Added temp output

Author: microbuilder

Adafruit_LSM9DS0.cpp

@@ -68,25 +68,27 @@ bool Adafruit_LSM9DS0::begin()
   }
 
   uint8_t id = read8(XMTYPE, LSM9DS0_REGISTER_WHO_AM_I_XM);
-  Serial.print ("XM whoami: 0x");
-  Serial.println(id, HEX);
+  // Serial.print ("XM whoami: 0x");
+  // Serial.println(id, HEX);
   if (id != LSM9DS0_XM_ID) 
     return false;
 
   id = read8(GYROTYPE, LSM9DS0_REGISTER_WHO_AM_I_G);
-  Serial.print ("G whoami: 0x");
-  Serial.println(id, HEX);
+  // Serial.print ("G whoami: 0x");
+  // Serial.println(id, HEX);
   if (id != LSM9DS0_G_ID) 
     return false;
 
-
   // Enable the accelerometer continous
   write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG1_XM, 0x67); // 100hz XYZ
   write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG5_XM, 0b11110000);
   // enable mag continuous
   write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG7_XM, 0b00000000);
   // enable gyro continuous
   write8(GYROTYPE, LSM9DS0_REGISTER_CTRL_REG1_G, 0x0F); // on XYZ
+  // enable the temperature sensor (output rate same as the mag sensor)
+  uint8_t tempReg = read8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG5_XM);
+  write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG5_XM, tempReg | (1<<7));
 
   /*
   for (uint8_t i=0; i<0x30; i++) {
@@ -166,6 +168,21 @@ void Adafruit_LSM9DS0::read()
     gyroData.x = (xlo | (xhi << 8));
     gyroData.y = (ylo | (yhi << 8));
     gyroData.z = (zlo | (zhi << 8));
+    
+    // Read temp sensor
+    Wire.beginTransmission((byte)LSM9DS0_ADDRESS_ACCELMAG);
+    Wire.write(0x80 | LSM9DS0_REGISTER_TEMP_OUT_L_XM);
+    Wire.endTransmission();
+    Wire.requestFrom((byte)LSM9DS0_ADDRESS_ACCELMAG, (byte)2);
+
+    // Wait around until enough data is available
+    while (Wire.available() < 2);
+    
+    xlo = Wire.read();
+    xhi = Wire.read();
+    
+    // Shift values to create properly formed integer (low byte first)
+    temperature = (xlo | (xhi << 8));
   }
 
   // ToDo: Calculate orientation

Adafruit_LSM9DS0.h

@@ -28,8 +28,29 @@
 #define LSM9DS0_XM_ID                      (0b01001001)
 #define LSM9DS0_G_ID                       (0b11010100)
 
-#define GYROTYPE  true
-#define XMTYPE    false
+// Linear Acceleration: mg per LSB
+#define LSM9DS0_ACCEL_MG_LSB_2G            (0.061F)
+#define LSM9DS0_ACCEL_MG_LSB_4G            (0.122F)
+#define LSM9DS0_ACCEL_MG_LSB_6G            (0.183F)
+#define LSM9DS0_ACCEL_MG_LSB_8G            (0.244F)
+#define LSM9DS0_ACCEL_MG_LSB_16G           (0.732F)  // Is this right? Was expecting 0.488F
+
+// Magnetic Field Strength: mgauss per LSB
+#define LSM9DS0_MAG_MGAUSS_LSB_2GAUSS      (0.08F)
+#define LSM9DS0_MAG_MGAUSS_LSB_4GAUSS      (0.16F)
+#define LSM9DS0_MAG_MGAUSS_LSB_8GAUSS      (0.32F)
+#define LSM9DS0_MAG_MGAUSS_LSB_12GAUSS     (0.48F)
+
+// Angular Rate: dps per LSB
+#define LSM9DS0_GYRO_DPS_DIGIT_245DPS      (0.00875F)
+#define LSM9DS0_GYRO_DPS_DIGIT_500DPS      (0.01750F)
+#define LSM9DS0_GYRO_DPS_DIGIT_2000DPS     (0.07000F)
+
+// Temperature: LSB per degree celsius
+#define LSM9DS0_TEMP_LSB_DEGREE_CELSIUS    (8)  // 1°C = 8, 25° = 200, etc.
+
+#define GYROTYPE                           (true)
+#define XMTYPE                             (false)
 
 class Adafruit_LSM9DS0
 {
@@ -135,7 +156,7 @@ class Adafruit_LSM9DS0
     lsm9ds0Vector_t accelData;    // Last read accelerometer data will be available here
     lsm9ds0Vector_t magData;      // Last read magnetometer data will be available here
     lsm9ds0Vector_t gyroData;     // Last read gyroscope data will be available here
-    float           temperature;  // Last read temperzture data will be available here
+    int16_t         temperature;  // Last read temperzture data will be available here
 
     bool    begin       ( void );
     void    read        ( void );

examples/lsm9doftest/lsm9doftest.ino

@@ -26,8 +26,6 @@ void setup()
 
 void loop() 
 {
-  
-  
   lsm.read();
 
   Serial.print("Accel X: "); Serial.print((int)lsm.accelData.x); Serial.print(" ");
@@ -36,8 +34,9 @@ void loop()
   Serial.print("Mag X: "); Serial.print((int)lsm.magData.x);     Serial.print(" ");
   Serial.print("Y: "); Serial.print((int)lsm.magData.y);         Serial.print(" ");
   Serial.print("Z: "); Serial.println((int)lsm.magData.z);       Serial.print(" ");
-  Serial.print("Gyro X: "); Serial.print((int)lsm.gyroData.x);     Serial.print(" ");
-  Serial.print("Y: "); Serial.print((int)lsm.gyroData.y);         Serial.print(" ");
-  Serial.print("Z: "); Serial.println((int)lsm.gyroData.z);       Serial.println(" ");
+  Serial.print("Gyro X: "); Serial.print((int)lsm.gyroData.x);   Serial.print(" ");
+  Serial.print("Y: "); Serial.print((int)lsm.gyroData.y);        Serial.print(" ");
+  Serial.print("Z: "); Serial.println((int)lsm.gyroData.z);      Serial.println(" ");
+  Serial.print("Temp: "); Serial.print((int)lsm.temperature); Serial.print("/0x"); Serial.print((int)lsm.temperature, HEX); Serial.println(" ");
   delay(200);
 }