upm  0.5.1
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LSM9DS0 Class Reference
libupm-lsm9ds0

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

Detailed Description

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.jpg


LSM9DS0 Sensor image provided by SparkFun* under CC BY-NC-SA-3.0.

// Instantiate an LSM9DS0 using default parameters (bus 1, gyro addr 6b,
// xm addr 1d)
upm::LSM9DS0 *sensor = new upm::LSM9DS0();
sensor->init();
while (shouldRun)
{
sensor->update();
float x, y, z;
sensor->getAccelerometer(&x, &y, &z);
cout << "Accelerometer: ";
cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
sensor->getGyroscope(&x, &y, &z);
cout << "Gryoscope: ";
cout << "GX: " << x << " GY: " << y << " GZ: " << z << endl;
sensor->getMagnetometer(&x, &y, &z);
cout << "Magnetometer: ";
cout << "MX = " << x << " MY = " << y << " MZ = " << z << endl;
cout << "Temperature: " << sensor->getTemperature() << endl;
cout << endl;
usleep(500000);
}

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, 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)
 
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)
 

Protected Attributes

float m_accelX
 
float m_accelY
 
float m_accelZ
 
float m_gyroX
 
float m_gyroY
 
float m_gyroZ
 
float m_magX
 
float m_magY
 
float m_magZ
 
float m_temp
 
float m_accelScale
 
float m_gyroScale
 
float m_magScale
 

Member Enumeration Documentation

enum REG_G_T

LSM9DS0 Gyroscope (G) registers

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)

enum FIFO_SRC_REG_G_BITS_T

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 REG_XM_T

LSM9DS0 Accelerometer (X) and Magnetometer (M) registers

enum STATUS_REG_M_BITS_T

XM STATUS_REG_M bits

enum INT_CTRL_REG_M_BITS_T

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

enum CLICK_TIME_LIMIT_BITS_T

CLICK_TIME_LIMIT bits

enum ACT_THS_BITS_T

ACT_THS (sleep-to-wake/return-to-sleep activation threshold) bits

Constructor & Destructor Documentation

LSM9DS0 ( int  bus = LSM9DS0_I2C_BUS,
uint8_t  gAddress = LSM9DS0_DEFAULT_GYRO_ADDR,
uint8_t  xmAddress = LSM9DS0_DEFAULT_XM_ADDR 
)

lsm9ds0 constructor

Parameters
busi2c bus to use
addressthe address for this device
~LSM9DS0 ( )

LSM9DS0 Destructor

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Member Function Documentation

bool init ( )

set up initial values and start operation

Returns
true if successful

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void update ( void  )

update the accelerometer, gyroscope, magnetometer and termperature values.

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void updateGyroscope ( )

update the gyroscope values only

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void updateAccelerometer ( )

update the accelerometer values only

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void updateMagnetometer ( )

update the magnetometer values only

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void updateTemperature ( )

update the temperature value only

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uint8_t readReg ( DEVICE_T  dev,
uint8_t  reg 
)

read a register

Parameters
devthe device to access (XM or G)
regthe register to read
Returns
the value of the register

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void readRegs ( DEVICE_T  dev,
uint8_t  reg,
uint8_t *  buffer,
int  len 
)

read contiguous register into a buffer

Parameters
devthe device to access (XM or G)
regthe register to start reading at
bufthe buffer to store the results
lenthe number of registers to read
Returns
the value of the register

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bool writeReg ( DEVICE_T  dev,
uint8_t  reg,
uint8_t  val 
)

write to a register

Parameters
devthe device to access (XM or G)
regthe register to write to
valthe value to write
Returns
true if successful, false otherwise

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bool setGyroscopePowerDown ( bool  enable)

enable or disable the gyro power down mode

Parameters
enabletrue to put device to sleep, false to wake up
Returns
true if successful, false otherwise

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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.

Parameters
axesbit mask of valid axes, (CTRL_REG1_G_YEN, ...)
Returns
true if successful, false otherwise

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bool setGyroscopeODR ( G_ODR_T  odr)

set the gyroscope Output Data Rate (ODR)

Parameters
odrone of the G_ODR_T values
Returns
true if successful, false otherwise

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bool setGyroscopeScale ( G_FS_T  scale)

set the scaling mode of the gyroscope

Parameters
scaleone of the G_FS_T values
Returns
true if successful, false otherwise

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bool setAccelerometerEnableAxes ( uint8_t  axes)

enable or disable accelerometer axes.

Parameters
axesbit mask of valid axes, (CTRL_REG1_XM_AXEN, ...)
Returns
true if successful, false otherwise

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bool setAccelerometerODR ( XM_AODR_T  odr)

set the accelerometer Output Data Rate (ODR)

Parameters
odrone of the XM_AODR_T values
Returns
true if successful, false otherwise

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bool setAccelerometerScale ( XM_AFS_T  scale)

set the scaling mode of the accelerometer

Parameters
scaleone of the XM_AFS_T values
Returns
true if successful, false otherwise

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bool setMagnetometerResolution ( XM_RES_T  res)

set the magnetometer resolution

Parameters
resone of the XM_RES_T values
Returns
true if successful, false otherwise

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bool setMagnetometerODR ( XM_ODR_T  odr)

set the magnetometer Output Data Rate (ODR)

Parameters
odrone of the XM_ODR_T values
Returns
true if successful, false otherwise

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bool setMagnetometerMode ( XM_MD_T  mode)

set the magnetometer sensor mode

Parameters
modeone of the XM_MD_T values
Returns
true if successful, false otherwise

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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.

Parameters
enabletrue to enable LPM, false otherwise
Returns
true if successful, false otherwise

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bool setMagnetometerScale ( XM_MFS_T  scale)

set the scaling mode of the magnetometer

Parameters
scaleone of the XM_MFS_T values
Returns
true if successful, false otherwise

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void getAccelerometer ( float *  x,
float *  y,
float *  z 
)

get the accelerometer values in gravities

Parameters
xthe returned x value, if arg is non-NULL
ythe returned y value, if arg is non-NULL
zthe returned z value, if arg is non-NULL
Returns
true if successful, false otherwise
void getGyroscope ( float *  x,
float *  y,
float *  z 
)

get the gyroscope values in degrees per second

Parameters
xthe returned x value, if arg is non-NULL
ythe returned y value, if arg is non-NULL
zthe returned z value, if arg is non-NULL
Returns
true if successful, false otherwise
void getMagnetometer ( float *  x,
float *  y,
float *  z 
)

get the magnetometer values in gauss

Parameters
xthe returned x value, if arg is non-NULL
ythe returned y value, if arg is non-NULL
zthe returned z value, if arg is non-NULL
Returns
true if successful, false otherwise
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!

Returns
the temperature value in degrees Celcius
bool enableTemperatureSensor ( bool  enable)

enable onboard temperature measurement sensor

Parameters
enabletrue to enable temperature sensor, false to disable
Returns
true if successful, false otherwise

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uint8_t getGyroscopeStatus ( )

return the gyroscope status register

Returns
bitmask of STATUS_REG_G_BITS_T bits

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uint8_t getMagnetometerStatus ( )

return the magnetometer status register

Returns
bitmask of STATUS_REG_M_BITS_T bits

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uint8_t getAccelerometerStatus ( )

return the accelerometer status register

Returns
bitmask of STATUS_REG_A_BITS_T bits

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uint8_t getGyroscopeInterruptConfig ( )

return the gyroscope interrupt config register

Returns
bitmask of INT1_CFG_G_BITS_T bits

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bool setGyroscopeInterruptConfig ( uint8_t  enables)

set the gyroscope interrupt config register

Parameters
enablesbitmask of INT1_CFG_G_BITS_T values
Returns
true if successful

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uint8_t getGyroscopeInterruptSrc ( )

return the gyroscope interrupt src register

Returns
bitmask of INT1_SRC_G_BITS_T bits

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uint8_t getMagnetometerInterruptControl ( )

return the magnetometer interrupt control register

Returns
bitmask of INT_CTRL_REG_M_BITS_T bits

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bool setMagnetometerInterruptControl ( uint8_t  enables)

set the magnetometer interrupt control register

Parameters
enablesbitmask of INT_CTRL_REG_M_BITS_T values
Returns
true if successful

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uint8_t getMagnetometerInterruptSrc ( )

return the magnetometer interrupt src register

Returns
bitmask of INT_SRC_REG_M_BITS_T bits

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uint8_t getInterruptGen1 ( )

return the inertial interrupt generator 1 register

Returns
bitmask of INT_GEN_X_REG_BITS_T bits

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bool setInterruptGen1 ( uint8_t  enables)

set the inertial interrupt generator 1 register

Parameters
enablesbitmask of INT_GEN_X_REG_BITS_T values
Returns
true if successful

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uint8_t getInterruptGen1Src ( )

return the inertial interrupt generator 1 src register

Returns
bitmask of INT_GEN_X_SRC_BITS_T bits

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uint8_t getInterruptGen2 ( )

return the inertial interrupt generator 2 register

Returns
bitmask of INT_GEN_X_REG_BITS_T bits

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bool setInterruptGen2 ( uint8_t  enables)

set the inertial interrupt generator 2 register

Parameters
enablesbitmask of INT_GEN_X_REG_BITS_T values
Returns
true if successful

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uint8_t getInterruptGen2Src ( )

return the inertial interrupt generator 2 src register

Returns
bitmask of INT_GEN_X_SRC_BITS_T bits

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void installISR ( INTERRUPT_PINS_T  intr,
int  gpio,
mraa::Edge  level,
void(*)(void *)  isr,
void *  arg 
)

install an interrupt handler.

Parameters
introne of the INTERRUPT_PINS_T values specifying which interrupt pin out of 4 you are installing
gpiogpio pin to use as interrupt pin
levelthe interrupt trigger level (one of mraa::Edge values). Make sure that you have configured the interrupt pin properly for whatever level you choose.
isrthe interrupt handler, accepting a void * argument
argthe argument to pass the the interrupt handler

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void uninstallISR ( INTERRUPT_PINS_T  intr)

uninstall a previously installed interrupt handler

Parameters
introne of the INTERRUPT_PINS_T values specifying which interrupt pin out of 4 you are uninstalling

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The documentation for this class was generated from the following files:
Generated on Wed Feb 17 2016 10:53:46 for upm by   doxygen 1.8.6