Added range settings

Author: microbuilder

Adafruit_LSM9DS0.cpp

@@ -98,6 +98,11 @@ bool Adafruit_LSM9DS0::begin()
   }
   */
 
+  // Set default ranges for the various sensors  
+  setupAccel(LSM9DS0_ACCELRANGE_2G);
+  setupMag(LSM9DS0_MAGGAIN_2GAUSS);
+  setupGyro(LSM9DS0_GYROSCALE_245DPS);
+
   return true;
 }
 
@@ -185,22 +190,91 @@ void Adafruit_LSM9DS0::read()
     temperature = (xlo | (xhi << 8));
   }
 
+  // ToDo: Move to Unified object, but for now convert to SI direct
+  accelData.x *= _accel_mg_lsb;
+  accelData.y *= _accel_mg_lsb;
+  accelData.z *= _accel_mg_lsb;
+  magData.x *= _mag_mgauss_lsb;
+  magData.y *= _mag_mgauss_lsb;
+  magData.z *= _mag_mgauss_lsb;
+  gyroData.x *= _gyro_dps_digit;
+  gyroData.y *= _gyro_dps_digit;
+  gyroData.z *= _gyro_dps_digit;
+  temperature /= LSM9DS0_TEMP_LSB_DEGREE_CELSIUS;
+
   // ToDo: Calculate orientation
 }
 
-void Adafruit_LSM9DS0::setupAccel ( lsm9ds0AccelRange_t range, lm9ds0AccelDataRate_t datarate )
+void Adafruit_LSM9DS0::setupAccel ( lsm9ds0AccelRange_t range )
 {
+  uint8_t reg = read8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG2_XM);
+  reg &= ~(0b00111000);
+  reg |= range;
+  write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG2_XM, reg );
 
+  switch (range)
+  {
+    case LSM9DS0_ACCELRANGE_2G:
+      _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_2G;
+      break;
+    case LSM9DS0_ACCELRANGE_4G:
+      _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_4G;
+      break;
+    case LSM9DS0_ACCELRANGE_6G:
+      _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_6G;
+      break;
+    case LSM9DS0_ACCELRANGE_8G:
+      _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_8G;
+      break;    
+    case LSM9DS0_ACCELRANGE_16G:
+      _accel_mg_lsb = LSM9DS0_ACCEL_MG_LSB_16G;
+      break;
+  }
 }
 
-void Adafruit_LSM9DS0::setupMag ( lsm9ds0MagGain_t gain, lsm9ds0MagDataRate_t datarate )
+void Adafruit_LSM9DS0::setupMag ( lsm9ds0MagGain_t gain )
 {
-  
+  uint8_t reg = read8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG6_XM);
+  reg &= ~(0b01100000);
+  reg |= gain;
+  write8(XMTYPE, LSM9DS0_REGISTER_CTRL_REG6_XM, reg );
+
+  switch(gain)
+  {
+    case LSM9DS0_MAGGAIN_2GAUSS:
+      _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_LSB_2GAUSS;
+      break;
+    case LSM9DS0_MAGGAIN_4GAUSS:
+      _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_LSB_4GAUSS;
+      break;
+    case LSM9DS0_MAGGAIN_8GAUSS:
+      _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_LSB_8GAUSS;
+      break;
+    case LSM9DS0_MAGGAIN_12GAUSS:
+      _mag_mgauss_lsb = LSM9DS0_MAG_MGAUSS_LSB_12GAUSS;
+      break;
+  }
 }
 
 void Adafruit_LSM9DS0::setupGyro ( lsm9ds0GyroScale_t scale )
 {
-  
+  uint8_t reg = read8(GYROTYPE, LSM9DS0_REGISTER_CTRL_REG4_G);
+  reg &= ~(0b00110000);
+  reg |= scale;
+  write8(GYROTYPE, LSM9DS0_REGISTER_CTRL_REG4_G, reg );
+
+  switch(scale)
+  {
+    case LSM9DS0_GYROSCALE_245DPS:
+      _gyro_dps_digit = LSM9DS0_GYRO_DPS_DIGIT_245DPS;
+      break;
+    case LSM9DS0_GYROSCALE_500DPS:
+      _gyro_dps_digit = LSM9DS0_GYRO_DPS_DIGIT_500DPS;
+      break;
+    case LSM9DS0_GYROSCALE_2000DPS:
+      _gyro_dps_digit = LSM9DS0_GYRO_DPS_DIGIT_2000DPS;
+      break;
+  }
 }
 
 /***************************************************************************

Adafruit_LSM9DS0.h

@@ -64,6 +64,7 @@ class Adafruit_LSM9DS0
       LSM9DS0_REGISTER_WHO_AM_I_G          = 0x0F,
       LSM9DS0_REGISTER_CTRL_REG1_G         = 0x20,
       LSM9DS0_REGISTER_CTRL_REG3_G         = 0x22,
+      LSM9DS0_REGISTER_CTRL_REG4_G         = 0x23,
       LSM9DS0_REGISTER_OUT_X_L_G           = 0x28,
       LSM9DS0_REGISTER_OUT_X_H_G           = 0x29,
       LSM9DS0_REGISTER_OUT_Y_L_G           = 0x2A,
@@ -87,7 +88,9 @@ class Adafruit_LSM9DS0
       LSM9DS0_REGISTER_INT_CTRL_REG_M      = 0x12,
       LSM9DS0_REGISTER_INT_SRC_REG_M       = 0x13,
       LSM9DS0_REGISTER_CTRL_REG1_XM        = 0x20,
+      LSM9DS0_REGISTER_CTRL_REG2_XM        = 0x21,
       LSM9DS0_REGISTER_CTRL_REG5_XM        = 0x24,
+      LSM9DS0_REGISTER_CTRL_REG6_XM        = 0x25,
       LSM9DS0_REGISTER_CTRL_REG7_XM        = 0x26,
       LSM9DS0_REGISTER_OUT_X_L_A           = 0x28,
       LSM9DS0_REGISTER_OUT_X_H_A           = 0x29,
@@ -160,8 +163,8 @@ class Adafruit_LSM9DS0
 
     bool    begin       ( void );
     void    read        ( void );
-    void    setupAccel  ( lsm9ds0AccelRange_t range, lm9ds0AccelDataRate_t datarate );
-    void    setupMag    ( lsm9ds0MagGain_t gain, lsm9ds0MagDataRate_t datarate );
+    void    setupAccel  ( lsm9ds0AccelRange_t range );
+    void    setupMag    ( lsm9ds0MagGain_t gain );
     void    setupGyro   ( lsm9ds0GyroScale_t scale );
     void    write8      ( boolean type, byte reg, byte value );
     byte    read8       ( boolean type, byte reg );
@@ -171,6 +174,9 @@ class Adafruit_LSM9DS0
     boolean _i2c;
     int8_t  _csg, _csxm, _mosi, _miso, _clk;
     uint8_t mySPCR, SPCRback;
+    float   _accel_mg_lsb;
+    float   _mag_mgauss_lsb;
+    float   _gyro_dps_digit;      
 };
 
 #endif

examples/lsm9doftest/lsm9doftest.ino

@@ -8,6 +8,27 @@ Adafruit_LSM9DS0 lsm;
 // SPI
 //Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(A5, 12, A4, 10, 9);
 
+void setupSensor()
+{
+  // 1.) Set the accelerometer range
+  lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_2G);
+  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_4G);
+  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_6G);
+  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_8G);
+  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_16G);
+  
+  // 2.) Set the magnetometer sensitivity
+  lsm.setupMag(lsm.LSM9DS0_MAGGAIN_2GAUSS);
+  //lsm.setupMag(lsm.LSM9DS0_MAGGAIN_4GAUSS);
+  //lsm.setupMag(lsm.LSM9DS0_MAGGAIN_8GAUSS);
+  //lsm.setupMag(lsm.LSM9DS0_MAGGAIN_12GAUSS);
+
+  // 3.) Setup the gyroscope
+  lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_245DPS);
+  //lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_500DPS);
+  //lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_2000DPS);
+}
+
 void setup() 
 {
   while (!Serial); // flora & leonardo
@@ -22,6 +43,9 @@ void setup()
     while (1);
   }
   Serial.println("Found LMS9DS0 9DOF");
+  Serial.println("");
+  Serial.println("Acceleration in mg, Mag field in gauss, angular velocity in DPS");
+  Serial.println("");
 }
 
 void loop()