upm
1.7.1
Sensor/Actuator repository for libmraa (v2.0.0)
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API for the LSM9DS0 3-axis Gyroscope, Accelerometer, and Magnetometer. More...
The LSM9DS0 is a system-in-package featuring a 3D digital linear acceleration sensor, a 3D digital angular rate sensor, and a 3D digital magnetic sensor.
The LSM9DS0 has a linear acceleration full scale of 2g/4g/6g/8g/16g, a magnetic field full scale of 2/4/8/12 gauss and an angular rate of 245/500/2000 dps.
While not all of the functionality of this device is supported initially, methods and register definitions are provided that should allow an end user to implement whatever features are required.
This driver was developed on a Sparkfun 9DOF edison block.
LSM9DS0 Sensor image provided by SparkFun* under CC BY 2.0.
Public Types | |
enum | REG_G_T { REG_WHO_AM_I_G = 0x0f, REG_CTRL_REG1_G = 0x20, REG_CTRL_REG2_G = 0x21, REG_CTRL_REG3_G = 0x22, REG_CTRL_REG4_G = 0x23, REG_CTRL_REG5_G = 0x24, REG_REFERENCE_G = 0x25, REG_STATUS_REG_G = 0x27, REG_OUT_X_L_G = 0x28, REG_OUT_X_H_G = 0x29, REG_OUT_Y_L_G = 0x2a, REG_OUT_Y_H_G = 0x2b, REG_OUT_Z_L_G = 0x2c, REG_OUT_Z_H_G = 0x2d, REG_FIFO_CTRL_REG_G = 0x2e, REG_FIFO_SRC_REG_G = 0x2f, REG_INT1_CFG_G = 0x30, REG_INT1_SRC_G = 0x31, REG_INT1_TSH_XH_G = 0x32, REG_INT1_TSH_XL_G = 0x33, REG_INT1_TSH_YH_G = 0x34, REG_INT1_TSH_YL_G = 0x35, REG_INT1_TSH_ZH_G = 0x36, REG_INT1_TSH_ZL_G = 0x37, REG_INT1_DURATION_G = 0x38 } |
enum | CTRL_REG1_G_BITS_T { CTRL_REG1_G_YEN = 0x01, CTRL_REG1_G_XEN = 0x02, CTRL_REG1_G_ZEN = 0x04, CTRL_REG1_G_PD = 0x08, CTRL_REG1_G_BW0 = 0x10, CTRL_REG1_G_BW1 = 0x20, _CTRL_REG1_G_BW_MASK = 3, _CTRL_REG1_G_BW_SHIFT = 4, CTRL_REG1_G_DR0 = 0x40, CTRL_REG1_G_DR1 = 0x80, _CTRL_REG1_G_DR_MASK = 3, _CTRL_REG1_G_DR_SHIFT = 6, CTRL_REG1_G_ODR0 = 0x10, CTRL_REG1_G_ODR1 = 0x20, CTRL_REG1_G_ODR2 = 0x40, CTRL_REG1_G_ODR3 = 0x80, _CTRL_REG1_G_ODR_MASK = 15, _CTRL_REG1_G_ODR_SHIFT = 4 } |
enum | G_ODR_T { G_ODR_95_12_5 = 0, G_ODR_95_25 = 1, G_ODR_190_12_5 = 4, G_ODR_190_25 = 5, G_ODR_190_50 = 6, G_ODR_190_70 = 7, G_ODR_380_20 = 8, G_ODR_380_25 = 9, G_ODR_380_50 = 10, G_ODR_380_100 = 11, G_ODR_760_30 = 12, G_ODR_760_35 = 13, G_ODR_760_50 = 14, G_ODR_760_100 = 15 } |
enum | CTRL_REG2_G_BITS_T { CTRL_REG2_G_HPCF0 = 0x01, CTRL_REG2_G_HPCF1 = 0x02, CTRL_REG2_G_HPCF2 = 0x04, CTRL_REG2_G_HPCF3 = 0x08, _CTRL_REG2_G_HPCF_MASK = 15, _CTRL_REG2_G_HPCF_SHIFT = 0, CTRL_REG2_G_HPM0 = 0x10, CTRL_REG2_G_HPM1 = 0x20, _CTRL_REG2_G_HPM_MASK = 3, _CTRL_REG2_G_HPM_SHIFT = 4 } |
enum | G_HPCF_T { G_HPCF_7_2 = 0, G_HPCF_3_5 = 1, G_HPCF_1_8 = 2, G_HPCF_0_9 = 3, G_HPCF_0_45 = 4, G_HPCF_0_18 = 5, G_HPCF_0_09 = 6, G_HPCF_0_045 = 7, G_HPCF_0_018 = 8, G_HPCF_0_009 = 9 } |
enum | G_HPM_T { G_HPM_NORMAL_RESET_HPF = 0, G_HPM_REFERENCE = 1, G_HPM_NORMAL = 2, G_HPM_AUTORESET_ON_INTR = 3 } |
enum | CTRL_REG3_G_BITS_T { CTRL_REG3_G_I2_EMPTY = 0x01, CTRL_REG3_G_I2_ORUN = 0x02, CTRL_REG3_G_I2_WTM = 0x04, CTRL_REG3_G_I2_DRDY = 0x08, CTRL_REG3_G_PP_OD = 0x10, CTRL_REG3_G_H_LACTIVE = 0x20, CTRL_REG3_G_I1_BOOT = 0x40, CTRL_REG3_G_I1_INT1 = 0x80 } |
enum | CTRL_REG4_G_BITS_T { CTRL_REG4_G_SIM = 0x01, CTRL_REG4_G_ST0 = 0x02, CTRL_REG4_G_ST1 = 0x04, _CTRL_REG4_G_ST_MASK = 3, _CTRL_REG4_G_ST_SHIFT = 1, CTRL_REG4_G_FS0 = 0x10, CTRL_REG4_G_FS1 = 0x20, _CTRL_REG4_G_FS_MASK = 3, _CTRL_REG4_G_FS_SHIFT = 4, CTRL_REG4_G_BLE = 0x40, CTRL_REG4_G_BDU = 0x80 } |
enum | G_ST_T { G_ST_NORMAL = 0, G_ST_SELFTEST0 = 1, G_ST_SELFTEST1 = 3 } |
enum | G_FS_T { G_FS_245 = 0, G_FS_500 = 1, G_FS_2000 = 2 } |
enum | CTRL_REG5_G_BITS_T { CTRL_REG5_G_OUTSEL0 = 0x01, CTRL_REG5_G_OUTSEL1 = 0x02, _CTRL_REG5_G_OUTSEL_MASK = 3, _CTRL_REG5_G_OUTSEL_SHIFT = 0, CTRL_REG5_G_INT1SEL0 = 0x04, CTRL_REG5_G_INT1SEL1 = 0x08, _CTRL_REG5_G_INT1SEL_MASK = 3, _CTRL_REG5_G_INT1SEL_SHIFT = 2, CTRL_REG5_G_HPEN = 0x10, CTRL_REG5_G_FIFO_EN = 0x40, CTRL_REG5_G_BOOT = 0x80 } |
enum | G_INT1OUTSEL_T { G_INT1OUTSEL_0 = 0, G_INT1OUTSEL_1 = 1, G_INT1OUTSEL_2 = 2, G_INT1OUTSEL_3 = 3 } |
enum | STATUS_REG_G_BITS_T { STATUS_REG_G_XDA = 0x01, STATUS_REG_G_YDA = 0x02, STATUS_REG_G_ZDA = 0x04, STATUS_REG_G_ZYXDA = 0x08, STATUS_REG_G_XOR = 0x10, STATUS_REG_G_YOR = 0x20, STATUS_REG_G_ZOR = 0x40, STATUS_REG_G_ZYXOR = 0x80 } |
enum | FIFO_CTRL_REG_G_T { FIFO_CTRL_REG_G_WTM0 = 0x01, FIFO_CTRL_REG_G_WTM1 = 0x02, FIFO_CTRL_REG_G_WTM2 = 0x04, FIFO_CTRL_REG_G_WTM3 = 0x08, FIFO_CTRL_REG_G_WTM4 = 0x10, _FIFO_CTRL_REG_G_WTM_MASK = 31, _FIFO_CTRL_REG_G_WTM_SHIFT = 0, FIFO_CTRL_REG_G_FM0 = 0x20, FIFO_CTRL_REG_G_FM1 = 0x40, FIFO_CTRL_REG_G_FM2 = 0x80, _FIFO_CTRL_REG_G_FM_MASK = 7, _FIFO_CTRL_REG_G_FM_SHIFT = 5 } |
enum | G_FM_T { G_FM_BYPASS = 0, G_FM_FIFO = 1, G_FM_STREAM = 2, G_FM_STREAM2FIFO = 3, G_FM_BYPASS2STREAM = 4 } |
enum | FIFO_SRC_REG_G_BITS_T { FIFO_CTRL_REG_G_FSS0 = 0x01, FIFO_CTRL_REG_G_FSS1 = 0x02, FIFO_CTRL_REG_G_FSS2 = 0x04, FIFO_CTRL_REG_G_FSS3 = 0x08, FIFO_CTRL_REG_G_FSS4 = 0x10, _FIFO_CTRL_REG_G_FSS_MASK = 31, _FIFO_CTRL_REG_G_FSS_SHIFT = 0, FIFO_CTRL_REG_G_EMPTY = 0x20, FIFO_CTRL_REG_G_OVRN = 0x40, FIFO_CTRL_REG_G_WTM = 0x80 } |
enum | INT1_CFG_G_BITS_T { INT1_CFG_G_XLIE = 0x01, INT1_CFG_G_XHIE = 0x02, INT1_CFG_G_YLIE = 0x04, INT1_CFG_G_YHIE = 0x08, INT1_CFG_G_ZLIE = 0x10, INT1_CFG_G_ZHIE = 0x20, INT1_CFG_G_LIR = 0x40, INT1_CFG_G_ANDOR = 0x80 } |
enum | INT1_SRC_G_BITS_T { INT1_SRC_G_XL = 0x01, INT1_SRC_G_XH = 0x02, INT1_SRC_G_YL = 0x04, INT1_SRC_G_YH = 0x08, INT1_SRC_G_ZL = 0x10, INT1_SRC_G_ZH = 0x20, INT1_SRC_G_IA = 0x40 } |
enum | REG_XM_T { REG_OUT_TEMP_L_XM = 0x05, REG_OUT_TEMP_H_XM = 0x06, REG_STATUS_REG_M = 0x07, REG_OUT_X_L_M = 0x08, REG_OUT_X_H_M = 0x09, REG_OUT_Y_L_M = 0x0a, REG_OUT_Y_H_M = 0x0b, REG_OUT_Z_L_M = 0x0c, REG_OUT_Z_H_M = 0x0d, REG_WHO_AM_I_XM = 0x0f, REG_INT_CTRL_REG_M = 0x12, REG_INT_SRC_REG_M = 0x13, REG_INT_THS_L_M = 0x14, REG_INT_THS_H_M = 0x15, REG_OFFSET_X_L_M = 0x16, REG_OFFSET_X_H_M = 0x17, REG_OFFSET_Y_L_M = 0x18, REG_OFFSET_Y_H_M = 0x19, REG_OFFSET_Z_L_M = 0x1a, REG_OFFSET_Z_H_M = 0x1b, REG_REFERENCE_X = 0x1c, REG_REFERENCE_Y = 0x1d, REG_REFERENCE_Z = 0x1e, REG_CTRL_REG0_XM = 0x1f, REG_CTRL_REG1_XM = 0x20, REG_CTRL_REG2_XM = 0x21, REG_CTRL_REG3_XM = 0x22, REG_CTRL_REG4_XM = 0x23, REG_CTRL_REG5_XM = 0x24, REG_CTRL_REG6_XM = 0x25, REG_CTRL_REG7_XM = 0x26, REG_STATUS_REG_A = 0x27, REG_OUT_X_L_A = 0x28, REG_OUT_X_H_A = 0x29, REG_OUT_Y_L_A = 0x2a, REG_OUT_Y_H_A = 0x2b, REG_OUT_Z_L_A = 0x2c, REG_OUT_Z_H_A = 0x2d, REG_FIFO_CTRL_REG = 0x2e, REG_FIFO_SRC_REG = 0x2f, REG_INT_GEN_1_REG = 0x30, REG_INT_GEN_1_SRC = 0x31, REG_INT_GEN_1_THS = 0x32, REG_INT_GEN_1_DURATION = 0x33, REG_INT_GEN_2_REG = 0x34, REG_INT_GEN_2_SRC = 0x35, REG_INT_GEN_2_THS = 0x36, REG_INT_GEN_2_DURATION = 0x37, REG_CLICK_CFG = 0x38, REG_CLICK_SRC = 0x39, REG_CLICK_THS = 0x3a, REG_TIME_LIMIT = 0x3b, REG_TIME_LATENCY = 0x3c, REG_TIME_WINDOW = 0x3d, REG_ACT_THS = 0x3e, REG_ACT_DUR = 0x3f } |
enum | STATUS_REG_M_BITS_T { STATUS_REG_M_XMDA = 0x01, STATUS_REG_M_YMDA = 0x02, STATUS_REG_M_ZMDA = 0x04, STATUS_REG_M_ZYXMDA = 0x08, STATUS_REG_M_XMOR = 0x10, STATUS_REG_M_YMOR = 0x20, STATUS_REG_M_ZMOR = 0x40, STATUS_REG_M_ZYXMOR = 0x80 } |
enum | INT_CTRL_REG_M_BITS_T { INT_CTRL_REG_M_MIEN = 0x01, INT_CTRL_REG_M_4D = 0x02, INT_CTRL_REG_M_IEL = 0x04, INT_CTRL_REG_M_IEA = 0x08, INT_CTRL_REG_M_PP_OD = 0x10, INT_CTRL_REG_M_ZMIEN = 0x20, INT_CTRL_REG_M_YMIEN = 0x40, INT_CTRL_REG_M_XMIEN = 0x80 } |
enum | INT_SRC_REG_M_BITS_T { INT_SRC_REG_M_MINT = 0x01, INT_SRC_REG_M_MROI = 0x02, INT_SRC_REG_M_NTH_Z = 0x04, INT_SRC_REG_M_NTH_Y = 0x08, INT_SRC_REG_M_NTH_X = 0x10, INT_SRC_REG_M_PTH_Z = 0x20, INT_SRC_REG_M_PTH_Y = 0x40, INT_SRC_REG_M_PTH_X = 0x80 } |
enum | CTRL_REG0_XM_BITS_T { CTRL_REG0_XM_HPIS2 = 0x01, CTRL_REG0_XM_HPIS1 = 0x02, CTRL_REG0_XM_HP_CLICK = 0x04, CTRL_REG0_XM_WTM_LEN = 0x20, CTRL_REG0_XM_FIFO_EN = 0x40, CTRL_REG0_XM_BOOT = 0x80 } |
enum | CTRL_REG1_XM_BITS_T { CTRL_REG1_XM_AXEN = 0x01, CTRL_REG1_XM_AYEN = 0x02, CTRL_REG1_XM_AZEN = 0x03, CTRL_REG1_XM_BDU = 0x04, CTRL_REG1_XM_AODR0 = 0x10, CTRL_REG1_XM_AODR1 = 0x20, CTRL_REG1_XM_AODR2 = 0x40, CTRL_REG1_XM_AODR3 = 0x80, _CTRL_REG1_XM_AODR_MASK = 15, _CTRL_REG1_XM_AODR_SHIFT = 4 } |
enum | XM_AODR_T { XM_AODR_PWRDWN = 0, XM_AODR_3_125 = 1, XM_AODR_6_25 = 2, XM_AODR_12_5 = 3, XM_AODR_25 = 4, XM_AODR_50 = 5, XM_AODR_100 = 6, XM_AODR_200 = 7, XM_AODR_400 = 8, XM_AODR_800 = 9, XM_AODR_1000 = 10 } |
enum | CTRL_REG2_XM_BITS_T { CTRL_REG2_XM_SIM = 0x01, CTRL_REG2_XM_AST0 = 0x02, CTRL_REG2_XM_AST1 = 0x04, _CTRL_REG2_XM_AST_MASK = 3, _CTRL_REG2_XM_AST_SHIFT = 1, CTRL_REG2_XM_AFS0 = 0x08, CTRL_REG2_XM_AFS1 = 0x10, CTRL_REG2_XM_AFS2 = 0x20, _CTRL_REG2_XM_AFS_MASK = 7, _CTRL_REG2_XM_AFS_SHIFT = 3, CTRL_REG2_XM_ABW0 = 0x40, CTRL_REG2_XM_ABW1 = 0x80, _CTRL_REG2_XM_ABW_MASK = 3, _CTRL_REG2_XM_ABW_SHIFT = 6 } |
enum | XM_AST_T { XM_AST_NORMAL = 0, XM_AST_POS_SIGN = 1, XM_AST_NEG_SIGN = 2 } |
enum | XM_AFS_T { XM_AFS_2 = 0, XM_AFS_4 = 1, XM_AFS_6 = 2, XM_AFS_8 = 3, XM_AFS_16 = 4 } |
enum | XM_ABW_T { XM_ABW_773 = 0, XM_ABW_194 = 1, XM_ABW_362 = 2, XM_ABW_50 = 3 } |
enum | CTRL_REG3_XM_BITS_T { CTRL_REG3_XM_P1_EMPTY = 0x01, CTRL_REG3_XM_P1_DRDYM = 0x02, CTRL_REG3_XM_P1_DRDYA = 0x04, CTRL_REG3_XM_P1_INTM = 0x08, CTRL_REG3_XM_P1_INT2 = 0x10, CTRL_REG3_XM_P1_INT1 = 0x20, CTRL_REG3_XM_P1_TAP = 0x40, CTRL_REG3_XM_P1_BOOT = 0x80 } |
enum | CTRL_REG4_XM_BITS_T { CTRL_REG4_XM_P2_WTM = 0x01, CTRL_REG4_XM_P2_OVERRUN = 0x02, CTRL_REG4_XM_P2_DRDYM = 0x04, CTRL_REG4_XM_P2_DRDYA = 0x08, CTRL_REG4_XM_P2_INTM = 0x10, CTRL_REG4_XM_P2_INT2 = 0x20, CTRL_REG4_XM_P2_INT1 = 0x40, CTRL_REG4_XM_P2_TAP = 0x80 } |
enum | CTRL_REG5_XM_BITS_T { CTRL_REG5_XM_LIR1 = 0x01, CTRL_REG5_XM_LIR2 = 0x02, CTRL_REG5_XM_ODR0 = 0x04, CTRL_REG5_XM_ODR1 = 0x08, CTRL_REG5_XM_ODR2 = 0x10, _CTRL_REG5_XM_ODR_MASK = 7, _CTRL_REG5_XM_ODR_SHIFT = 2, CTRL_REG5_XM_RES0 = 0x20, CTRL_REG5_XM_RES1 = 0x40, _CTRL_REG5_XM_RES_MASK = 3, _CTRL_REG5_XM_RES_SHIFT = 5, CTRL_REG5_XM_TEMP_EN = 0x80 } |
enum | XM_ODR_T { XM_ODR_3_125 = 0, XM_ODR_6_25 = 1, XM_ODR_12_5 = 2, XM_ODR_25 = 3, XM_ODR_50 = 4, XM_ODR_100 = 5 } |
enum | XM_RES_T { XM_RES_LOW = 0, XM_RES_HIGH = 3 } |
enum | CTRL_REG6_XM_BITS_T { CTRL_REG6_XM_MFS0 = 0x20, CTRL_REG6_XM_MFS1 = 0x40, _CTRL_REG6_XM_MFS_MASK = 3, _CTRL_REG6_XM_MFS_SHIFT = 5 } |
enum | XM_MFS_T { XM_MFS_2 = 0, XM_MFS_4 = 1, XM_MFS_8 = 2, XM_MFS_12 = 3 } |
enum | CTRL_REG7_XM_BITS_T { CTRL_REG7_XM_MD0 = 0x01, CTRL_REG7_XM_MD1 = 0x02, _CTRL_REG7_XM_MD_MASK = 3, _CTRL_REG7_XM_MD_SHIFT = 0, CTRL_REG7_XM_MLP = 0x04, CTRL_REG7_XM_AFDS = 0x20, CTRL_REG7_XM_AHPM0 = 0x40, CTRL_REG7_XM_AHPM1 = 0x80, _CTRL_REG7_XM_AHPM_MASK = 3, _CTRL_REG7_XM_AHPM_SHIFT = 6 } |
enum | XM_MD_T { XM_MD_CONTINUOUS = 0, XM_MD_SINGLE = 1, XM_MD_POWERDOWN = 2 } |
enum | XM_AHPM_T { XM_AHPM_NORMAL_REF = 0, XM_AHPM_REFERENCE = 1, XM_AHPM_NORMAL = 2, XM_AHPM_AUTORESET = 3 } |
enum | STATUS_REG_A_BITS_T { STATUS_REG_A_XADA = 0x01, STATUS_REG_A_YADA = 0x02, STATUS_REG_A_ZADA = 0x04, STATUS_REG_A_ZYXADA = 0x08, STATUS_REG_A_XAOR = 0x10, STATUS_REG_A_YAOR = 0x20, STATUS_REG_A_ZAOR = 0x40, STATUS_REG_A_ZYXAOR = 0x80 } |
enum | FIFO_CTRL_REG_T { FIFO_CTRL_REG_FTH0 = 0x01, FIFO_CTRL_REG_FTH1 = 0x02, FIFO_CTRL_REG_FTH2 = 0x04, FIFO_CTRL_REG_FTH3 = 0x08, FIFO_CTRL_REG_FTH4 = 0x10, _FIFO_CTRL_REG_FTH_MASK = 31, _FIFO_CTRL_REG_FTH_SHIFT = 0, FIFO_CTRL_REG_FM0 = 0x20, FIFO_CTRL_REG_FM1 = 0x40, FIFO_CTRL_REG_FM2 = 0x80, _FIFO_CTRL_REG_FM_MASK = 7, _FIFO_CTRL_REG_FM_SHIFT = 5 } |
enum | FM_T { FM_BYPASS = 0, FM_FIFO = 1, FM_STREAM = 2, FM_STREAM2FIFO = 3, FM_BYPASS2STREAM = 4 } |
enum | FIFO_SRC_REG_BITS_T { FIFO_CTRL_REG_FSS0 = 0x01, FIFO_CTRL_REG_FSS1 = 0x02, FIFO_CTRL_REG_FSS2 = 0x04, FIFO_CTRL_REG_FSS3 = 0x08, FIFO_CTRL_REG_FSS4 = 0x10, _FIFO_CTRL_REG_FSS_MASK = 31, _FIFO_CTRL_REG_FSS_SHIFT = 0, FIFO_CTRL_REG_EMPTY = 0x20, FIFO_CTRL_REG_OVRN = 0x40, FIFO_CTRL_REG_WTM = 0x80 } |
enum | INT_GEN_X_REG_BITS_T { INT_GEN_X_REG_XLIE_XDOWNE = 0x01, INT_GEN_X_REG_XHIE_XUPE = 0x02, INT_GEN_X_REG_YLIE_YDOWNE = 0x04, INT_GEN_X_REG_YHIE_YUPE = 0x08, INT_GEN_X_REG_ZLIE_ZDOWNE = 0x10, INT_GEN_X_REG_ZHIE_ZUPE = 0x20, INT_GEN_X_REG_6D = 0x40, INT_GEN_X_REG_AOI = 0x80 } |
enum | INT_GEN_X_SRC_BITS_T { INT_GEN_X_SRC_XL = 0x01, INT_GEN_X_SRC_XH = 0x02, INT_GEN_X_SRC_YL = 0x04, INT_GEN_X_SRC_YH = 0x08, INT_GEN_X_SRC_ZL = 0x10, INT_GEN_X_SRC_ZH = 0x20, INT_GEN_X_SRC_IA = 0x40 } |
enum | INT_GEN_X_THS_BITS_T { INT_GEN_X_THS0 = 0x01, INT_GEN_X_THS1 = 0x02, INT_GEN_X_THS2 = 0x04, INT_GEN_X_THS3 = 0x08, INT_GEN_X_THS4 = 0x10, INT_GEN_X_THS5 = 0x20, INT_GEN_X_THS6 = 0x40, _INT_GEN_X_THS_MASK = 127, _INT_GEN_X_THS_SHIFT = 0 } |
enum | INT_GEN_X_DUR_BITS_T { INT_GEN_X_DUR0 = 0x01, INT_GEN_X_DUR1 = 0x02, INT_GEN_X_DUR2 = 0x04, INT_GEN_X_DUR3 = 0x08, INT_GEN_X_DUR4 = 0x10, INT_GEN_X_DUR5 = 0x20, INT_GEN_X_DUR6 = 0x40, _INT_GEN_X_DUR_MASK = 127, _INT_GEN_X_DUR_SHIFT = 0 } |
enum | CLICK_CONFIG_BITS_T { CLICK_CONFIG_XS = 0x01, CLICK_CONFIG_XD = 0x02, CLICK_CONFIG_YS = 0x04, CLICK_CONFIG_YD = 0x08, CLICK_CONFIG_ZS = 0x10, CLICK_CONFIG_ZD = 0x20 } |
enum | CLICK_SRC_BITS_T { CLICK_SRC_X = 0x01, CLICK_SRC_Y = 0x02, CLICK_SRC_Z = 0x04, CLICK_SRC_SIGN = 0x08, CLICK_SRC_SCLICK = 0x10, CLICK_SRC_DCLICK = 0x20, CLICK_SRC_IA = 0x40 } |
enum | CLICK_THS_BITS_T { CLICK_THS_THS0 = 0x01, CLICK_THS_THS1 = 0x02, CLICK_THS_THS2 = 0x04, CLICK_THS_THS3 = 0x08, CLICK_THS_THS4 = 0x10, CLICK_THS_THS5 = 0x20, CLICK_THS_THS6 = 0x40, _CLICK_THS_THS_MASK = 127, _CLICK_THS_THS_SHIFT = 0 } |
enum | CLICK_TIME_LIMIT_BITS_T { CLICK_TIME_LIMIT_TLI0 = 0x01, CLICK_TIME_LIMIT_TLI1 = 0x02, CLICK_TIME_LIMIT_TLI2 = 0x04, CLICK_TIME_LIMIT_TLI3 = 0x08, CLICK_TIME_LIMIT_TLI4 = 0x10, CLICK_TIME_LIMIT_TLI5 = 0x20, CLICK_TIME_LIMIT_TLI6 = 0x40, _CLICK_TIME_LIMIT_TLI_MASK = 127, _CLICK_TIME_LIMIT_TLI_SHIFT = 0 } |
enum | ACT_THS_BITS_T { ACT_THS_ACTH0 = 0x01, ACT_THS_ACTH1 = 0x02, ACT_THS_ACTH2 = 0x04, ACT_THS_ACTH3 = 0x08, ACT_THS_ACTH4 = 0x10, ACT_THS_ACTH5 = 0x20, ACT_THS_ACTH6 = 0x40, _ACT_THS_ACTH_MASK = 127, _ACT_THS_ACTH_SHIFT = 0 } |
enum | DEVICE_T { DEV_GYRO, DEV_XM } |
enum | INTERRUPT_PINS_T { INTERRUPT_G_INT, INTERRUPT_G_DRDY, INTERRUPT_XM_GEN1, INTERRUPT_XM_GEN2 } |
Public Member Functions | |
LSM9DS0 (int bus=LSM9DS0_I2C_BUS, bool raw=false, uint8_t gAddress=LSM9DS0_DEFAULT_GYRO_ADDR, uint8_t xmAddress=LSM9DS0_DEFAULT_XM_ADDR) | |
~LSM9DS0 () | |
bool | init () |
void | update () |
void | updateGyroscope () |
void | updateAccelerometer () |
void | updateMagnetometer () |
void | updateTemperature () |
uint8_t | readReg (DEVICE_T dev, uint8_t reg) |
void | readRegs (DEVICE_T dev, uint8_t reg, uint8_t *buffer, int len) |
bool | writeReg (DEVICE_T dev, uint8_t reg, uint8_t val) |
bool | setGyroscopePowerDown (bool enable) |
bool | setGyroscopeEnableAxes (uint8_t axes) |
bool | setGyroscopeODR (G_ODR_T odr) |
bool | setGyroscopeScale (G_FS_T scale) |
bool | setAccelerometerEnableAxes (uint8_t axes) |
bool | setAccelerometerODR (XM_AODR_T odr) |
bool | setAccelerometerScale (XM_AFS_T scale) |
bool | setMagnetometerResolution (XM_RES_T res) |
bool | setMagnetometerODR (XM_ODR_T odr) |
bool | setMagnetometerMode (XM_MD_T mode) |
bool | setMagnetometerLPM (bool enable) |
bool | setMagnetometerScale (XM_MFS_T scale) |
void | getAccelerometer (float *x, float *y, float *z) |
void | getGyroscope (float *x, float *y, float *z) |
void | getMagnetometer (float *x, float *y, float *z) |
std::vector< float > | getAccelerometer () |
std::vector< float > | getGyroscope () |
std::vector< float > | getMagnetometer () |
float | getTemperature () |
bool | enableTemperatureSensor (bool enable) |
uint8_t | getGyroscopeStatus () |
uint8_t | getMagnetometerStatus () |
uint8_t | getAccelerometerStatus () |
uint8_t | getGyroscopeInterruptConfig () |
bool | setGyroscopeInterruptConfig (uint8_t enables) |
uint8_t | getGyroscopeInterruptSrc () |
uint8_t | getMagnetometerInterruptControl () |
bool | setMagnetometerInterruptControl (uint8_t enables) |
uint8_t | getMagnetometerInterruptSrc () |
uint8_t | getInterruptGen1 () |
bool | setInterruptGen1 (uint8_t enables) |
uint8_t | getInterruptGen1Src () |
uint8_t | getInterruptGen2 () |
bool | setInterruptGen2 (uint8_t enables) |
uint8_t | getInterruptGen2Src () |
void | installISR (INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, void(*isr)(void *), void *arg) |
void | uninstallISR (INTERRUPT_PINS_T intr) |
enum CTRL_REG1_G_BITS_T |
Gyro CTRL_REG1_G bits
enum G_ODR_T |
CRTL_REG1_G_ODR values
enum CTRL_REG2_G_BITS_T |
Gyro CTRL_REG2_G bits
enum G_HPCF_T |
CRTL_REG2_G_HPCF values
See table 26 in the datasheet, as these depend on your data rate (ODR). We will label these according to the 95Hz column, but of course the actual cutoff frequency depends on ODR.
enum G_HPM_T |
CRTL_REG2_G_HPM values
enum CTRL_REG3_G_BITS_T |
Gyro CTRL_REG3_G bits (interrupt G config)
enum CTRL_REG4_G_BITS_T |
Gyro CTRL_REG4_G bits
enum G_ST_T |
CRTL_REG4_G_ST values
enum G_FS_T |
CRTL_REG4_G_FS values
enum CTRL_REG5_G_BITS_T |
Gyro CTRL_REG5_G bits
enum G_INT1OUTSEL_T |
CRTL_REG5_G_OUTSEL and INT1SEL values. See Figure 18 in the datasheet.
enum STATUS_REG_G_BITS_T |
Gyro STATUS_REG_G bits
enum FIFO_CTRL_REG_G_T |
Gyro FIFO_CTRL_REG_G bits
enum G_FM_T |
FIFO_CTRL_REG_G_FM values (FIFO Modes)
FIFO_SRC_REG_G bits
enum INT1_CFG_G_BITS_T |
INT1_CFG_G bits
enum INT1_SRC_G_BITS_T |
INT1_SRC_G bits
enum STATUS_REG_M_BITS_T |
XM STATUS_REG_M bits
INT_CTRL_REG_M bits
enum INT_SRC_REG_M_BITS_T |
INT_SRC_REG_M bits
enum CTRL_REG0_XM_BITS_T |
CTRL_REG0_XM bits
enum CTRL_REG1_XM_BITS_T |
CTRL_REG1_XM bits
enum XM_AODR_T |
CTRL_REG1_XM_AODR values
enum CTRL_REG2_XM_BITS_T |
CTRL_REG2_XM bits
enum XM_AST_T |
CTRL_REG2_XM_AST values
enum XM_AFS_T |
CTRL_REG2_XM_AFS (accel full scale) values
enum XM_ABW_T |
CTRL_REG2_XM_ABW (accel anti-alias filter bandwidth) values
enum CTRL_REG3_XM_BITS_T |
CTRL_REG3_XM bits
enum CTRL_REG4_XM_BITS_T |
CTRL_REG4_XM bits
enum CTRL_REG5_XM_BITS_T |
CTRL_REG5_XM bits
enum XM_ODR_T |
CTRL_REG5_XM_ODR (magnetometer output data rate) values
enum XM_RES_T |
CTRL_REG5_XM_RES (magnetometer resolution) values
enum CTRL_REG6_XM_BITS_T |
CTRL_REG6_XM bits
enum XM_MFS_T |
CTRL_REG6_XM_MFS (magnetometer full scale) values
enum CTRL_REG7_XM_BITS_T |
CTRL_REG7_XM bits
enum XM_MD_T |
CTRL_REG7_XM_MD (magnetometer sensor mode) values
enum XM_AHPM_T |
CTRL_REG7_AHPM_MD (accel high-pass filter mode) values
enum STATUS_REG_A_BITS_T |
XM STATUS_REG_A bits
enum FIFO_CTRL_REG_T |
XM FIFO_CTRL_REG bits
enum FM_T |
XM FIFO_CTRL_REG_FM values (FIFO Modes)
enum FIFO_SRC_REG_BITS_T |
FIFO_SRC_REG bits
enum INT_GEN_X_REG_BITS_T |
INT_GEN_1_REG and INT_GEN_2_REG (GEN_X) bits
enum INT_GEN_X_SRC_BITS_T |
INT_GEN_1_SRC and INT_GEN_2_SRC (GEN_X) bits
enum INT_GEN_X_THS_BITS_T |
INT_GEN_1_THS and INT_GEN_2_THS (GEN_X) bits
enum INT_GEN_X_DUR_BITS_T |
INT_GEN_1_DUR and INT_GEN_2_DUR (GEN_X) bits
enum CLICK_CONFIG_BITS_T |
CLICK_CONFIG bits
enum CLICK_SRC_BITS_T |
CLICK_SRC bits
enum CLICK_THS_BITS_T |
CLICK_THS bits
CLICK_TIME_LIMIT bits
enum ACT_THS_BITS_T |
ACT_THS (sleep-to-wake/return-to-sleep activation threshold) bits
LSM9DS0 | ( | int | bus = LSM9DS0_I2C_BUS , |
bool | raw = false , |
||
uint8_t | gAddress = LSM9DS0_DEFAULT_GYRO_ADDR , |
||
uint8_t | xmAddress = LSM9DS0_DEFAULT_XM_ADDR |
||
) |
lsm9ds0 constructor
bus | i2c bus to use |
raw | bypass board definition file, set to true if using Sparkfun 9DOF Block on an Intel Edison Arduino board |
gAddress | the gyroscope address for this device |
xmAddress | the accelerometer/magnetometer address for this device |
bool init | ( | ) |
set up initial values and start operation
void update | ( | void | ) |
update the accelerometer, gyroscope, magnetometer and termperature values.
void updateGyroscope | ( | ) |
update the gyroscope values only
void updateAccelerometer | ( | ) |
update the accelerometer values only
void updateMagnetometer | ( | ) |
update the magnetometer values only
void updateTemperature | ( | ) |
update the temperature value only
uint8_t readReg | ( | DEVICE_T | dev, |
uint8_t | reg | ||
) |
read a register
dev | the device to access (XM or G) |
reg | the register to read |
void readRegs | ( | DEVICE_T | dev, |
uint8_t | reg, | ||
uint8_t * | buffer, | ||
int | len | ||
) |
read contiguous register into a buffer
dev | the device to access (XM or G) |
reg | the register to start reading at |
buf | the buffer to store the results |
len | the number of registers to read |
bool writeReg | ( | DEVICE_T | dev, |
uint8_t | reg, | ||
uint8_t | val | ||
) |
write to a register
dev | the device to access (XM or G) |
reg | the register to write to |
val | the value to write |
bool setGyroscopePowerDown | ( | bool | enable | ) |
enable or disable the gyro power down mode
enable | true to put device to sleep, false to wake up |
bool setGyroscopeEnableAxes | ( | uint8_t | axes | ) |
enable or disable gyroscope axes. If all axis are disabled, and powerdown mode is not set, then the gyro goes into sleep mode.
axes | bit mask of valid axes, (CTRL_REG1_G_YEN, ...) |
bool setGyroscopeODR | ( | G_ODR_T | odr | ) |
set the gyroscope Output Data Rate (ODR)
odr | one of the G_ODR_T values |
bool setGyroscopeScale | ( | G_FS_T | scale | ) |
set the scaling mode of the gyroscope
scale | one of the G_FS_T values |
bool setAccelerometerEnableAxes | ( | uint8_t | axes | ) |
enable or disable accelerometer axes.
axes | bit mask of valid axes, (CTRL_REG1_XM_AXEN, ...) |
bool setAccelerometerODR | ( | XM_AODR_T | odr | ) |
set the accelerometer Output Data Rate (ODR)
odr | one of the XM_AODR_T values |
bool setAccelerometerScale | ( | XM_AFS_T | scale | ) |
set the scaling mode of the accelerometer
scale | one of the XM_AFS_T values |
bool setMagnetometerResolution | ( | XM_RES_T | res | ) |
set the magnetometer resolution
res | one of the XM_RES_T values |
bool setMagnetometerODR | ( | XM_ODR_T | odr | ) |
set the magnetometer Output Data Rate (ODR)
odr | one of the XM_ODR_T values |
bool setMagnetometerMode | ( | XM_MD_T | mode | ) |
set the magnetometer sensor mode
mode | one of the XM_MD_T values |
bool setMagnetometerLPM | ( | bool | enable | ) |
enable or disable magnetometer low power mode (LPM). When in low power mode, the magnetometer updates at 3.125Hz, regardless of it's ODR setting.
enable | true to enable LPM, false otherwise |
bool setMagnetometerScale | ( | XM_MFS_T | scale | ) |
set the scaling mode of the magnetometer
scale | one of the XM_MFS_T values |
void getAccelerometer | ( | float * | x, |
float * | y, | ||
float * | z | ||
) |
get the accelerometer values in gravities
x | the returned x value, if arg is non-NULL |
y | the returned y value, if arg is non-NULL |
z | the returned z value, if arg is non-NULL |
void getGyroscope | ( | float * | x, |
float * | y, | ||
float * | z | ||
) |
get the gyroscope values in degrees per second
x | the returned x value, if arg is non-NULL |
y | the returned y value, if arg is non-NULL |
z | the returned z value, if arg is non-NULL |
void getMagnetometer | ( | float * | x, |
float * | y, | ||
float * | z | ||
) |
get the magnetometer values in gauss
x | the returned x value, if arg is non-NULL |
y | the returned y value, if arg is non-NULL |
z | the returned z value, if arg is non-NULL |
std::vector< float > getAccelerometer | ( | ) |
get the accelerometer values in gravities
std::vector< float > getGyroscope | ( | ) |
get the gyroscope values in degrees per second
std::vector< float > getMagnetometer | ( | ) |
get the magnetometer values in gauss
float getTemperature | ( | void | ) |
get the temperature value. Unfortunately the datasheet does not provide a mechanism to convert the temperature value into the correct value, so I made a 'guess'. If it's wrong, and you figure it out, send a patch!
bool enableTemperatureSensor | ( | bool | enable | ) |
enable onboard temperature measurement sensor
enable | true to enable temperature sensor, false to disable |
uint8_t getGyroscopeStatus | ( | ) |
return the gyroscope status register
uint8_t getMagnetometerStatus | ( | ) |
return the magnetometer status register
uint8_t getAccelerometerStatus | ( | ) |
return the accelerometer status register
uint8_t getGyroscopeInterruptConfig | ( | ) |
return the gyroscope interrupt config register
bool setGyroscopeInterruptConfig | ( | uint8_t | enables | ) |
set the gyroscope interrupt config register
enables | bitmask of INT1_CFG_G_BITS_T values |
uint8_t getGyroscopeInterruptSrc | ( | ) |
return the gyroscope interrupt src register
uint8_t getMagnetometerInterruptControl | ( | ) |
return the magnetometer interrupt control register
bool setMagnetometerInterruptControl | ( | uint8_t | enables | ) |
set the magnetometer interrupt control register
enables | bitmask of INT_CTRL_REG_M_BITS_T values |
uint8_t getMagnetometerInterruptSrc | ( | ) |
return the magnetometer interrupt src register
uint8_t getInterruptGen1 | ( | ) |
return the inertial interrupt generator 1 register
bool setInterruptGen1 | ( | uint8_t | enables | ) |
set the inertial interrupt generator 1 register
enables | bitmask of INT_GEN_X_REG_BITS_T values |
uint8_t getInterruptGen1Src | ( | ) |
return the inertial interrupt generator 1 src register
uint8_t getInterruptGen2 | ( | ) |
return the inertial interrupt generator 2 register
bool setInterruptGen2 | ( | uint8_t | enables | ) |
set the inertial interrupt generator 2 register
enables | bitmask of INT_GEN_X_REG_BITS_T values |
uint8_t getInterruptGen2Src | ( | ) |
return the inertial interrupt generator 2 src register
void installISR | ( | INTERRUPT_PINS_T | intr, |
int | gpio, | ||
mraa::Edge | level, | ||
void(*)(void *) | isr, | ||
void * | arg | ||
) |
install an interrupt handler.
intr | one of the INTERRUPT_PINS_T values specifying which interrupt pin out of 4 you are installing |
gpio | gpio pin to use as interrupt pin |
level | the interrupt trigger level (one of mraa::Edge values). Make sure that you have configured the interrupt pin properly for whatever level you choose. |
isr | the interrupt handler, accepting a void * argument |
arg | the argument to pass the the interrupt handler |
void uninstallISR | ( | INTERRUPT_PINS_T | intr | ) |
uninstall a previously installed interrupt handler
intr | one of the INTERRUPT_PINS_T values specifying which interrupt pin out of 4 you are uninstalling |