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microbuilder
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Spacing tweeks
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‎Adafruit_LSM9DS0.h‎

Lines changed: 59 additions & 104 deletions
Original file line numberDiff line numberDiff line change
@@ -23,115 +23,71 @@
2323
#include "Wire.h"
2424
#include <SPI.h>
2525

26-
#define LSM9DS0_ADDRESS_ACCELMAG 0x1D // 3B >> 1 = 7bit default
27-
#define LSM9DS0_ADDRESS_GYRO 0x6B // D6 >> 1 = 7bit default
28-
#define LSM9DS0_XM_ID (0b01001001)
29-
#define LSM9DS0_G_ID (0b11010100)
26+
#define LSM9DS0_ADDRESS_ACCELMAG (0x1D) // 3B >> 1 = 7bit default
27+
#define LSM9DS0_ADDRESS_GYRO (0x6B) // D6 >> 1 = 7bit default
28+
#define LSM9DS0_XM_ID (0b01001001)
29+
#define LSM9DS0_G_ID (0b11010100)
3030

31-
32-
#define GYROTYPE true
33-
#define XMTYPE false
31+
#define GYROTYPE true
32+
#define XMTYPE false
3433

3534
class Adafruit_LSM9DS0
3635
{
3736
public:
38-
Adafruit_LSM9DS0();
39-
Adafruit_LSM9DS0(int8_t xmcs, int8_t gcs);
40-
Adafruit_LSM9DS0(int8_t clk, int8_t miso, int8_t mosi, int8_t xmcs, int8_t gcs);
41-
42-
typedef enum
43-
{ // DEFAULT TYPE
44-
LSM9DS0_REGISTER_WHO_AM_I_G = 0x0F,
45-
LSM9DS0_REGISTER_CTRL_REG1_G = 0x20,
46-
LSM9DS0_REGISTER_CTRL_REG3_G = 0x22,
47-
37+
Adafruit_LSM9DS0();
38+
Adafruit_LSM9DS0(int8_t xmcs, int8_t gcs);
39+
Adafruit_LSM9DS0(int8_t clk, int8_t miso, int8_t mosi, int8_t xmcs, int8_t gcs);
4840

49-
LSM9DS0_REGISTER_OUT_X_L_G = 0x28,
50-
LSM9DS0_REGISTER_OUT_X_H_G = 0x29,
51-
LSM9DS0_REGISTER_OUT_Y_L_G = 0x2A,
52-
LSM9DS0_REGISTER_OUT_Y_H_G = 0x2B,
53-
LSM9DS0_REGISTER_OUT_Z_L_G = 0x2C,
54-
LSM9DS0_REGISTER_OUT_Z_H_G = 0x2D,
41+
typedef enum
42+
{
43+
LSM9DS0_REGISTER_WHO_AM_I_G = 0x0F,
44+
LSM9DS0_REGISTER_CTRL_REG1_G = 0x20,
45+
LSM9DS0_REGISTER_CTRL_REG3_G = 0x22,
46+
LSM9DS0_REGISTER_OUT_X_L_G = 0x28,
47+
LSM9DS0_REGISTER_OUT_X_H_G = 0x29,
48+
LSM9DS0_REGISTER_OUT_Y_L_G = 0x2A,
49+
LSM9DS0_REGISTER_OUT_Y_H_G = 0x2B,
50+
LSM9DS0_REGISTER_OUT_Z_L_G = 0x2C,
51+
LSM9DS0_REGISTER_OUT_Z_H_G = 0x2D,
5552
} lsm9ds0GyroRegisters_t;
56-
53+
5754
typedef enum
58-
{ // DEFAULT TYPE
59-
LSM9DS0_REGISTER_TEMP_OUT_L_XM = 0x05,
60-
LSM9DS0_REGISTER_TEMP_OUT_H_XM = 0x06,
61-
LSM9DS0_REGISTER_STATUS_REG_M = 0x07,
62-
LSM9DS0_REGISTER_OUT_X_L_M = 0x08,
63-
LSM9DS0_REGISTER_OUT_X_H_M = 0x09,
64-
LSM9DS0_REGISTER_OUT_Y_L_M = 0x0A,
65-
LSM9DS0_REGISTER_OUT_Y_H_M = 0x0B,
66-
LSM9DS0_REGISTER_OUT_Z_L_M = 0x0C,
67-
LSM9DS0_REGISTER_OUT_Z_H_M = 0x0D,
68-
69-
LSM9DS0_REGISTER_WHO_AM_I_XM = 0x0F,
70-
71-
LSM9DS0_REGISTER_INT_CTRL_REG_M = 0x12,
72-
LSM9DS0_REGISTER_INT_SRC_REG_M = 0x13,
73-
74-
LSM9DS0_REGISTER_CTRL_REG1_XM = 0x20,
75-
LSM9DS0_REGISTER_CTRL_REG5_XM = 0x24,
76-
LSM9DS0_REGISTER_CTRL_REG7_XM = 0x26,
77-
55+
{
56+
LSM9DS0_REGISTER_TEMP_OUT_L_XM = 0x05,
57+
LSM9DS0_REGISTER_TEMP_OUT_H_XM = 0x06,
58+
LSM9DS0_REGISTER_STATUS_REG_M = 0x07,
59+
LSM9DS0_REGISTER_OUT_X_L_M = 0x08,
60+
LSM9DS0_REGISTER_OUT_X_H_M = 0x09,
61+
LSM9DS0_REGISTER_OUT_Y_L_M = 0x0A,
62+
LSM9DS0_REGISTER_OUT_Y_H_M = 0x0B,
63+
LSM9DS0_REGISTER_OUT_Z_L_M = 0x0C,
64+
LSM9DS0_REGISTER_OUT_Z_H_M = 0x0D,
65+
LSM9DS0_REGISTER_WHO_AM_I_XM = 0x0F,
66+
LSM9DS0_REGISTER_INT_CTRL_REG_M = 0x12,
67+
LSM9DS0_REGISTER_INT_SRC_REG_M = 0x13,
68+
LSM9DS0_REGISTER_CTRL_REG1_XM = 0x20,
69+
LSM9DS0_REGISTER_CTRL_REG5_XM = 0x24,
70+
LSM9DS0_REGISTER_CTRL_REG7_XM = 0x26,
7871
LSM9DS0_REGISTER_OUT_X_L_A = 0x28,
7972
LSM9DS0_REGISTER_OUT_X_H_A = 0x29,
8073
LSM9DS0_REGISTER_OUT_Y_L_A = 0x2A,
8174
LSM9DS0_REGISTER_OUT_Y_H_A = 0x2B,
8275
LSM9DS0_REGISTER_OUT_Z_L_A = 0x2C,
8376
LSM9DS0_REGISTER_OUT_Z_H_A = 0x2D,
84-
85-
/*
86-
LSM9DS0_REGISTER_ACCEL_CTRL_REG1_A = 0x20, // 00000111 rw
87-
LSM9DS0_REGISTER_ACCEL_CTRL_REG2_A = 0x21, // 00000000 rw
88-
LSM9DS0_REGISTER_ACCEL_CTRL_REG3_A = 0x22, // 00000000 rw
89-
LSM9DS0_REGISTER_ACCEL_CTRL_REG4_A = 0x23, // 00000000 rw
90-
LSM9DS0_REGISTER_ACCEL_CTRL_REG5_A = 0x24, // 00000000 rw
91-
LSM9DS0_REGISTER_ACCEL_CTRL_REG6_A = 0x25, // 00000000 rw
92-
LSM9DS0_REGISTER_ACCEL_REFERENCE_A = 0x26, // 00000000 r
93-
LSM9DS0_REGISTER_ACCEL_STATUS_REG_A = 0x27, // 00000000 r
94-
LSM9DS0_REGISTER_ACCEL_FIFO_CTRL_REG_A = 0x2E,
95-
LSM9DS0_REGISTER_ACCEL_FIFO_SRC_REG_A = 0x2F,
96-
LSM9DS0_REGISTER_ACCEL_INT1_CFG_A = 0x30,
97-
LSM9DS0_REGISTER_ACCEL_INT1_SOURCE_A = 0x31,
98-
LSM9DS0_REGISTER_ACCEL_INT1_THS_A = 0x32,
99-
LSM9DS0_REGISTER_ACCEL_INT1_DURATION_A = 0x33,
100-
LSM9DS0_REGISTER_ACCEL_INT2_CFG_A = 0x34,
101-
LSM9DS0_REGISTER_ACCEL_INT2_SOURCE_A = 0x35,
102-
LSM9DS0_REGISTER_ACCEL_INT2_THS_A = 0x36,
103-
LSM9DS0_REGISTER_ACCEL_INT2_DURATION_A = 0x37,
104-
LSM9DS0_REGISTER_ACCEL_CLICK_CFG_A = 0x38,
105-
LSM9DS0_REGISTER_ACCEL_CLICK_SRC_A = 0x39,
106-
LSM9DS0_REGISTER_ACCEL_CLICK_THS_A = 0x3A,
107-
LSM9DS0_REGISTER_ACCEL_TIME_LIMIT_A = 0x3B,
108-
LSM9DS0_REGISTER_ACCEL_TIME_LATENCY_A = 0x3C,
109-
LSM9DS0_REGISTER_ACCEL_TIME_WINDOW_A = 0x3D
110-
111-
112-
LSM9DS0_REGISTER_MAG_CRB_REG_M = 0x01,
113-
LSM9DS0_REGISTER_MAG_MR_REG_M = 0x02,
114-
115-
LSM9DS0_REGISTER_MAG_SR_REG_Mg = 0x09,
116-
LSM9DS0_REGISTER_MAG_IRA_REG_M = 0x0A,
117-
LSM9DS0_REGISTER_MAG_IRB_REG_M = 0x0B,
118-
LSM9DS0_REGISTER_MAG_IRC_REG_M = 0x0C,
119-
*/
12077
} lsm9ds0MagAccelRegisters_t;
121-
12278

12379
typedef enum
124-
{
125-
/*
126-
LSM9DS0_MAGGAIN_1_3 = 0x20, // +/- 1.3
127-
LSM9DS0_MAGGAIN_1_9 = 0x40, // +/- 1.9
128-
LSM9DS0_MAGGAIN_2_5 = 0x60, // +/- 2.5
129-
LSM9DS0_MAGGAIN_4_0 = 0x80, // +/- 4.0
130-
LSM9DS0_MAGGAIN_4_7 = 0xA0, // +/- 4.7
131-
LSM9DS0_MAGGAIN_5_6 = 0xC0, // +/- 5.6
132-
LSM9DS0_MAGGAIN_8_1 = 0xE0 // +/- 8.1
133-
*/
134-
} lsm9ds0MagGain;
80+
{
81+
/*
82+
LSM9DS0_MAGGAIN_1_3 = 0x20, // +/- 1.3
83+
LSM9DS0_MAGGAIN_1_9 = 0x40, // +/- 1.9
84+
LSM9DS0_MAGGAIN_2_5 = 0x60, // +/- 2.5
85+
LSM9DS0_MAGGAIN_4_0 = 0x80, // +/- 4.0
86+
LSM9DS0_MAGGAIN_4_7 = 0xA0, // +/- 4.7
87+
LSM9DS0_MAGGAIN_5_6 = 0xC0, // +/- 5.6
88+
LSM9DS0_MAGGAIN_8_1 = 0xE0 // +/- 8.1
89+
*/
90+
} lsm9ds0MagGain;
13591

13692
typedef struct lsm9ds0AccelData_s
13793
{
@@ -154,23 +110,22 @@ class Adafruit_LSM9DS0
154110
float z;
155111
float orientation;
156112
} lsm9ds0MagData;
157-
158-
bool begin(void);
159-
void read(void);
160-
void setMagGain(lsm9ds0MagGain gain);
161-
113+
162114
lsm9ds0AccelData accelData; // Last read accelerometer data will be available here
163-
lsm9ds0MagData magData; // Last read magnetometer data will be available here
164-
lsm9ds0GyroData gyroData; // Last read gyroscope data will be available here
165-
void write8(boolean type, byte reg, byte value);
166-
byte read8(boolean type, byte reg);
167-
uint8_t spixfer(uint8_t data);
115+
lsm9ds0MagData magData; // Last read magnetometer data will be available here
116+
lsm9ds0GyroData gyroData; // Last read gyroscope data will be available here
117+
118+
bool begin ( void );
119+
void read ( void );
120+
void setMagGain ( lsm9ds0MagGain gain );
121+
void write8 ( boolean type, byte reg, byte value );
122+
byte read8 ( boolean type, byte reg );
123+
uint8_t spixfer ( uint8_t data );
168124

169125
private:
170126
boolean _i2c;
171-
int8_t _csg, _csxm, _mosi, _miso, _clk;
127+
int8_t _csg, _csxm, _mosi, _miso, _clk;
172128
uint8_t mySPCR, SPCRback;
173129
};
174130

175-
176131
#endif

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