Diff: LSM6DS3.cpp

Revision:

2:ed14e6196255

Parent:

1:924c7dea286e

Child:

3:b705b62fbc1a

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