Main class for the LSM9DS1 acceleromter which manages the data acquisition via pigpio and calls the main program via a callback handler. More...

#include <LSM9DS1.h>

Public Member Functions
	LSM9DS1 (DeviceSettings deviceSettings=DeviceSettings())
	LSM9DS1 class constructor. More...

void	begin (GyroSettings gyroSettings=GyroSettings(), AccelSettings accelSettings=AccelSettings(), MagSettings magSettings=MagSettings(), TemperatureSettings temperatureSettings=TemperatureSettings())
	Initializes the gyro, accelerometer, magnetometer and starts the acquistion. More...

void	end ()
	Ends the data acquisition and closes all IO.

void	setCallback (LSM9DS1callback *cb)
	Sets the callback which receives the samples at the sampling rate. More...

bool	accelAvailable ()
	Polls the accelerometer status register to check if new data is available. More...

bool	gyroAvailable ()
	Polls the gyroscope status register to check if new data is available. More...

bool	tempAvailable ()
	Polls the temperature status register to check if new data is available. More...

bool	magAvailable (lsm9ds1_axis axis=ALL_AXIS)
	Polls the magnetometer status register to check if new data is available. More...

int16_t	readGyro (lsm9ds1_axis axis)
	Read a specific axis of the gyroscope. More...

int16_t	readAccel (lsm9ds1_axis axis)
	Read a specific axis of the accelerometer. More...

int16_t	readMag (lsm9ds1_axis axis)
	Read a specific axis of the magnetometer. More...

void	magOffset (uint8_t axis, int16_t offset)
	Sets the magnetometer offset. More...

float	calcGyro (int16_t gyro)
	Convert from RAW signed 16-bit value to degrees per second This function reads in a signed 16-bit value and returns the scaled DPS. More...

float	calcAccel (int16_t accel)
	Convert from RAW signed 16-bit value to gravity (g's). More...

float	calcMag (int16_t mag)
	Convert from RAW signed 16-bit value to Gauss (Gs) This function reads in a signed 16-bit value and returns the scaled Gs. More...

void	setGyroScale (GyroSettings::Scale gScl)
	Set the full-scale range of the gyroscope. More...

void	setAccelScale (AccelSettings::Scale aScl)
	Set the full-scale range of the accelerometer. More...

void	setMagScale (MagSettings::Scale mScl)
	Set the full-scale range of the magnetometer. More...

uint8_t	getGyroIntSrc ()
	Get contents of Gyroscope interrupt source register.

uint8_t	getAccelIntSrc ()
	Get contents of accelerometer interrupt source register.

uint8_t	getMagIntSrc ()
	Get contents of magnetometer interrupt source register.

uint8_t	getInactivity ()
	Get status of inactivity interrupt.

uint8_t	getFIFOSamples ()
	Get number of FIFO samples.

Detailed Description

Main class for the LSM9DS1 acceleromter which manages the data acquisition via pigpio and calls the main program via a callback handler.

The constructor and the begin() function have default settings so that in the simplest case just a callback needs to be registered and then begin be called. To stop the data acquistion call end().

Constructor & Destructor Documentation

◆ LSM9DS1()

LSM9DS1::LSM9DS1 ( DeviceSettings deviceSettings = DeviceSettings() )

LSM9DS1 class constructor.

Parameters

deviceSettings is defined in DeviceSettings The deviceSettings has default values for standard wiring.

Member Function Documentation

◆ accelAvailable()

bool LSM9DS1::accelAvailable ( )

Polls the accelerometer status register to check if new data is available.

Returns: true if data is available.

◆ begin()

void LSM9DS1::begin	(	GyroSettings	gyroSettings = `GyroSettings()`,
		AccelSettings	accelSettings = `AccelSettings()`,
		MagSettings	magSettings = `MagSettings()`,
		TemperatureSettings	temperatureSettings = `TemperatureSettings()`
	)

Initializes the gyro, accelerometer, magnetometer and starts the acquistion.

This will set up the scale and output rate of each sensor.

Parameters

accelSettings	Accelerometer settings with default settings.
gyroSettings	Gyroscope settings with default settings.
magSettings	Magnetometer settings with default settings.
temperatureSettings	Temperature sensor settings with default settings.

◆ calcAccel()

float LSM9DS1::calcAccel ( int16_t accel )

Convert from RAW signed 16-bit value to gravity (g's).

This function reads in a signed 16-bit value and returns the scaled g's. This function relies on aScale and aRes being correct.

Parameters

accel A signed 16-bit raw reading from the accelerometer.

Returns: Acceleration in m/s^2.

◆ calcGyro()

float LSM9DS1::calcGyro ( int16_t gyro )

Convert from RAW signed 16-bit value to degrees per second This function reads in a signed 16-bit value and returns the scaled DPS.

This function relies on gScale and gRes being correct.

Parameters

gyro	A signed 16-bit raw reading from the gyroscope.

Returns: Rotation in deg/s.

◆ calcMag()

float LSM9DS1::calcMag ( int16_t mag )

Convert from RAW signed 16-bit value to Gauss (Gs) This function reads in a signed 16-bit value and returns the scaled Gs.

This function relies on mScale and mRes being correct.

Parameters

mag	A signed 16-bit raw reading from the magnetometer.

Returns: Magnetic field strength in Gauss.

◆ gyroAvailable()

bool LSM9DS1::gyroAvailable ( )

Polls the gyroscope status register to check if new data is available.

Returns: true if data is available.

◆ magAvailable()

bool LSM9DS1::magAvailable ( lsm9ds1_axis axis = ALL_AXIS )

Polls the magnetometer status register to check if new data is available.

Parameters

axis	can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data on one specific axis. Or ALL_AXIS (default) to check for new data on all axes.

Returns: true if data is available.

◆ magOffset()

void LSM9DS1::magOffset	(	uint8_t	axis,
		int16_t	offset
	)

Sets the magnetometer offset.

Parameters

axis	can be any of X_AXIS, Y_AXIS, or Z_AXIS.
offset	in raw units

◆ readAccel()

int16_t LSM9DS1::readAccel ( lsm9ds1_axis axis )

Read a specific axis of the accelerometer.

Parameters

axis	can be any of X_AXIS, Y_AXIS, or Z_AXIS.

Returns: A 16-bit signed integer with sensor data on requested axis.

◆ readGyro()

int16_t LSM9DS1::readGyro ( lsm9ds1_axis axis )

Read a specific axis of the gyroscope.

Parameters

axis	can be any of X_AXIS, Y_AXIS, or Z_AXIS.

Returns: A 16-bit signed integer with sensor data on requested axis.

◆ readMag()

int16_t LSM9DS1::readMag ( lsm9ds1_axis axis )

Read a specific axis of the magnetometer.

Parameters

axis	can be any of X_AXIS, Y_AXIS, or Z_AXIS.

Returns: A 16-bit signed integer with sensor data on requested axis.

◆ setAccelScale()

void LSM9DS1::setAccelScale ( AccelSettings::Scale aScl )

Set the full-scale range of the accelerometer.

Parameters

The	desired accelerometer scale.

◆ setCallback()

void LSM9DS1::setCallback ( LSM9DS1callback * cb )

inline

Sets the callback which receives the samples at the sampling rate.

Parameters

cb	Callback interface.

◆ setGyroScale()

void LSM9DS1::setGyroScale ( GyroSettings::Scale gScl )

Set the full-scale range of the gyroscope.

This function can be called to set the scale of the gyroscope to 245, 500, or 200 degrees per second.

Parameters

gScl	The desired gyroscope scale.

◆ setMagScale()

void LSM9DS1::setMagScale ( MagSettings::Scale mScl )

Set the full-scale range of the magnetometer.

The desired magnetometer scale.

◆ tempAvailable()

bool LSM9DS1::tempAvailable ( )

Polls the temperature status register to check if new data is available.

Returns: true if data is available.

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

LSM9DS1.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ LSM9DS1()

Member Function Documentation

◆ accelAvailable()

◆ begin()

◆ calcAccel()

◆ calcGyro()

◆ calcMag()

◆ gyroAvailable()

◆ magAvailable()

◆ magOffset()

◆ readAccel()

◆ readGyro()

◆ readMag()

◆ setAccelScale()

◆ setCallback()

◆ setGyroScale()

◆ setMagScale()

◆ tempAvailable()