Diff: LSM9DS1.cpp

Revision:

0:8e17d3584f99

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.cpp	Mon Feb 20 07:11:57 2017 +0000
@@ -0,0 +1,165 @@
+/**
+ * Includes
+ */
+#include "LSM9DS1.h"
+
+LSM9DS1::LSM9DS1(PinName sda, PinName scl) : connection(sda, scl) {
+    //Initializations:
+    this->setSleepMode(false);
+    this->initCTRL_REG1_G();
+//    this->initORIENT_CFG_G();
+//    this->initCTRL_REG4();
+    this->initCTRL_REG6_XL();
+    currentGyroRange = 0;
+    currentAcceleroRange = 0;
+}
+
+//--------------------------------------------------
+//-------------------General------------------------
+//--------------------------------------------------
+
+void LSM9DS1::write(char address, char data) {
+    char temp[2];
+    temp[0]=address;
+    temp[1]=data;
+    
+    connection.write(LSM9DS1_ADDRESS * 2,temp,2);
+}
+
+char LSM9DS1::read(char address) {
+    char retval;
+    connection.write(LSM9DS1_ADDRESS * 2, &address, 1, true);
+    connection.read(LSM9DS1_ADDRESS * 2, &retval, 1);
+    return retval;
+}
+
+void LSM9DS1::read(char address, char *data, int length) {
+    connection.write(LSM9DS1_ADDRESS * 2, &address, 1, true);
+    connection.read(LSM9DS1_ADDRESS * 2, data, length);
+}
+
+bool LSM9DS1::testConnection( void ) {
+    char temp;
+    temp = this->read(LSM9DS1_WHO_AM_I_REG);
+    return (temp == (LSM9DS1_ADDRESS & 0x68));
+}
+
+void LSM9DS1::setSleepMode(bool state) {
+    char temp;
+    temp = this->read(LSM9DS1_CTRL_REG9);
+    if (state == true)
+        temp |= 1<<LSM9DS1_SLP_BIT;
+    if (state == false)
+        temp &= ~(1<<LSM9DS1_SLP_BIT);
+    this->write(LSM9DS1_CTRL_REG9 , temp);
+}
+
+void LSM9DS1::initCTRL_REG1_G( void ){
+    this->write(LSM9DS1_CTRL_REG1_G, 0xC3);
+}
+
+void LSM9DS1::initORIENT_CFG_G( void ){
+    this->write(LSM9DS1_ORIENT_CFG_G, 0x38);
+}
+
+void LSM9DS1::initCTRL_REG4( void ){
+    this->write(LSM9DS1_CTRL_REG4, 0x39);
+}
+
+void LSM9DS1::initCTRL_REG6_XL( void ){
+    this->write(LSM9DS1_CTRL_REG6_XL, 0xC3);
+}
+
+
+//--------------------------------------------------
+//----------------Accelerometer---------------------
+//--------------------------------------------------
+
+void LSM9DS1::setAcceleroRange( char range ) {
+    char temp;
+    range = range & 0x03;
+    currentAcceleroRange = range;
+    temp = this->read(LSM9DS1_CTRL_REG6_XL);
+    temp &= ~(3<<3);
+    temp = temp + (range<<3);
+    this->write(LSM9DS1_CTRL_REG6_XL, temp);
+}
+
+int LSM9DS1::getAcceleroRawX( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_ACCEL_XOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+    
+int LSM9DS1::getAcceleroRawY( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_ACCEL_YOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+
+int LSM9DS1::getAcceleroRawZ( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_ACCEL_ZOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+
+void LSM9DS1::getAcceleroRaw( int *data ) {
+    char temp[6];
+    this->read(LSM9DS1_ACCEL_XOUT_L_REG, temp, 6);
+    data[0] = (int)(short)((temp[1]<<8) + temp[0]);
+    data[1] = (int)(short)((temp[3]<<8) + temp[2]);
+    data[2] = (int)(short)((temp[5]<<8) + temp[4]);
+}
+
+
+//--------------------------------------------------
+//------------------Gyroscope-----------------------
+//--------------------------------------------------
+
+void LSM9DS1::setGyroRange( char range ) {
+    char temp;
+    currentGyroRange = range;
+    range = range & 0x03;
+    temp = this->read(LSM9DS1_CTRL_REG1_G);
+    temp &= ~(3<<3);
+    temp = temp + range<<3;
+    this->write(LSM9DS1_CTRL_REG1_G, temp);
+}
+
+int LSM9DS1::getGyroRawX( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_GYRO_XOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+    
+int LSM9DS1::getGyroRawY( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_GYRO_YOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+
+int LSM9DS1::getGyroRawZ( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_GYRO_ZOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+
+void LSM9DS1::getGyroRaw( int *data ) {
+    char temp[6];
+    this->read(LSM9DS1_GYRO_XOUT_L_REG, temp, 6);
+    data[0] = (int)(short)((temp[1]<<8) + temp[0]);
+    data[1] = (int)(short)((temp[3]<<8) + temp[2]);
+    data[2] = (int)(short)((temp[5]<<8) + temp[4]);
+}