API for the LSM9DS0 3-axis Gyroscope, Accelerometer, and Magnetometer. More...

Detailed Description

ID: lsm9ds0
Name: LSM9DS0 3-axis Gyroscope, Accelerometer, and Magnetometer
Category: accelerometer compass
Manufacturer: sparkfun
Connection: i2c gpio
Link: https://www.sparkfun.com/products/13033

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.

Classes
class	ACT_THS_BITS_T

class	CLICK_CONFIG_BITS_T

class	CLICK_SRC_BITS_T

class	CLICK_THS_BITS_T

class	CLICK_TIME_LIMIT_BITS_T

class	CTRL_REG0_XM_BITS_T

class	CTRL_REG1_G_BITS_T

class	CTRL_REG1_XM_BITS_T

class	CTRL_REG2_G_BITS_T

class	CTRL_REG2_XM_BITS_T

class	CTRL_REG3_G_BITS_T

class	CTRL_REG3_XM_BITS_T

class	CTRL_REG4_G_BITS_T

class	CTRL_REG4_XM_BITS_T

class	CTRL_REG5_G_BITS_T

class	CTRL_REG5_XM_BITS_T

class	CTRL_REG6_XM_BITS_T

class	CTRL_REG7_XM_BITS_T

class	DEVICE_T

class	FIFO_CTRL_REG_G_T

class	FIFO_CTRL_REG_T

class	FIFO_SRC_REG_BITS_T

class	FIFO_SRC_REG_G_BITS_T

class	FM_T

class	G_FM_T

class	G_FS_T

class	G_HPCF_T

class	G_HPM_T

class	G_INT1OUTSEL_T

class	G_ODR_T

class	G_ST_T

class	INT1_CFG_G_BITS_T

class	INT1_SRC_G_BITS_T

class	INT_CTRL_REG_M_BITS_T

class	INT_GEN_X_DUR_BITS_T

class	INT_GEN_X_REG_BITS_T

class	INT_GEN_X_SRC_BITS_T

class	INT_GEN_X_THS_BITS_T

class	INT_SRC_REG_M_BITS_T

class	INTERRUPT_PINS_T

class	REG_G_T

class	REG_XM_T

class	STATUS_REG_A_BITS_T

class	STATUS_REG_G_BITS_T

class	STATUS_REG_M_BITS_T

class	XM_ABW_T

class	XM_AFS_T

class	XM_AHPM_T

class	XM_AODR_T

class	XM_AST_T

class	XM_MD_T

class	XM_MFS_T

class	XM_ODR_T

class	XM_RES_T

Public Member Functions
synchronized void	delete ()

	LSM9DS0 (int bus, short gAddress, short xmAddress)

	LSM9DS0 (int bus, short gAddress)

	LSM9DS0 (int bus)

boolean	init ()

void	update ()

void	updateGyroscope ()

void	updateAccelerometer ()

void	updateMagnetometer ()

void	updateTemperature ()

short	readReg (LSM9DS0.DEVICE_T dev, short reg)

void	readRegs (LSM9DS0.DEVICE_T dev, short reg, byte[] buffer)

boolean	writeReg (LSM9DS0.DEVICE_T dev, short reg, short val)

boolean	setGyroscopePowerDown (boolean enable)

boolean	setGyroscopeEnableAxes (short axes)

boolean	setGyroscopeODR (LSM9DS0.G_ODR_T odr)

boolean	setGyroscopeScale (LSM9DS0.G_FS_T scale)

boolean	setAccelerometerEnableAxes (short axes)

boolean	setAccelerometerODR (LSM9DS0.XM_AODR_T odr)

boolean	setAccelerometerScale (LSM9DS0.XM_AFS_T scale)

boolean	setMagnetometerResolution (LSM9DS0.XM_RES_T res)

boolean	setMagnetometerODR (LSM9DS0.XM_ODR_T odr)

boolean	setMagnetometerMode (LSM9DS0.XM_MD_T mode)

boolean	setMagnetometerLPM (boolean enable)

boolean	setMagnetometerScale (LSM9DS0.XM_MFS_T scale)

float[]	getAccelerometer ()

float[]	getGyroscope ()

float[]	getMagnetometer ()

float	getTemperature ()

boolean	enableTemperatureSensor (boolean enable)

short	getGyroscopeStatus ()

short	getMagnetometerStatus ()

short	getAccelerometerStatus ()

short	getGyroscopeInterruptConfig ()

boolean	setGyroscopeInterruptConfig (short enables)

short	getGyroscopeInterruptSrc ()

short	getMagnetometerInterruptControl ()

boolean	setMagnetometerInterruptControl (short enables)

short	getMagnetometerInterruptSrc ()

short	getInterruptGen1 ()

boolean	setInterruptGen1 (short enables)

short	getInterruptGen1Src ()

short	getInterruptGen2 ()

boolean	setInterruptGen2 (short enables)

short	getInterruptGen2Src ()

void	installISR (LSM9DS0.INTERRUPT_PINS_T intr, int gpio, int level, IsrCallback cb)

void	uninstallISR (LSM9DS0.INTERRUPT_PINS_T intr)

Constructor & Destructor Documentation

LSM9DS0	(	int	bus,
		short	gAddress,
		short	xmAddress
	)

lsm9ds0 constructor

Parameters

bus	i2c bus to use
address	the address for this device

Member Function Documentation

boolean enableTemperatureSensor ( boolean enable )

enable onboard temperature measurement sensor

Parameters

enable true to enable temperature sensor, false to disable

Returns: true if successful, false otherwise

float [] getAccelerometer ( )

get the accelerometer values in gravities

Returns: Array containing X, Y, Z acceleration values

short getAccelerometerStatus ( )

return the accelerometer status register

Returns: bitmask of STATUS_REG_A_BITS_T bits

float [] getGyroscope ( )

get the gyroscope values in degrees per second

Returns: Array containing X, Y, Z gyroscope values

short getGyroscopeInterruptConfig ( )

return the gyroscope interrupt config register

Returns: bitmask of INT1_CFG_G_BITS_T bits

short getGyroscopeInterruptSrc ( )

return the gyroscope interrupt src register

Returns: bitmask of INT1_SRC_G_BITS_T bits

short getGyroscopeStatus ( )

return the gyroscope status register

Returns: bitmask of STATUS_REG_G_BITS_T bits

short getInterruptGen1 ( )

return the inertial interrupt generator 1 register

Returns: bitmask of INT_GEN_X_REG_BITS_T bits

short getInterruptGen1Src ( )

return the inertial interrupt generator 1 src register

Returns: bitmask of INT_GEN_X_SRC_BITS_T bits

short getInterruptGen2 ( )

return the inertial interrupt generator 2 register

Returns: bitmask of INT_GEN_X_REG_BITS_T bits

short getInterruptGen2Src ( )

return the inertial interrupt generator 2 src register

Returns: bitmask of INT_GEN_X_SRC_BITS_T bits

float [] getMagnetometer ( )

get the magnetometer values in gauss

Returns: Array containing X, Y, Z magnetometer values

short getMagnetometerInterruptControl ( )

return the magnetometer interrupt control register

Returns: bitmask of INT_CTRL_REG_M_BITS_T bits

short getMagnetometerInterruptSrc ( )

return the magnetometer interrupt src register

Returns: bitmask of INT_SRC_REG_M_BITS_T bits

short getMagnetometerStatus ( )

return the magnetometer status register

Returns: bitmask of STATUS_REG_M_BITS_T bits

float getTemperature ( )

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!

Returns: the temperature value in degrees Celcius

boolean init ( )

set up initial values and start operation

Returns: true if successful

short readReg	(	LSM9DS0.DEVICE_T	dev,
		short	reg
	)

read a register

Parameters

dev	the device to access (XM or G)
reg	the register to read

Returns: the value of the register

boolean setAccelerometerEnableAxes ( short axes )

enable or disable accelerometer axes.

Parameters

axes	bit mask of valid axes, (CTRL_REG1_XM_AXEN, ...)

Returns: true if successful, false otherwise

boolean setAccelerometerODR ( LSM9DS0.XM_AODR_T odr )

set the accelerometer Output Data Rate (ODR)

Parameters

odr	one of the XM_AODR_T values

Returns: true if successful, false otherwise

boolean setAccelerometerScale ( LSM9DS0.XM_AFS_T scale )

set the scaling mode of the accelerometer

Parameters

scale one of the XM_AFS_T values

Returns: true if successful, false otherwise

boolean setGyroscopeEnableAxes ( short axes )

enable or disable gyroscope axes. If all axis are disabled, and powerdown mode is not set, then the gyro goes into sleep mode.

Parameters

axes	bit mask of valid axes, (CTRL_REG1_G_YEN, ...)

Returns: true if successful, false otherwise

boolean setGyroscopeInterruptConfig ( short enables )

set the gyroscope interrupt config register

Parameters

enables bitmask of INT1_CFG_G_BITS_T values

Returns: true if successful

boolean setGyroscopeODR ( LSM9DS0.G_ODR_T odr )

set the gyroscope Output Data Rate (ODR)

Parameters

odr	one of the G_ODR_T values

Returns: true if successful, false otherwise

boolean setGyroscopePowerDown ( boolean enable )

enable or disable the gyro power down mode

Parameters

enable true to put device to sleep, false to wake up

Returns: true if successful, false otherwise

boolean setGyroscopeScale ( LSM9DS0.G_FS_T scale )

set the scaling mode of the gyroscope

Parameters

scale one of the G_FS_T values

Returns: true if successful, false otherwise

boolean setInterruptGen1 ( short enables )

set the inertial interrupt generator 1 register

Parameters

enables bitmask of INT_GEN_X_REG_BITS_T values

Returns: true if successful

boolean setInterruptGen2 ( short enables )

set the inertial interrupt generator 2 register

Parameters

enables bitmask of INT_GEN_X_REG_BITS_T values

Returns: true if successful

boolean setMagnetometerInterruptControl ( short enables )

set the magnetometer interrupt control register

Parameters

enables bitmask of INT_CTRL_REG_M_BITS_T values

Returns: true if successful

boolean setMagnetometerLPM ( boolean 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.

Parameters

enable true to enable LPM, false otherwise

Returns: true if successful, false otherwise

boolean setMagnetometerMode ( LSM9DS0.XM_MD_T mode )

set the magnetometer sensor mode

Parameters

mode	one of the XM_MD_T values

Returns: true if successful, false otherwise

boolean setMagnetometerODR ( LSM9DS0.XM_ODR_T odr )

set the magnetometer Output Data Rate (ODR)

Parameters

odr	one of the XM_ODR_T values

Returns: true if successful, false otherwise

boolean setMagnetometerResolution ( LSM9DS0.XM_RES_T res )

set the magnetometer resolution

Parameters

res	one of the XM_RES_T values

Returns: true if successful, false otherwise

boolean setMagnetometerScale ( LSM9DS0.XM_MFS_T scale )

set the scaling mode of the magnetometer

Parameters

scale one of the XM_MFS_T values

Returns: true if successful, false otherwise

void uninstallISR ( LSM9DS0.INTERRUPT_PINS_T intr )

uninstall a previously installed interrupt handler

Parameters

intr	one of the INTERRUPT_PINS_T values specifying which interrupt pin out of 4 you are uninstalling

void update ( )

update the accelerometer, gyroscope, magnetometer and termperature values.

void updateAccelerometer ( )

update the accelerometer values only

void updateGyroscope ( )

update the gyroscope values only

void updateMagnetometer ( )

update the magnetometer values only

void updateTemperature ( )

update the temperature value only

boolean writeReg	(	LSM9DS0.DEVICE_T	dev,
		short	reg,
		short	val
	)

write to a register

Parameters

dev	the device to access (XM or G)
reg	the register to write to
val	the value to write

Returns: true if successful, false otherwise

The documentation for this class was generated from the following file:

/var/lib/jenkins/workspace/upm-doc-stable/build-33/src/lsm9ds0/LSM9DS0.java

Detailed Description

Classes

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation