lsm9ds1.h

Go to the documentation of this file.

#ifndef __LSM9DS1_IMU_SENSOR_H__                             // Prevents duplicate
#define __LSM9DS1_IMU_SENSOR_H__                             // declarations

#if defined(__cplusplus)                                     // If compiling for C++
extern "C" {                                                 // Compile for C
#endif



// LSM9DS1 Accel/Gyro (XL/G) Registers 
#define ACT_THS           0x04
#define ACT_DUR           0x05
#define INT_GEN_CFG_XL    0x06
#define INT_GEN_THS_X_XL  0x07
#define INT_GEN_THS_Y_XL  0x08
#define INT_GEN_THS_Z_XL  0x09
#define INT_GEN_DUR_XL    0x0A
#define REFERENCE_G       0x0B
#define INT1_CTRL         0x0C
#define INT2_CTRL         0x0D
#define WHO_AM_I_XG       0x0F
#define CTRL_REG1_G       0x10
#define CTRL_REG2_G       0x11
#define CTRL_REG3_G       0x12
#define ORIENT_CFG_G      0x13
#define INT_GEN_SRC_G     0x14
#define OUT_TEMP_L        0x15
#define OUT_TEMP_H        0x16
#define STATUS_REG_0      0x17
#define OUT_X_L_G         0x18
#define OUT_X_H_G         0x19
#define OUT_Y_L_G         0x1A
#define OUT_Y_H_G         0x1B
#define OUT_Z_L_G         0x1C
#define OUT_Z_H_G         0x1D
#define CTRL_REG4         0x1E
#define CTRL_REG5_XL      0x1F
#define CTRL_REG6_XL      0x20
#define CTRL_REG7_XL      0x21
#define CTRL_REG8         0x22
#define CTRL_REG9         0x23
#define CTRL_REG10        0x24
#define INT_GEN_SRC_XL    0x26
#define STATUS_REG_1      0x27
#define OUT_X_L_XL        0x28
#define OUT_X_H_XL        0x29
#define OUT_Y_L_XL        0x2A
#define OUT_Y_H_XL        0x2B
#define OUT_Z_L_XL        0x2C
#define OUT_Z_H_XL        0x2D
#define FIFO_CTRL         0x2E
#define FIFO_SRC          0x2F
#define INT_GEN_CFG_G     0x30
#define INT_GEN_THS_XH_G  0x31
#define INT_GEN_THS_XL_G  0x32
#define INT_GEN_THS_YH_G  0x33
#define INT_GEN_THS_YL_G  0x34
#define INT_GEN_THS_ZH_G  0x35
#define INT_GEN_THS_ZL_G  0x36
#define INT_GEN_DUR_G     0x37

// LSM9DS1 Magneto Registers
#define OFFSET_X_REG_L_M  0x05
#define OFFSET_X_REG_H_M  0x06
#define OFFSET_Y_REG_L_M  0x07
#define OFFSET_Y_REG_H_M  0x08
#define OFFSET_Z_REG_L_M  0x09
#define OFFSET_Z_REG_H_M  0x0A
#define WHO_AM_I_M        0x0F
#define CTRL_REG1_M       0x20
#define CTRL_REG2_M       0x21
#define CTRL_REG3_M       0x22
#define CTRL_REG4_M       0x23
#define CTRL_REG5_M       0x24
#define STATUS_REG_M      0x27
#define OUT_X_L_M         0x28
#define OUT_X_H_M         0x29
#define OUT_Y_L_M         0x2A
#define OUT_Y_H_M         0x2B
#define OUT_Z_L_M         0x2C
#define OUT_Z_H_M         0x2D
#define INT_CFG_M         0x30
#define INT_SRC_M         0x30
#define INT_THS_L_M       0x32
#define INT_THS_H_M       0x33

// LSM9DS1 WHO_AM_I Responses
#define WHO_AM_I_AG_RSP   0x68
#define WHO_AM_I_M_RSP    0x3D


// fifoMode_type
#define  FIFO_OFF           0
#define  FIFO_THS           1
#define  FIFO_CONT_TRIGGER  3
#define  FIFO_OFF_TRIGGER   4
#define  FIFO_CONT          5

// lsm9ds1_axis 
#define  X_AXIS             0
#define  Y_AXIS             1
#define  Z_AXIS             2
#define  ALL_AXIS           3

// temperature units
#define  CELSIUS            0
#define  FAHRENHEIT         1
#define  KELVIN             2


int imu_init(int pinSCL, int pinSDIO, int pinAG, int pinM);


void imu_calibrateAG();


void imu_calibrateMag();


void imu_getMagCalibration(int *mxBias, int *myBias, int *mzBias);


void imu_getAccelCalibration(int *axBias, int *ayBias, int *azBias);


void imu_getGyroCalibration(int *gxBias, int *gyBias, int *gzBias);


void imu_setMagCalibration(int mxBias, int myBias, int mzBias);


void imu_setAccelCalibration(int axBias, int ayBias, int azBias);


void imu_setGyroCalibration(int gxBias, int gyBias, int gzBias);


unsigned char imu_accelAvailable();


unsigned char imu_gyroAvailable();


unsigned char imu_tempAvailable();


unsigned char imu_magAvailable();


void imu_readGyro(int *gx, int *gy, int *gz);


void imu_readAccel(int *ax, int *ay, int *az);


void imu_readMag(int *mx, int *my, int *mz);


void imu_readTemp(int *temperature);


void imu_readGyroCalculated(float *gx, float *gy, float *gz);


void imu_readAccelCalculated(float *ax, float *ay, float *az);


void imu_readMagCalculated(float *mx, float *my, float *mz);


void imu_readTempCalculated(float *temperature, char tempUnit);

void imu_setGyroScale(unsigned int gScl);


void imu_setAccelScale(unsigned char aScl);


void imu_setMagScale(unsigned char mScl);


int imu_getGyroScale();


int imu_getAccelScale();


int imu_getMagScale();


void imu_clearAccelInterrupt();


void imu_clearGyroInterrupt();


void imu_clearMagInterrupt();


void imu_setAccelInterrupt(char axis, float threshold, char duration, char overUnder, char andOr);


void imu_setGyroInterrupt(char axis, float threshold, char duration, char overUnder, char andOr);


void imu_setMagInterrupt(char axis, float threshold, char overPos, char underNeg, char lowHigh);



void imu_SPIwriteByte(unsigned char csPin, unsigned char subAddress, unsigned char data);


void imu_SPIreadBytes(unsigned char csPin, unsigned char subAddress, unsigned char *dest, unsigned char count);



#if defined(__cplusplus)                     
}                                             // End compile for C block
#endif
/* __cplusplus */

#endif                                        // End prevent duplicate forward
/* __LSM9DS1_IMU_SENSOR_H__ */                // declarations block 


/*
 * Based on the Arduino Library for the LSM9SD1 by Jim Lindblom of Sparkfun Electronics
 */