13:8d8ac3189984
|
1178
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1179
|
if (Wire.available())
|
| pandirimukund |
13:8d8ac3189984
|
1180
|
{
|
| pandirimukund |
13:8d8ac3189984
|
1181
|
dest[i++] = Wire.read();
|
| pandirimukund |
13:8d8ac3189984
|
1182
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1183
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1184
|
return count;
|
| pandirimukund |
13:8d8ac3189984
|
1185
|
*/
|
| pandirimukund |
13:8d8ac3189984
|
1186
|
int i;
|
| pandirimukund |
13:8d8ac3189984
|
1187
|
char temp_dest[count];
|
| pandirimukund |
13:8d8ac3189984
|
1188
|
char temp[1] = {subAddress};
|
| pandirimukund |
13:8d8ac3189984
|
1189
|
i2c.write(address, temp, 1);
|
| pandirimukund |
13:8d8ac3189984
|
1190
|
i2c.read(address, temp_dest, count);
|
| pandirimukund |
13:8d8ac3189984
|
1191
|
|
| pandirimukund |
13:8d8ac3189984
|
1192
|
//i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion
|
| pandirimukund |
13:8d8ac3189984
|
1193
|
for (i=0; i < count; i++) {
|
| pandirimukund |
13:8d8ac3189984
|
1194
|
dest[i] = temp_dest[i];
|
| pandirimukund |
13:8d8ac3189984
|
1195
|
}
|
| pandirimukund |
13:8d8ac3189984
|
1196
|
return count;
|
| pandirimukund |
13:8d8ac3189984
|
1197
|
}
|
Mukund Pandiri
