LSM9DS1 Class Reference

Public Member Functions
	LSM9DS1 (interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
uint16_t	begin ()
void	calibrate (bool autoCalc=true)
void	calibrateMag (bool loadIn=true)
void	magOffset (uint8_t axis, int16_t offset)
uint8_t	accelAvailable ()
uint8_t	gyroAvailable ()
uint8_t	tempAvailable ()
uint8_t	magAvailable (lsm9ds1_axis axis=ALL_AXIS)
void	readGyro ()
int16_t	readGyro (lsm9ds1_axis axis)
void	readAccel ()
int16_t	readAccel (lsm9ds1_axis axis)
void	readMag ()
int16_t	readMag (lsm9ds1_axis axis)
void	readTemp ()
float	calcGyro (int16_t gyro)
float	calcAccel (int16_t accel)
float	calcMag (int16_t mag)
void	setGyroScale (uint16_t gScl)
void	setAccelScale (uint8_t aScl)
void	setMagScale (uint8_t mScl)
void	setGyroODR (uint8_t gRate)
void	setAccelODR (uint8_t aRate)
void	setMagODR (uint8_t mRate)
void	configInactivity (uint8_t duration, uint8_t threshold, bool sleepOn)
void	configAccelInt (uint8_t generator, bool andInterrupts=false)
void	configAccelThs (uint8_t threshold, lsm9ds1_axis axis, uint8_t duration=0, bool wait=0)
void	configGyroInt (uint8_t generator, bool aoi, bool latch)
void	configGyroThs (int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
void	configInt (interrupt_select interupt, uint8_t generator, h_lactive activeLow=INT_ACTIVE_LOW, pp_od pushPull=INT_PUSH_PULL)
void	configMagInt (uint8_t generator, h_lactive activeLow, bool latch=true)
void	configMagThs (uint16_t threshold)
uint8_t	getGyroIntSrc ()
uint8_t	getAccelIntSrc ()
uint8_t	getMagIntSrc ()
uint8_t	getInactivity ()
void	sleepGyro (bool enable=true)
void	enableFIFO (bool enable=true)
void	setFIFO (fifoMode_type fifoMode, uint8_t fifoThs)
uint8_t	getFIFOSamples ()

Public Attributes
IMUSettings	settings
int16_t	gx
int16_t	gy
int16_t	gz
int16_t	ax
int16_t	ay
int16_t	az
int16_t	mx
int16_t	my
int16_t	mz
int16_t	temperature
float	gBias [3]
float	aBias [3]
float	mBias [3]
int16_t	gBiasRaw [3]
int16_t	aBiasRaw [3]
int16_t	mBiasRaw [3]

Protected Member Functions
void	init (interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
void	initGyro ()
void	initAccel ()
void	initMag ()
uint8_t	mReadByte (uint8_t subAddress)
uint8_t	mReadBytes (uint8_t subAddress, uint8_t *dest, uint8_t count)
void	mWriteByte (uint8_t subAddress, uint8_t data)
uint8_t	xgReadByte (uint8_t subAddress)
uint8_t	xgReadBytes (uint8_t subAddress, uint8_t *dest, uint8_t count)
void	xgWriteByte (uint8_t subAddress, uint8_t data)
void	calcgRes ()
void	calcmRes ()
void	calcaRes ()
void	constrainScales ()
void	initSPI ()
void	SPIwriteByte (uint8_t csPin, uint8_t subAddress, uint8_t data)
uint8_t	SPIreadByte (uint8_t csPin, uint8_t subAddress)
uint8_t	SPIreadBytes (uint8_t csPin, uint8_t subAddress, uint8_t *dest, uint8_t count)
void	initI2C ()
void	I2CwriteByte (uint8_t address, uint8_t subAddress, uint8_t data)
uint8_t	I2CreadByte (uint8_t address, uint8_t subAddress)
uint8_t	I2CreadBytes (uint8_t address, uint8_t subAddress, uint8_t *dest, uint8_t count)

Protected Attributes
uint8_t	_mAddress
uint8_t	_xgAddress
float	gRes
float	aRes
float	mRes
bool	_autoCalc

Detailed Description

Definition at line 33 of file LSM9DS1.hpp.

Member Function Documentation

begin()

uint16_t LSM9DS1::begin

(

)

Todo: don't use _xgAddress or _mAddress, duplicating memory

Definition at line 140 of file LSM9DS1.cpp.

{
    _xgAddress = settings.device.agAddress;
    _mAddress = settings.device.mAddress;

    constrainScales();
    // 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 (settings.device.commInterface == IMU_MODE_I2C)  // If we're using I2C
        initI2C();  // Initialize I2C
    else if (settings.device.commInterface == IMU_MODE_SPI)     // 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 mTest = mReadByte(WHO_AM_I_M);      // Read the gyro WHO_AM_I
    uint8_t xgTest = xgReadByte(WHO_AM_I_XG);   // Read the accel/mag WHO_AM_I
    uint16_t whoAmICombined = (xgTest << 8) | mTest;

    if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
        return 0;

    // Gyro initialization stuff:
    initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.

    // Accelerometer initialization stuff:
    initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.

    // Magnetometer initialization stuff:
    initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.

    // Once everything is initialized, return the WHO_AM_I registers we read:
    return whoAmICombined;
}

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The documentation for this class was generated from the following files:

• LSM9DS1.hpp
• LSM9DS1.cpp