uint8_t magAvailable(lsm9ds1_axis axis)
{
uint8_t status;
status = mReadByte(STATUS_REG_M);
return ((status & (1<<axis)) >> axis);
}
void setMagScale(uint8_t mScl)
{
// We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
uint8_t temp = mReadByte(CTRL_REG2_M);
// Then mask out the mag scale bits:
temp &= 0xFF^(0x3 << 5);
switch (mScl)
{
case 8:
temp |= (0x1 << 5);
settings.mag.scale = 8;
break;
case 12:
temp |= (0x2 << 5);
settings.mag.scale = 12;
break;
case 16:
temp |= (0x3 << 5);
settings.mag.scale = 16;
break;
default: // Otherwise we'll default to 4 gauss (00)
settings.mag.scale = 4;
break;
}
// And write the new register value back into CTRL_REG6_XM:
mWriteByte(CTRL_REG2_M, temp);
// We've updated the sensor, but we also need to update our class variables
// First update mScale:
//mScale = mScl;
// Then calculate a new mRes, which relies on mScale being set correctly:
calcmRes();
}
uint16_t LSM9DS1::begin()
{
//! Todo: don't use ACCEL_GYRO_ADDRESS or MAGNETOMETER_ADDRESS, duplicating memory
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
initI2C(); // Initialize I2C
// 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;
}
void setMagODR(uint8_t mRate)
{
// We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
uint8_t temp = mReadByte(CTRL_REG1_M);
// Then mask out the mag ODR bits:
temp &= 0xFF^(0x7 << 2);
// Then shift in our new ODR bits:
temp |= ((mRate & 0x07) << 2);
settings.mag.sampleRate = mRate & 0x07;
// And write the new register value back into CTRL_REG5_XM:
mWriteByte(CTRL_REG1_M, temp);
}
uint16_t begin(void)
{
//! Todo: don't use _xgAddress or _mAddress, duplicating memory
_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
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
delay(DELAY * 150);
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;
}
