Roger Weng
inertia sensor
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LSM9DS0
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LDSC_Robotics_TAs
Diff: LSM9DS0.cpp
- Revision:
- 0:0dbf7ee73651
- Child:
- 1:2c34ccab5256
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS0.cpp Fri Feb 26 12:56:04 2016 +0000
@@ -0,0 +1,698 @@
+//Original author
+/******************************************************************************
+SFE_LSM9DS0.cpp
+SFE_LSM9DS0 Library Source File
+Jim Lindblom @ SparkFun Electronics
+Original Creation Date: February 14, 2014 (Happy Valentines Day!)
+https://github.com/sparkfun/LSM9DS0_Breakout
+
+This file implements all functions of the LSM9DS0 class. Functions here range
+from higher level stuff, like reading/writing LSM9DS0 registers to low-level,
+hardware reads and writes. Both SPI and I2C handler functions can be found
+towards the bottom of this file.
+
+Development environment specifics:
+ IDE: Arduino 1.0.5
+ Hardware Platform: Arduino Pro 3.3V/8MHz
+ LSM9DS0 Breakout Version: 1.0
+
+This code is beerware; if you see me (or any other SparkFun employee) at the
+local, and you've found our code helpful, please buy us a round!
+
+Distributed as-is; no warranty is given.
+******************************************************************************/
+
+#include "LSM9DS0.h"
+#include "mbed.h"
+
+//I2C i2c(D14,D15);
+//SPI spi(D4,D5,D3);
+//****************************************************************************//
+//
+// LSM9DS0 functions.
+//
+// Construction arguments:
+// (interface_mode interface, uint8_t gAddr, uint8_t xmAddr ),
+//
+// where gAddr and xmAddr are addresses for I2C_MODE and chip select pin
+// number for SPI_MODE
+//
+// For SPI, construct LSM6DS3 myIMU(SPI_MODE, D9, D6);
+//
+//=================================
+
+LSM9DS0::LSM9DS0(interface_mode interface, uint8_t gAddr, uint8_t xmAddr) : interfaceMode(SPI_MODE), spi_(D4,D5,D3), i2c_(I2C_SDA,I2C_SCL), csG_(D9), csXM_(D6)
+{
+ // interfaceMode will keep track of whether we're using SPI or I2C:
+ interfaceMode = interface;
+
+ // xmAddress and gAddress will store the 7-bit I2C address, if using I2C.
+ // If we're using SPI, these variables store the chip-select pins.
+ gAddress = gAddr;
+ xmAddress = xmAddr;
+}
+
+uint16_t LSM9DS0::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
+ // are used throughout to calculate the actual g's, DPS,and Gs's.
+ gScale = gScl;
+ aScale = aScl;
+ mScale = mScl;
+
+ // Once we have the scale values, we can calculate the resolution
+ // of each sensor. That's what these functions are for. One for each sensor
+ calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
+ calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
+ calcaRes(); // Calculate g / ADC tick, stored in aRes variable
+
+ // Now, initialize our hardware interface.
+ if (interfaceMode == I2C_MODE) // If we're using I2C
+ initI2C(); // Initialize I2C
+ else if (interfaceMode == SPI_MODE) // else, if we're using SPI
+ initSPI(); // Initialize SPI
+
+ // To verify communication, we can read from the WHO_AM_I register of
+ // each device. Store those in a variable so we can return them.
+ uint8_t gTest = gReadByte(WHO_AM_I_G); // Read the gyro WHO_AM_I
+ uint8_t xmTest = xmReadByte(WHO_AM_I_XM); // Read the accel/mag WHO_AM_I
+
+ // Gyro initialization stuff:
+ initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
+ setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
+ setGyroScale(gScale); // Set the gyro range
+
+ // Accelerometer initialization stuff:
+ initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
+ setAccelODR(aODR); // Set the accel data rate.
+ setAccelScale(aScale); // Set the accel range.
+
+ // Magnetometer initialization stuff:
+ initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
+ setMagODR(mODR); // Set the magnetometer output data rate.
+ setMagScale(mScale); // Set the magnetometer's range.
+
+ // Once everything is initialized, return the WHO_AM_I registers we read:
+ return (xmTest << 8) | gTest;
+}
+
+void LSM9DS0::initGyro()
+{
+ /* CTRL_REG1_G sets output data rate, bandwidth, power-down and enables
+ Bits[7:0]: DR1 DR0 BW1 BW0 PD Zen Xen Yen
+ DR[1:0] - Output data rate selection
+ 00=95Hz, 01=190Hz, 10=380Hz, 11=760Hz
+ BW[1:0] - Bandwidth selection (sets cutoff frequency)
+ Value depends on ODR. See datasheet table 21.
+ PD - Power down enable (0=power down mode, 1=normal or sleep mode)
+ Zen, Xen, Yen - Axis enable (o=disabled, 1=enabled) */
+ gWriteByte(CTRL_REG1_G, 0xFF); // Normal mode, enable all axes
+
+ /* CTRL_REG2_G sets up the HPF
+ Bits[7:0]: 0 0 HPM1 HPM0 HPCF3 HPCF2 HPCF1 HPCF0
+ HPM[1:0] - High pass filter mode selection
+ 00=normal (reset reading HP_RESET_FILTER, 01=ref signal for filtering,
+ 10=normal, 11=autoreset on interrupt
+ HPCF[3:0] - High pass filter cutoff frequency
+ Value depends on data rate. See datasheet table 26.
+ */
+ gWriteByte(CTRL_REG2_G, 0x09); // Normal mode, high cutoff frequency
+
+ /* CTRL_REG3_G sets up interrupt and DRDY_G pins
+ Bits[7:0]: I1_IINT1 I1_BOOT H_LACTIVE PP_OD I2_DRDY I2_WTM I2_ORUN I2_EMPTY
+ I1_INT1 - Interrupt enable on INT_G pin (0=disable, 1=enable)
+ I1_BOOT - Boot status available on INT_G (0=disable, 1=enable)
+ H_LACTIVE - Interrupt active configuration on INT_G (0:high, 1:low)
+ PP_OD - Push-pull/open-drain (0=push-pull, 1=open-drain)
+ I2_DRDY - Data ready on DRDY_G (0=disable, 1=enable)
+ I2_WTM - FIFO watermark interrupt on DRDY_G (0=disable 1=enable)
+ I2_ORUN - FIFO overrun interrupt on DRDY_G (0=disable 1=enable)
+ I2_EMPTY - FIFO empty interrupt on DRDY_G (0=disable 1=enable) */
+ // Int1 enabled (pp, active low), data read on DRDY_G:
+ gWriteByte(CTRL_REG3_G, 0x00);
+
+ /* CTRL_REG4_G sets the scale, update mode
+ Bits[7:0] - BDU BLE FS1 FS0 - ST1 ST0 SIM
+ BDU - Block data update (0=continuous, 1=output not updated until read
+ BLE - Big/little endian (0=data LSB @ lower address, 1=LSB @ higher add)
+ FS[1:0] - Full-scale selection
+ 00=245dps, 01=500dps, 10=2000dps, 11=2000dps
+ ST[1:0] - Self-test enable
+ 00=disabled, 01=st 0 (x+, y-, z-), 10=undefined, 11=st 1 (x-, y+, z+)
+ SIM - SPI serial interface mode select
+ 0=4 wire, 1=3 wire */
+ gWriteByte(CTRL_REG4_G, 0x30); // Set scale to 245 dps
+
+ /* CTRL_REG5_G sets up the FIFO, HPF, and INT1
+ Bits[7:0] - BOOT FIFO_EN - HPen INT1_Sel1 INT1_Sel0 Out_Sel1 Out_Sel0
+ BOOT - Reboot memory content (0=normal, 1=reboot)
+ FIFO_EN - FIFO enable (0=disable, 1=enable)
+ HPen - HPF enable (0=disable, 1=enable)
+ INT1_Sel[1:0] - Int 1 selection configuration
+ Out_Sel[1:0] - Out selection configuration */
+ gWriteByte(CTRL_REG5_G, 0x00);
+
+ // Temporary !!! For testing !!! Remove !!! Or make useful !!!
+ configGyroInt(0x2A, 0, 0, 0, 0); // Trigger interrupt when above 0 DPS...
+}
+
+void LSM9DS0::initAccel()
+{
+ /* CTRL_REG0_XM (0x1F) (Default value: 0x00)
+ Bits (7-0): BOOT FIFO_EN WTM_EN 0 0 HP_CLICK HPIS1 HPIS2
+ BOOT - Reboot memory content (0: normal, 1: reboot)
+ FIFO_EN - Fifo enable (0: disable, 1: enable)
+ WTM_EN - FIFO watermark enable (0: disable, 1: enable)
+ HP_CLICK - HPF enabled for click (0: filter bypassed, 1: enabled)
+ HPIS1 - HPF enabled for interrupt generator 1 (0: bypassed, 1: enabled)
+ HPIS2 - HPF enabled for interrupt generator 2 (0: bypassed, 1 enabled) */
+ xmWriteByte(CTRL_REG0_XM, 0x00);
+
+ /* CTRL_REG1_XM (0x20) (Default value: 0x07)
+ Bits (7-0): AODR3 AODR2 AODR1 AODR0 BDU AZEN AYEN AXEN
+ AODR[3:0] - select the acceleration data rate:
+ 0000=power down, 0001=3.125Hz, 0010=6.25Hz, 0011=12.5Hz,
+ 0100=25Hz, 0101=50Hz, 0110=100Hz, 0111=200Hz, 1000=400Hz,
+ 1001=800Hz, 1010=1600Hz, (remaining combinations undefined).
+ BDU - block data update for accel AND mag
+ 0: Continuous update
+ 1: Output registers aren't updated until MSB and LSB have been read.
+ AZEN, AYEN, and AXEN - Acceleration x/y/z-axis enabled.
+ 0: Axis disabled, 1: Axis enabled */
+ xmWriteByte(CTRL_REG1_XM, 0x97); // 100Hz data rate, x/y/z all enabled
+
+ //Serial.println(xmReadByte(CTRL_REG1_XM));
+ /* CTRL_REG2_XM (0x21) (Default value: 0x00)
+ Bits (7-0): ABW1 ABW0 AFS2 AFS1 AFS0 AST1 AST0 SIM
+ ABW[1:0] - Accelerometer anti-alias filter bandwidth
+ 00=773Hz, 01=194Hz, 10=362Hz, 11=50Hz
+ AFS[2:0] - Accel full-scale selection
+ 000=+/-2g, 001=+/-4g, 010=+/-6g, 011=+/-8g, 100=+/-16g
+ AST[1:0] - Accel self-test enable
+ 00=normal (no self-test), 01=positive st, 10=negative st, 11=not allowed
+ SIM - SPI mode selection
+ 0=4-wire, 1=3-wire */
+ xmWriteByte(CTRL_REG2_XM, 0xD8); // Set scale to 2g
+
+ /* CTRL_REG3_XM is used to set interrupt generators on INT1_XM
+ Bits (7-0): P1_BOOT P1_TAP P1_INT1 P1_INT2 P1_INTM P1_DRDYA P1_DRDYM P1_EMPTY
+ */
+ // Accelerometer data ready on INT1_XM (0x04)
+ xmWriteByte(CTRL_REG3_XM, 0x00);
+}
+
+void LSM9DS0::initMag()
+{
+ /* CTRL_REG5_XM enables temp sensor, sets mag resolution and data rate
+ Bits (7-0): TEMP_EN M_RES1 M_RES0 M_ODR2 M_ODR1 M_ODR0 LIR2 LIR1
+ TEMP_EN - Enable temperature sensor (0=disabled, 1=enabled)
+ M_RES[1:0] - Magnetometer resolution select (0=low, 3=high)
+ M_ODR[2:0] - Magnetometer data rate select
+ 000=3.125Hz, 001=6.25Hz, 010=12.5Hz, 011=25Hz, 100=50Hz, 101=100Hz
+ LIR2 - Latch interrupt request on INT2_SRC (cleared by reading INT2_SRC)
+ 0=interrupt request not latched, 1=interrupt request latched
+ LIR1 - Latch interrupt request on INT1_SRC (cleared by readging INT1_SRC)
+ 0=irq not latched, 1=irq latched */
+ xmWriteByte(CTRL_REG5_XM, 0x74); // Mag data rate - 100 Hz, disable temperature sensor
+
+ /* CTRL_REG6_XM sets the magnetometer full-scale
+ Bits (7-0): 0 MFS1 MFS0 0 0 0 0 0
+ MFS[1:0] - Magnetic full-scale selection
+ 00:+/-2Gauss, 01:+/-4Gs, 10:+/-8Gs, 11:+/-12Gs */
+ xmWriteByte(CTRL_REG6_XM, 0x40); // Mag scale to +/- 2GS
+
+ /* CTRL_REG7_XM sets magnetic sensor mode, low power mode, and filters
+ AHPM1 AHPM0 AFDS 0 0 MLP MD1 MD0
+ AHPM[1:0] - HPF mode selection
+ 00=normal (resets reference registers), 01=reference signal for filtering,
+ 10=normal, 11=autoreset on interrupt event
+ AFDS - Filtered acceleration data selection
+ 0=internal filter bypassed, 1=data from internal filter sent to FIFO
+ MLP - Magnetic data low-power mode
+ 0=data rate is set by M_ODR bits in CTRL_REG5
+ 1=data rate is set to 3.125Hz
+ MD[1:0] - Magnetic sensor mode selection (default 10)
+ 00=continuous-conversion, 01=single-conversion, 10 and 11=power-down */
+ xmWriteByte(CTRL_REG7_XM, 0x00); // Continuous conversion mode
+
+ /* CTRL_REG4_XM is used to set interrupt generators on INT2_XM
+ Bits (7-0): P2_TAP P2_INT1 P2_INT2 P2_INTM P2_DRDYA P2_DRDYM P2_Overrun P2_WTM
+ */
+ xmWriteByte(CTRL_REG4_XM, 0x00); // Magnetometer data ready on INT2_XM (0x08)
+
+ /* INT_CTRL_REG_M to set push-pull/open drain, and active-low/high
+ Bits[7:0] - XMIEN YMIEN ZMIEN PP_OD IEA IEL 4D MIEN
+ XMIEN, YMIEN, ZMIEN - Enable interrupt recognition on axis for mag data
+ PP_OD - Push-pull/open-drain interrupt configuration (0=push-pull, 1=od)
+ IEA - Interrupt polarity for accel and magneto
+ 0=active-low, 1=active-high
+ IEL - Latch interrupt request for accel and magneto
+ 0=irq not latched, 1=irq latched
+ 4D - 4D enable. 4D detection is enabled when 6D bit in INT_GEN1_REG is set
+ MIEN - Enable interrupt generation for magnetic data
+ 0=disable, 1=enable) */
+ xmWriteByte(INT_CTRL_REG_M, 0x09); // Enable interrupts for mag, active-low, push-pull
+}
+
+// This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average
+// them, scales them to gs and deg/s, respectively, and then passes the biases to the main sketch
+// for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store
+// the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to
+// subtract the biases ourselves. This results in a more accurate measurement in general and can
+// remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
+// is good practice.
+void LSM9DS0::calLSM9DS0(float * gbias, float * abias)
+{
+ uint8_t data[6] = {0, 0, 0, 0, 0, 0};
+ int16_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
+ int samples, ii;
+
+ // First get gyro bias
+ uint8_t c = gReadByte(CTRL_REG5_G);
+ gWriteByte(CTRL_REG5_G, c | 0x40); // Enable gyro FIFO
+ wait_ms(20); // Wait for change to take effect
+ gWriteByte(FIFO_CTRL_REG_G, 0x20 | 0x1F); // Enable gyro FIFO stream mode and set watermark at 32 samples
+ wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples
+
+ samples = (gReadByte(FIFO_SRC_REG_G) & 0x1F); // Read number of stored samples
+
+ for(ii = 0; ii < samples ; ii++) { // Read the gyro data stored in the FIFO
+ gReadBytes(OUT_X_L_G, &data[0], 6);
+ gyro_bias[0] += (((int16_t)data[1] << 8) | data[0]);
+ gyro_bias[1] += (((int16_t)data[3] << 8) | data[2]);
+ gyro_bias[2] += (((int16_t)data[5] << 8) | data[4]);
+ }
+
+ gyro_bias[0] /= samples; // average the data
+ gyro_bias[1] /= samples;
+ gyro_bias[2] /= samples;
+
+ gbias[0] = (float)gyro_bias[0]*gRes; // Properly scale the data to get deg/s
+ gbias[1] = (float)gyro_bias[1]*gRes;
+ gbias[2] = (float)gyro_bias[2]*gRes;
+
+ c = gReadByte(CTRL_REG5_G);
+ gWriteByte(CTRL_REG5_G, c & ~0x40); // Disable gyro FIFO
+ wait_ms(20);
+ gWriteByte(FIFO_CTRL_REG_G, 0x00); // Enable gyro bypass mode
+
+
+ // Now get the accelerometer biases
+ c = xmReadByte(CTRL_REG0_XM);
+ xmWriteByte(CTRL_REG0_XM, c | 0x40); // Enable accelerometer FIFO
+ wait_ms(20); // Wait for change to take effect
+ xmWriteByte(FIFO_CTRL_REG, 0x20 | 0x1F); // Enable accelerometer FIFO stream mode and set watermark at 32 samples
+ wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples
+
+ samples = (xmReadByte(FIFO_SRC_REG) & 0x1F); // Read number of stored accelerometer samples
+
+ for(ii = 0; ii < samples ; ii++) { // Read the accelerometer data stored in the FIFO
+ xmReadBytes(OUT_X_L_A, &data[0], 6);
+ accel_bias[0] += (((int16_t)data[1] << 8) | data[0]);
+ accel_bias[1] += (((int16_t)data[3] << 8) | data[2]);
+ accel_bias[2] += (((int16_t)data[5] << 8) | data[4]) - (int16_t)(1.0f/aRes); // Assumes sensor facing up!
+ }
+
+ accel_bias[0] /= samples; // average the data
+ accel_bias[1] /= samples;
+ accel_bias[2] /= samples;
+
+ abias[0] = (float)accel_bias[0]*aRes; // Properly scale data to get gs
+ abias[1] = (float)accel_bias[1]*aRes;
+ abias[2] = (float)accel_bias[2]*aRes;
+
+ c = xmReadByte(CTRL_REG0_XM);
+ xmWriteByte(CTRL_REG0_XM, c & ~0x40); // Disable accelerometer FIFO
+ wait_ms(20);
+ xmWriteByte(FIFO_CTRL_REG, 0x00); // Enable accelerometer bypass mode
+}
+
+void LSM9DS0::readAccel()
+{
+ uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
+ xmReadBytes(OUT_X_L_A, temp, 6); // Read 6 bytes, beginning at OUT_X_L_A
+ ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
+ ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
+ az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
+}
+
+void LSM9DS0::readMag()
+{
+ uint8_t temp[6]; // We'll read six bytes from the mag into temp
+ xmReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
+ mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
+ my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
+ mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
+}
+
+void LSM9DS0::readTemp()
+{
+ uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
+ xmReadBytes(OUT_TEMP_L_XM, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L_M
+ temperature = (((int16_t) temp[1] << 12) | temp[0] << 4 ) >> 4; // Temperature is a 12-bit signed integer
+}
+
+void LSM9DS0::readGyro()
+{
+ uint8_t temp[6]; // We'll read six bytes from the gyro into temp
+ gReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G
+ gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx
+ gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy
+ gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz
+}
+
+float LSM9DS0::calcGyro(int16_t gyro)
+{
+ // Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
+ return gRes * gyro;
+}
+
+float LSM9DS0::calcAccel(int16_t accel)
+{
+ // Return the accel raw reading times our pre-calculated g's / (ADC tick):
+ return aRes * accel;
+}
+
+float LSM9DS0::calcMag(int16_t mag)
+{
+ // Return the mag raw reading times our pre-calculated Gs / (ADC tick):
+ return mRes * mag;
+}
+
+void LSM9DS0::setGyroScale(gyro_scale gScl)
+{
+ // We need to preserve the other bytes in CTRL_REG4_G. So, first read it:
+ uint8_t temp = gReadByte(CTRL_REG4_G);
+ // Then mask out the gyro scale bits:
+ temp &= 0xFF^(0x3 << 4);
+ // Then shift in our new scale bits:
+ temp |= gScl << 4;
+ // And write the new register value back into CTRL_REG4_G:
+ gWriteByte(CTRL_REG4_G, temp);
+
+ // We've updated the sensor, but we also need to update our class variables
+ // First update gScale:
+ gScale = gScl;
+ // Then calculate a new gRes, which relies on gScale being set correctly:
+ calcgRes();
+}
+
+void LSM9DS0::setAccelScale(accel_scale aScl)
+{
+ // We need to preserve the other bytes in CTRL_REG2_XM. So, first read it:
+ uint8_t temp = xmReadByte(CTRL_REG2_XM);
+ // Then mask out the accel scale bits:
+ temp &= 0xFF^(0x7 << 3);
+ // Then shift in our new scale bits:
+ temp |= aScl << 3;
+ // And write the new register value back into CTRL_REG2_XM:
+ xmWriteByte(CTRL_REG2_XM, temp);
+
+ // We've updated the sensor, but we also need to update our class variables
+ // First update aScale:
+ aScale = aScl;
+ // Then calculate a new aRes, which relies on aScale being set correctly:
+ calcaRes();
+}
+
+void LSM9DS0::setMagScale(mag_scale mScl)
+{
+ // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
+ uint8_t temp = xmReadByte(CTRL_REG6_XM);
+ // Then mask out the mag scale bits:
+ temp &= 0xFF^(0x3 << 5);
+ // Then shift in our new scale bits:
+ temp |= mScl << 5;
+ // And write the new register value back into CTRL_REG6_XM:
+ xmWriteByte(CTRL_REG6_XM, temp);
+
+ // We've updated the sensor, but we also need to update our class variables
+ // First update mScale:
+ mScale = mScl;
+ // Then calculate a new mRes, which relies on mScale being set correctly:
+ calcmRes();
+}
+
+void LSM9DS0::setGyroODR(gyro_odr gRate)
+{
+ // We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
+ uint8_t temp = gReadByte(CTRL_REG1_G);
+ // Then mask out the gyro ODR bits:
+ temp &= 0xFF^(0xF << 4);
+ // Then shift in our new ODR bits:
+ temp |= (gRate << 4);
+ // And write the new register value back into CTRL_REG1_G:
+ gWriteByte(CTRL_REG1_G, temp);
+}
+void LSM9DS0::setAccelODR(accel_odr aRate)
+{
+ // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
+ uint8_t temp = xmReadByte(CTRL_REG1_XM);
+ // Then mask out the accel ODR bits:
+ temp &= 0xFF^(0xF << 4);
+ // Then shift in our new ODR bits:
+ temp |= (aRate << 4);
+ // And write the new register value back into CTRL_REG1_XM:
+ xmWriteByte(CTRL_REG1_XM, temp);
+}
+void LSM9DS0::setAccelABW(accel_abw abwRate)
+{
+ // We need to preserve the other bytes in CTRL_REG2_XM. So, first read it:
+ uint8_t temp = xmReadByte(CTRL_REG2_XM);
+ // Then mask out the accel ABW bits:
+ temp &= 0xFF^(0x3 << 6);
+ // Then shift in our new ODR bits:
+ temp |= (abwRate << 6);
+ // And write the new register value back into CTRL_REG2_XM:
+ xmWriteByte(CTRL_REG2_XM, temp);
+}
+void LSM9DS0::setMagODR(mag_odr mRate)
+{
+ // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
+ uint8_t temp = xmReadByte(CTRL_REG5_XM);
+ // Then mask out the mag ODR bits:
+ temp &= 0xFF^(0x7 << 2);
+ // Then shift in our new ODR bits:
+ temp |= (mRate << 2);
+ // And write the new register value back into CTRL_REG5_XM:
+ xmWriteByte(CTRL_REG5_XM, temp);
+}
+
+void LSM9DS0::configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX, uint16_t int1ThsY, uint16_t int1ThsZ, uint8_t duration)
+{
+ gWriteByte(INT1_CFG_G, int1Cfg);
+ gWriteByte(INT1_THS_XH_G, (int1ThsX & 0xFF00) >> 8);
+ gWriteByte(INT1_THS_XL_G, (int1ThsX & 0xFF));
+ gWriteByte(INT1_THS_YH_G, (int1ThsY & 0xFF00) >> 8);
+ gWriteByte(INT1_THS_YL_G, (int1ThsY & 0xFF));
+ gWriteByte(INT1_THS_ZH_G, (int1ThsZ & 0xFF00) >> 8);
+ gWriteByte(INT1_THS_ZL_G, (int1ThsZ & 0xFF));
+ if (duration)
+ gWriteByte(INT1_DURATION_G, 0x80 | duration);
+ else
+ gWriteByte(INT1_DURATION_G, 0x00);
+}
+
+void LSM9DS0::calcgRes()
+{
+ // Possible gyro scales (and their register bit settings) are:
+ // 245 DPS (00), 500 DPS (01), 2000 DPS (10). Here's a bit of an algorithm
+ // to calculate DPS/(ADC tick) based on that 2-bit value:
+ switch (gScale)
+ {
+ case G_SCALE_245DPS:
+ gRes = 245.0 / 32768.0;
+ break;
+ case G_SCALE_500DPS:
+ gRes = 500.0 / 32768.0;
+ break;
+ case G_SCALE_2000DPS:
+ gRes = 2000.0 / 32768.0;
+ break;
+ }
+}
+
+void LSM9DS0::calcaRes()
+{
+ // Possible accelerometer scales (and their register bit settings) are:
+ // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). Here's a bit of an
+ // algorithm to calculate g/(ADC tick) based on that 3-bit value:
+ aRes = aScale == A_SCALE_16G ? 16.0 / 32768.0 :
+ (((float) aScale + 1.0f) * 2.0f) / 32768.0f;
+}
+
+void LSM9DS0::calcmRes()
+{
+ // Possible magnetometer scales (and their register bit settings) are:
+ // 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11). Here's a bit of an algorithm
+ // to calculate Gs/(ADC tick) based on that 2-bit value:
+ mRes = mScale == M_SCALE_2GS ? 2.0 / 32768.0 :
+ (float) (mScale << 2) / 32768.0f;
+}
+
+void LSM9DS0::gWriteByte(uint8_t subAddress, uint8_t data)
+{
+ // Whether we're using I2C or SPI, write a byte using the
+ // gyro-specific I2C address or SPI CS pin.
+ if (interfaceMode == I2C_MODE)
+ I2CwriteByte(gAddress, subAddress, data);
+ else if (interfaceMode == SPI_MODE)
+ SPIwriteByte(gAddress, subAddress, data);
+}
+
+void LSM9DS0::xmWriteByte(uint8_t subAddress, uint8_t data)
+{
+ // Whether we're using I2C or SPI, write a byte using the
+ // accelerometer-specific I2C address or SPI CS pin.
+ if (interfaceMode == I2C_MODE)
+ return I2CwriteByte(xmAddress, subAddress, data);
+ else if (interfaceMode == SPI_MODE)
+ return SPIwriteByte(xmAddress, subAddress, data);
+}
+
+uint8_t LSM9DS0::gReadByte(uint8_t subAddress)
+{
+ // Whether we're using I2C or SPI, read a byte using the
+ // gyro-specific I2C address or SPI CS pin.
+ if (interfaceMode == I2C_MODE)
+ return I2CreadByte(gAddress, subAddress);
+ else if (interfaceMode == SPI_MODE)
+ return SPIreadByte(gAddress, subAddress);
+ else
+ return SPIreadByte(gAddress, subAddress);
+}
+
+void LSM9DS0::gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
+{
+ // Whether we're using I2C or SPI, read multiple bytes using the
+ // gyro-specific I2C address or SPI CS pin.
+ if (interfaceMode == I2C_MODE)
+ I2CreadBytes(gAddress, subAddress, dest, count);
+ else if (interfaceMode == SPI_MODE)
+ SPIreadBytes(gAddress, subAddress, dest, count);
+}
+
+uint8_t LSM9DS0::xmReadByte(uint8_t subAddress)
+{
+ // Whether we're using I2C or SPI, read a byte using the
+ // accelerometer-specific I2C address or SPI CS pin.
+ if (interfaceMode == I2C_MODE)
+ return I2CreadByte(xmAddress, subAddress);
+ else if (interfaceMode == SPI_MODE)
+ return SPIreadByte(xmAddress, subAddress);
+ else
+ return SPIreadByte(xmAddress, subAddress);
+}
+
+void LSM9DS0::xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
+{
+ // Whether we're using I2C or SPI, read multiple bytes using the
+ // accelerometer-specific I2C address or SPI CS pin.
+ if (interfaceMode == I2C_MODE)
+ I2CreadBytes(xmAddress, subAddress, dest, count);
+ else if (interfaceMode == SPI_MODE)
+ SPIreadBytes(xmAddress, subAddress, dest, count);
+}
+
+void LSM9DS0::initSPI()
+{
+ csG_ = 1;
+ csXM_= 1;
+
+ // Maximum SPI frequency is 10MHz:
+// spi_.frequency(1000000);
+ spi_.format(8,0b11);
+}
+
+void LSM9DS0::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data)
+{
+ // Initiate communication
+ if(csPin == gAddress)
+ csG_ = 0;
+ else if(csPin == xmAddress)
+ csXM_= 0;
+
+ // If write, bit 0 (MSB) should be 0
+ // If single write, bit 1 should be 0
+ spi_.write(subAddress & 0x3F); // Send Address
+ spi_.write(data); // Send data
+
+ csG_ = 1; // Close communication
+ csXM_= 1;
+}
+
+uint8_t LSM9DS0::SPIreadByte(uint8_t csPin, uint8_t subAddress)
+{
+ uint8_t temp;
+ // Use the multiple read function to read 1 byte.
+ // Value is returned to `temp`.
+ SPIreadBytes(csPin, subAddress, &temp, 1);
+ return temp;
+}
+
+void LSM9DS0::SPIreadBytes(uint8_t csPin, uint8_t subAddress,
+ uint8_t * dest, uint8_t count)
+{
+ // Initiate communication
+ if(csPin == gAddress)
+ csG_ = 0;
+ else if(csPin == xmAddress)
+ csXM_= 0;
+ // To indicate a read, set bit 0 (msb) to 1
+ // If we're reading multiple bytes, set bit 1 to 1
+ // The remaining six bytes are the address to be read
+ if (count > 1)
+ spi_.write(0xC0 | (subAddress & 0x3F));
+ else
+ spi_.write(0x80 | (subAddress & 0x3F));
+ for (int i=0; i<count; i++)
+ {
+ dest[i] = spi_.write(0x00); // Read into destination array
+ }
+ csG_ = 1; // Close communication
+ csXM_= 1;
+}
+
+void LSM9DS0::initI2C()
+{
+// Wire.begin(); // Initialize I2C library
+ ;
+}
+
+// Wire.h read and write protocols
+void LSM9DS0::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
+{
+ ;
+// Wire.beginTransmission(address); // Initialize the Tx buffer
+// Wire.write(subAddress); // Put slave register address in Tx buffer
+// Wire.write(data); // Put data in Tx buffer
+// Wire.endTransmission(); // Send the Tx buffer
+}
+
+uint8_t LSM9DS0::I2CreadByte(uint8_t address, uint8_t subAddress)
+{
+ return 0;
+// uint8_t data; // `data` will store the register data
+// Wire.beginTransmission(address); // Initialize the Tx buffer
+// Wire.write(subAddress); // Put slave register address in Tx buffer
+// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
+// Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address
+// data = Wire.read(); // Fill Rx buffer with result
+// return data; // Return data read from slave register
+}
+
+void LSM9DS0::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
+{
+ ;
+// Wire.beginTransmission(address); // Initialize the Tx buffer
+// // Next send the register to be read. OR with 0x80 to indicate multi-read.
+// Wire.write(subAddress | 0x80); // Put slave register address in Tx buffer
+// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
+// uint8_t i = 0;
+// Wire.requestFrom(address, count); // Read bytes from slave register address
+// while (Wire.available())
+// {
+// dest[i++] = Wire.read(); // Put read results in the Rx buffer
+// }
+}
\ No newline at end of file