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| Rev | Author | Line No. | Line |
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| 1 | mjames | 1 | /* |
| 2 | This file is part of the Arduino_LSM9DS1 library. |
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| 3 | Copyright (c) 2019 Arduino SA. All rights reserved. |
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| 4 | |||
| 5 | This library is free software; you can redistribute it and/or |
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| 6 | modify it under the terms of the GNU Lesser General Public |
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| 7 | License as published by the Free Software Foundation; either |
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| 8 | version 2.1 of the License, or (at your option) any later version. |
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| 9 | |||
| 10 | This library is distributed in the hope that it will be useful, |
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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| 13 | Lesser General Public License for more details. |
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| 14 | |||
| 15 | You should have received a copy of the GNU Lesser General Public |
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| 16 | License along with this library; if not, write to the Free Software |
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| 17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA |
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| 18 | */ |
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| 19 | |||
| 20 | #include "main.h" |
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| 21 | #include "math.h" |
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| 22 | |||
| 23 | class LSM9DS1Class { |
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| 24 | public: |
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| 25 | LSM9DS1Class(I2C_HandleTypeDef* i2c); |
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| 26 | virtual ~LSM9DS1Class(); |
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| 27 | |||
| 28 | int begin(); |
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| 29 | void end(); |
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| 30 | |||
| 31 | // Controls whether a FIFO is continuously filled, or a single reading is stored. |
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| 32 | // Defaults to one-shot. |
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| 33 | void setContinuousMode(); |
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| 34 | void setOneShotMode(); |
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| 35 | |||
| 36 | // Accelerometer |
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| 37 | virtual int readAcceleration(float& x, float& y, float& z); // Results are in g (earth gravity). |
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| 38 | virtual int accelerationAvailable(); // Number of samples in the FIFO. |
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| 39 | virtual float accelerationSampleRate(); // Sampling rate of the sensor. |
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| 40 | |||
| 41 | // Gyroscope |
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| 42 | virtual int readGyroscope(float& x, float& y, float& z); // Results are in degrees/second. |
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| 43 | virtual int gyroscopeAvailable(); // Number of samples in the FIFO. |
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| 44 | virtual float gyroscopeSampleRate(); // Sampling rate of the sensor. |
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| 45 | |||
| 46 | // Magnetometer |
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| 47 | virtual int readMagneticField(float& x, float& y, float& z); // Results are in uT (micro Tesla). |
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| 48 | virtual int magneticFieldAvailable(); // Number of samples in the FIFO. |
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| 49 | virtual float magneticFieldSampleRate(); // Sampling rate of the sensor. |
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| 50 | |||
| 51 | private: |
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| 52 | bool continuousMode; |
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| 53 | int readRegister(uint8_t slaveAddress, uint8_t address); |
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| 54 | int readRegisters(uint8_t slaveAddress, uint8_t address, uint8_t* data, size_t length); |
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| 55 | int writeRegister(uint8_t slaveAddress, uint8_t address, uint8_t value); |
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| 56 | |||
| 57 | private: |
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| 58 | I2C_HandleTypeDef* _i2c; |
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| 59 | }; |
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| 60 | |||
| 61 | extern LSM9DS1Class IMU; |