status_t LSM303C::begin(InterfaceMode_t im, MAG_DO_t modr, MAG_FS_t mfs,
MAG_BDU_t mbu, MAG_OMXY_t mxyodr, MAG_OMZ_t mzodr, MAG_MD_t mm,
ACC_FS_t afs, ACC_BDU_t abu, uint8_t aea, ACC_ODR_t aodr)
{
uint8_t successes = 0;
// Select I2C or SPI
interfaceMode = im;
enableIMU();
////////// Initialize Magnetometer //////////
// Initialize magnetometer output data rate
successes += MAG_SetODR(modr);
// Initialize magnetic field full scale
successes += MAG_SetFullScale(mfs);
// Enabling block data updating
successes += MAG_BlockDataUpdate(mbu);
// Initialize magnetometer X/Y axes ouput data rate
successes += MAG_XY_AxOperativeMode(mxyodr);
// Initialize magnetometer Z axis performance mode
successes += MAG_Z_AxOperativeMode(mzodr);
// Initialize magnetometer run mode.
successes += MAG_SetMode(mm);
////////// Initialize Accelerometer //////////
// Initialize acceleration full scale
successes += ACC_SetFullScale(afs);
// Enable block data updating
successes += ACC_BlockDataUpdate(abu);
// Enable X, Y, and Z accelerometer axes
successes += ACC_EnableAxis(aea);
// Initialize accelerometer output data rate
successes += ACC_SetODR(aodr);
return (successes == IMU_SUCCESS) ? IMU_SUCCESS : IMU_HW_ERROR;
}
status_t LSM303C::begin(InterfaceMode_t im, MAG_DO_t modr, MAG_FS_t mfs,
MAG_BDU_t mbu, MAG_OMXY_t mxyodr, MAG_OMZ_t mzodr, MAG_MD_t mm,
ACC_FS_t afs, ACC_BDU_t abu, uint8_t aea, ACC_ODR_t aodr)
{
uint8_t successes = 0;
// Select I2C or SPI
interfaceMode = im;
if (interfaceMode == MODE_SPI)
{
debug_println("Setting up SPI");
// Setup pins for SPI
// CS & CLK must be outputs DDRxn = 1
bitSet(DIR_REG, CSBIT_MAG);
bitSet(DIR_REG, CSBIT_XL);
bitSet(DIR_REG, CLKBIT);
// Deselect SPI chips
bitSet(CSPORT_MAG, CSBIT_MAG);
bitSet(CSPORT_XL, CSBIT_XL);
// Clock polarity (CPOL) = 1
bitSet(CLKPORT, CLKBIT);
// SPI Serial Interface Mode (SIM) bits must be set
SPI_WriteByte(ACC, ACC_CTRL4, 0b111);
SPI_WriteByte(MAG, MAG_CTRL_REG3, _BV(2));
}
else
{
Wire.begin();
Wire.setClock(400000L);
}
////////// Initialize Magnetometer //////////
// Initialize magnetometer output data rate
successes += MAG_SetODR(modr);
// Initialize magnetic field full scale
successes += MAG_SetFullScale(mfs);
// Enabling block data updating
successes += MAG_BlockDataUpdate(mbu);
// Initialize magnetometer X/Y axes ouput data rate
successes += MAG_XY_AxOperativeMode(mxyodr);
// Initialize magnetometer Z axis performance mode
successes += MAG_Z_AxOperativeMode(mzodr);
// Initialize magnetometer run mode.
successes += MAG_SetMode(mm);
////////// Initialize Accelerometer //////////
// Initialize acceleration full scale
successes += ACC_SetFullScale(afs);
// Enable block data updating
successes += ACC_BlockDataUpdate(abu);
// Enable X, Y, and Z accelerometer axes
successes += ACC_EnableAxis(aea);
// Initialize accelerometer output data rate
successes += ACC_SetODR(aodr);
return (successes == IMU_SUCCESS) ? IMU_SUCCESS : IMU_HW_ERROR;
}