uint16_t LSM9DS0_begin( LSM9DS0_t* lsm_t, LMS9DS0_Init_t* init_t )
{
#if (DEBUG0==1)
uint8_t test[8];
#endif
uint8_t gTest, xmTest;
if(init_t==NULL)
init_t = &LMS_Device_Defaults;
// Store the given scales in class variables. These scale variables
// are used throughout to calculate the actual g's, DPS,and Gs's.
lsm_t->gScale = init_t->gScl;
lsm_t->aScale = init_t->aScl;
lsm_t->mScale = init_t->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(lsm_t); // Calculate DPS / ADC tick, stored in gRes variable
calcmRes(lsm_t); // Calculate Gs / ADC tick, stored in mRes variable
calcaRes(lsm_t); // Calculate g / ADC tick, stored in aRes variable
// Now, initialize our hardware interface.
#if(LSM_I2C_SUPPORT==1)
if (lsm_t->interfaceMode == MODE_I2C) // If we're using I2C
LSM_initI2C(); // Initialize I2C
else if (lsm_t->interfaceMode == MODE_SPI) // else, if we're using SPI
#endif
//LSM_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.
gTest = gReadByte(lsm_t,WHO_AM_I_G); // Read the gyro WHO_AM_I
xmTest = xmReadByte(lsm_t,WHO_AM_I_XM); // Read the accel/mag WHO_AM_I
// Gyro initialization stuff:
initGyro(lsm_t); // This will "turn on" the gyro. Setting up interrupts, etc.
setGyroODR(lsm_t,init_t->gODR); // Set the gyro output data rate and bandwidth.
setGyroScale(lsm_t,lsm_t->gScale); // Set the gyro range
// Accelerometer initialization stuff:
initAccel(lsm_t); // "Turn on" all axes of the accel. Set up interrupts, etc.
setAccelODR(lsm_t,init_t->aODR); // Set the accel data rate.
setAccelScale(lsm_t,lsm_t->aScale); // Set the accel range.
// Magnetometer initialization stuff:
initMag(lsm_t); // "Turn on" all axes of the mag. Set up interrupts, etc.
setMagODR(lsm_t,init_t->mODR); // Set the magnetometer output data rate.
setMagScale(lsm_t,lsm_t->mScale); // Set the magnetometer's range.
LSM9DS0_Update_Ctrl(lsm_t);
lsm_t->update=UPDATE_ON_SET;
#if (DEBUG0==1)
I2CreadBytes(lsm_t->gAddress,CTRL_REG1_G,test,5);
I2CreadBytes(lsm_t->xmAddress,CTRL_REG0_XM,test,7);
#endif
// Once everything is initialized, return the WHO_AM_I registers we read:
return (xmTest << 8) | gTest;
}
void GladiatorIMU::handleStatusByte(gladiator_rx_msg_t *msg)
{
//The status byte is used for a variety of things
//First cut: is the msg counter 0 or 1:
if ((msg->uCount == 0) && ((msg->uStatus & (1<<7)) == 0))
{
//Save the SW revision numbers
revNumber[msg->uCount] = msg->uStatus & 0x3f;
}
else if ((msg->uCount == 0) && ((msg->uStatus & (1<<7)) != 0))
{
productCode = msg->uStatus & 0x3f;
}
else if ((msg->uCount == 1) && ((msg->uStatus & (1<<7)) == 0))
{
revNumber[msg->uCount] = msg->uStatus & 0x3f;
}
else if ((msg->uCount == 1) && ((msg->uStatus & (1<<7)) != 0))
{
releaseLevel = msg->uStatus & 0x3f;
}
else if (msg->uCount == 247)
{
filterNumber = msg->uStatus;
}
else if (msg->uCount >= 248 && msg->uCount < 252)
{
boardNumber[msg->uCount - 248] = msg->uStatus;
}
else if (msg->uCount >= 252)
{
serialNumber[msg->uCount - 252] = msg->uStatus;
}
else
{
//For other values of the msg counter, check bit six to determine flags (0) or scale factors(1) mode
//According to the manual (IMU_USERGUIDE_USB_Rev_2013-06-28), this switches every other message
if (msg->uStatus & 0x40)
{
//printf("Count: %d\n", msg->uCount);
//Bit six set: scale factors
uint8_t accel_bits = msg->uStatus & 0x0e;
setAccelScale(accel_bits);
uint8_t gyro_bits = msg->uStatus & 0x31;
setGyroScale(gyro_bits);
//Save the value of the status byte:
statusByte[1] = msg->uStatus;
}
else
statusByte[0] = msg->uStatus;
}
}
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 == MODE_I2C) // If we're using I2C
{} //initI2C(); // Initialize I2C
else if (interfaceMode == 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 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;
}