LSM9DS1 IMU sensor driver
Revision 2:2ba419ea901e, committed 2019-03-02
- Comitter:
- zeutel
- Date:
- Sat Mar 02 15:15:14 2019 +0000
- Parent:
- 1:0e76f237c23d
- Commit message:
- LSM9DS1
Changed in this revision
LSM9DS1.cpp | Show annotated file Show diff for this revision Revisions of this file |
LSM9DS1.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/LSM9DS1.cpp Mon Oct 19 13:56:52 2015 +0000 +++ b/LSM9DS1.cpp Sat Mar 02 15:15:14 2019 +0000 @@ -398,4 +398,30 @@ mRes = 16.0 / 32768.0; break; } +} + +bool LSM9DS1::whoAmI(){ + uint8_t resultXG,resultM ,whoAmIAddressXG=WHO_AM_I_XG,whoAmIAddressM=WHO_AM_I_M; + + //acc gyro + i2c.start(); + i2c.write(xgAddress); + i2c.write(whoAmIAddressXG); + i2c.write(xgAddress | 1); + resultXG = i2c.read(whoAmIAddressXG); + i2c.stop(); + + //magn + i2c.start(); + i2c.write(xgAddress); + i2c.write(whoAmIAddressM); + i2c.write(xgAddress | 1); + resultM = i2c.read(whoAmIAddressM); + i2c.stop(); + + uint16_t combinedResult = (resultXG << 8) | resultM; + if(combinedResult!=((whoAmIAddressXG << 8) | whoAmIAddressM)) + return true; + else + return false; } \ No newline at end of file
--- a/LSM9DS1.h Mon Oct 19 13:56:52 2015 +0000 +++ b/LSM9DS1.h Sat Mar 02 15:15:14 2019 +0000 @@ -315,6 +315,7 @@ */ void setMagODR(mag_odr mRate); + bool whoAmI(); private: /** xgAddress and mAddress store the I2C address