/**************************************************************************
I2C ADDRESS/BITS
**************************************************************************/
#define LSM9DS0_DEFAULT_ADDRESS_GYRO (0x6A) // D4 >> 1 = 7-bit default
#define LSM9DS0_ADDRESS_GYRO_UPDATED (0x6B) // D6 >> 1 = 7-bit default
#define LSM9DS0_DEFAULT_ADDRESS_ACCELMAG (0x1E) // 3C >> 1 = 7-bit default
#define LSM9DS0_ADDRESS_ACCELMAG_UPDATED (0x1D) // 3B >> 1 = 7-bit default
#define LSM9DS0_ACCELMAG_DEV_ID (0x49) // 0100 1001
#define LSM9DS0_GYRO_DEV_ID (0xD4) // 1101 0100
/**************************************************************************
CONVERSION DELAY (in mS)
**************************************************************************/
#define LSM9DS0_CONVERSIONDELAY (100)
/**************************************************************************
GYROSCOPE REGISTERS
**************************************************************************/
#define LSM9DS0_REG_GYRO_WHO_AM_I (0x0F) // Device identification Register
#define LSM9DS0_REG_GYRO_CTRL_REG1 (0x20) // Gyroscope Control Register 1
#define LSM9DS0_REG_GYRO_CTRL_REG2 (0x21) // Gyroscope Control Register 2
#define LSM9DS0_REG_GYRO_CTRL_REG3 (0x22) // Gyroscope Control Register 3
#define LSM9DS0_REG_GYRO_CTRL_REG4 (0x23) // Gyroscope Control Register 4
#define LSM9DS0_REG_GYRO_CTRL_REG5 (0x24) // Gyroscope Control Register 5
#define LSM9DS0_REG_GYRO_REFERENCE (0x25) // Reference/Datacapture Register
#define LSM9DS0_REG_GYRO_STATUS (0x27) // Status Register
#define LSM9DS0_REG_GYRO_OUT_X_L (0x28) // X-Axis Angular Rate Data Low Register
#define LSM9DS0_REG_GYRO_OUT_X_H (0x29) // X-Axis Angular Rate Data High Register
#define LSM9DS0_REG_GYRO_OUT_Y_L (0x2A) // Y-Axis Angular Rate Data Low Register
#define LSM9DS0_REG_GYRO_OUT_Y_H (0x2B) // Y-Axis Angular Rate Data High Register
#define LSM9DS0_REG_GYRO_OUT_Z_L (0x2C) // Z-Axis Angular Rate Data Low Register
#define LSM9DS0_REG_GYRO_OUT_Z_H (0x2D) // Z-Axis Angular Rate Data High Register
#define LSM9DS0_REG_GYRO_FIFO_CTRL (0x2E) // FIFO Control Register
#define LSM9DS0_REG_GYRO_FIFO_SRC (0x2F) // FIFO Source Register
#define LSM9DS0_REG_GYRO_INT1_CFG (0x30) // Interrupt Configuration Register
#define LSM9DS0_REG_GYRO_INT1_SRC (0x31) // Interrupt Source Register
#define LSM9DS0_REG_GYRO_INT1_THS_XH (0x32) // Interrupt X-Axis High Threshold Register
#define LSM9DS0_REG_GYRO_INT1_THS_XL (0x33) // Interrupt X-Axis Low Threshold Register
#define LSM9DS0_REG_GYRO_INT1_THS_YH (0x34) // Interrupt Y-Axis High Threshold Register
#define LSM9DS0_REG_GYRO_INT1_THS_YL (0x35) // Interrupt Y-Axis Low Threshold Register
#define LSM9DS0_REG_GYRO_INT1_THS_ZH (0x36) // Interrupt Z-Axis High Threshold Register
#define LSM9DS0_REG_GYRO_INT1_THS_ZL (0x37) // Interrupt Z-Axis Low Threshold Register
#define LSM9DS0_REG_GYRO_INT1_DURATION (0x38) // Interrupt Duration Register
/**************************************************************************
TEMPERATURE REGISTERS
**************************************************************************/
#define LSM9DS0_REG_TEMP_OUT_L (0x05) // Temperature Sensor Low Register
#define LSM9DS0_REG_TEMP_OUT_H (0x06) // Temperature Sensor High Register
/**************************************************************************
MAGNETOMETER/ACCELEROMETER REGISTERS
**************************************************************************/
#define LSM9DS0_REG_MAG_STATUS_M (0x07) // Magnetic Data Status Register
#define LSM9DS0_REG_MAG_OUT_X_L (0x08) // X-Axis Magnetic Data Low Register
#define LSM9DS0_REG_MAG_OUT_X_H (0x09) // X-Axis Magnetic Data High Register
#define LSM9DS0_REG_MAG_OUT_Y_L (0x0A) // Y-Axis Magnetic Data Low Register
#define LSM9DS0_REG_MAG_OUT_Y_H (0x0B) // Y-Axis Magnetic Data High Register
#define LSM9DS0_REG_MAG_OUT_Z_L (0x0C) // Z-Axis Magnetic Data Low Register
#define LSM9DS0_REG_MAG_OUT_Z_H (0x0D) // Z-Axis Magnetic Data High Register
#define LSM9DS0_REG_MAG_WHO_AM_I (0x0F) // Device identification Register
#define LSM9DS0_REG_MAG_INT_CTRL (0x12) // Interrupt Recognition Register
#define LSM9DS0_REG_MAG_INT_SRC (0x13) // Interrupt Source Register
#define LSM9DS0_REG_MAG_INT_THS_L (0x14) // Magnetic Interrupt Threshold Low Register
#define LSM9DS0_REG_MAG_INT_THS_H (0x15) // Magnetic Interrupt Threshold High Register
#define LSM9DS0_REG_MAG_OFFSET_X_L (0x16) // Magnetic Offset for X-Axis Low Register
#define LSM9DS0_REG_MAG_OFFSET_X_H (0x17) // Magnetic Offset for X-Axis High Register
#define LSM9DS0_REG_MAG_OFFSET_Y_L (0x18) // Magnetic Offset for Y-Axis Low Register
#define LSM9DS0_REG_MAG_OFFSET_Y_H (0x19) // Magnetic Offset for Y-Axis High Register
#define LSM9DS0_REG_MAG_OFFSET_Z_L (0x1A) // Magnetic Offset for Z-Axis Low Register
#define LSM9DS0_REG_MAG_OFFSET_Z_H (0x1B) // Magnetic Offset for Z-Axis High Register
#define LSM9DS0_REG_ACCEL_REF_X (0x1C) // Reference Value for High-Pass Filter for X-Axis Acceleration Data
#define LSM9DS0_REG_ACCEL_REF_Y (0x1D) // Reference Value for High-Pass Filter for Y-Axis Acceleration Data
#define LSM9DS0_REG_ACCEL_REF_Z (0x1E) // Reference Value for High-Pass Filter for Z-Axis Acceleration Data
#define LSM9DS0_REG_ACCELMAG_CTRL_REG0 (0x1F) // Accelerometer/Magnetometer Control Register 0
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1 (0x20) // Accelerometer/Magnetometer Control Register 1
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2 (0x21) // Accelerometer/Magnetometer Control Register 2
#define LSM9DS0_REG_ACCELMAG_CTRL_REG3 (0x22) // Accelerometer/Magnetometer Control Register 3
#define LSM9DS0_REG_ACCELMAG_CTRL_REG4 (0x23) // Accelerometer/Magnetometer Control Register 4
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5 (0x24) // Accelerometer/Magnetometer Control Register 5
#define LSM9DS0_REG_ACCELMAG_CTRL_REG6 (0x25) // Accelerometer/Magnetometer Control Register 6
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7 (0x26) // Accelerometer/Magnetometer Control Register 7
#define LSM9DS0_REG_ACCEL_STATUS (0x27) // Acceleration Status Register
#define LSM9DS0_REG_ACCEL_OUT_X_L (0x28) // X-Axis Acceleration Data Low Register
#define LSM9DS0_REG_ACCEL_OUT_X_H (0x29) // X-Axis Acceleration Data High Register
#define LSM9DS0_REG_ACCEL_OUT_Y_L (0x2A) // Y-Axis Acceleration Data Low Register
#define LSM9DS0_REG_ACCEL_OUT_Y_H (0x2B) // Y-Axis Acceleration Data High Register
#define LSM9DS0_REG_ACCEL_OUT_Z_L (0x2C) // Z-Axis Acceleration Data Low Register
#define LSM9DS0_REG_ACCEL_OUT_Z_H (0x2D) // Z-Axis Acceleration Data High Register
#define LSM9DS0_REG_ACCELMAG_FIFO_CTRL (0x2E) // FIFO Control Register
#define LSM9DS0_REG_ACCELMAG_FIFO_SRC (0x2F) // FIFO Source Register
#define LSM9DS0_REG_ACCELMAG_INT1_GEN (0x30) // Interrupt 1 Recognition Register
#define LSM9DS0_REG_ACCELMAG_INT1_SRC (0x31) // Interrupt 1 Source Register
#define LSM9DS0_REG_ACCELMAG_INT1_THS (0x32) // Interrupt 1 Threshold Register
#define LSM9DS0_REG_ACCELMAG_INT1_DUR (0x33) // Interrupt 1 Duration Register
#define LSM9DS0_REG_ACCELMAG_INT2_GEN (0x34) // Interrupt 2 Recognition Register
#define LSM9DS0_REG_ACCELMAG_INT2_SRC (0x35) // Interrupt 2 Source Register
#define LSM9DS0_REG_ACCELMAG_INT2_THS (0x36) // Interrupt 2 Threshold Register
#define LSM9DS0_REG_ACCELMAG_INT2_DUR (0x37) // Interrupt 2 Duration Register
#define LSM9DS0_REG_ACCELMAG_CLICK_CFG (0x38) // Interrupt Click Recognition Register
#define LSM9DS0_REG_ACCELMAG_CLICK_SRC (0x39) // Interrupt Click Source Register
#define LSM9DS0_REG_ACCELMAG_CLICK_THS (0x3A) // Interrupt Click Threshold Register
#define LSM9DS0_REG_ACCELMAG_TIME_LIMIT (0x3B) // Click Time Limit Register
#define LSM9DS0_REG_ACCELMAG_TIME_LAT (0x3C) // Click Time Latency Register
#define LSM9DS0_REG_ACCELMAG_TIME_WIN (0x3D) // Click Time Window Register
#define LSM9DS0_REG_ACCELMAG_ACT_THS (0x3E) // Sleep-to-Wake, Return-to-Sleep Activation Threshold Register
#define LSM9DS0_REG_ACCELMAG_ACT_DUR (0x3F) // Sleep-to-Wake, Return-to-Sleep Duration Register
/**************************************************************************
GYROSCOPE CONTROL REGISTER 1 DESCRIPTION
**************************************************************************/
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_MASK (0xF0) // Output Data Rate and Bandwidth Selection
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_95_12_5 (0x00) // ODR (Hz): 95, Cutoff: 12.5
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_95_25 (0x30) // ODR (Hz): 95, Cutoff: 25
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_190_12_5 (0x40) // ODR (Hz): 190, Cutoff: 12.5
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_190_25 (0x50) // ODR (Hz): 190, Cutoff: 25
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_190_50 (0x60) // ODR (Hz): 190, Cutoff: 50
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_190_70 (0x70) // ODR (Hz): 190, Cutoff: 70
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_380_20 (0x80) // ODR (Hz): 380, Cutoff: 20
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_380_25 (0x90) // ODR (Hz): 380, Cutoff: 25
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_380_50 (0xA0) // ODR (Hz): 380, Cutoff: 50
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_380_100 (0xB0) // ODR (Hz): 380, Cutoff: 100
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_760_30 (0xC0) // ODR (Hz): 760, Cutoff: 30
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_760_35 (0xD0) // ODR (Hz): 760, Cutoff: 35
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_760_50 (0xE0) // ODR (Hz): 760, Cutoff: 50
#define LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_760_100 (0xF0) // ODR (Hz): 760, Cutoff: 100
#define LSM9DS0_REG_GYRO_CTRL_REG1_PD_MASK (0x08) // Power-Down Mode Enable
#define LSM9DS0_REG_GYRO_CTRL_REG1_PD_DOWN (0x00) // Power-Down Mode
#define LSM9DS0_REG_GYRO_CTRL_REG1_PD_NORMAL (0x08) // Normal Mode or Sleep Mode
#define LSM9DS0_REG_GYRO_CTRL_REG1_ZEN_MASK (0x04) // Gyroscope Z-axis Enable
#define LSM9DS0_REG_GYRO_CTRL_REG1_ZEN_DISABLE (0x00) // Gyroscope Z-axis Disabled
#define LSM9DS0_REG_GYRO_CTRL_REG1_ZEN_ENABLE (0x04) // Gyroscope Z-axis Enabled
#define LSM9DS0_REG_GYRO_CTRL_REG1_YEN_MASK (0x02) // Gyroscope Y-axis Enable
#define LSM9DS0_REG_GYRO_CTRL_REG1_YEN_DISABLE (0x00) // Gyroscope Y-axis Disabled
#define LSM9DS0_REG_GYRO_CTRL_REG1_YEN_ENABLE (0x02) // Gyroscope Y-axis Enabled
#define LSM9DS0_REG_GYRO_CTRL_REG1_XEN_MASK (0x01) // Gyroscope X-axis Enable
#define LSM9DS0_REG_GYRO_CTRL_REG1_XEN_DISABLE (0x00) // Gyroscope X-axis Disabled
#define LSM9DS0_REG_GYRO_CTRL_REG1_XEN_ENABLE (0x01) // Gyroscope X-axis Enabled
/**************************************************************************
GYROSCOPE CONTROL REGISTER 4 DESCRIPTION
**************************************************************************/
#define LSM9DS0_REG_GYRO_CTRL_REG4_BDU_MASK (0x80) // Block Data Update
#define LSM9DS0_REG_GYRO_CTRL_REG4_BDU_CONTINUOUS (0x00) // Continuous Update
#define LSM9DS0_REG_GYRO_CTRL_REG4_BDU_NOTUPDATE (0x80) // Output Registers Not Updated until MSB and LSB Read
#define LSM9DS0_REG_GYRO_CTRL_REG4_BLE_MASK (0x40) // Big/Little Endian Data Selection
#define LSM9DS0_REG_GYRO_CTRL_REG4_BLE_LSB (0x00) // Data LSB @ lower address
#define LSM9DS0_REG_GYRO_CTRL_REG4_BLE_MSB (0x40) // Data MSB @ lower address
#define LSM9DS0_REG_GYRO_CTRL_REG4_FS_MASK (0x30) // Full-Scale Selection
#define LSM9DS0_REG_GYRO_CTRL_REG4_FS_245 (0x00) // 245 dps
#define LSM9DS0_REG_GYRO_CTRL_REG4_FS_500 (0x10) // 500 dps
#define LSM9DS0_REG_GYRO_CTRL_REG4_FS_2000 (0x30) // 2000 dps
#define LSM9DS0_REG_GYRO_CTRL_REG4_ST_MASK (0x06) // Self-Test Enable
#define LSM9DS0_REG_GYRO_CTRL_REG4_ST_NORMAL (0x00) // Normal Mode
#define LSM9DS0_REG_GYRO_CTRL_REG4_ST_0 (0x02) // Self-Test 0 (X Positive Sign, Y and Z Negative Sign)
#define LSM9DS0_REG_GYRO_CTRL_REG4_ST_1 (0x06) // Self-Test 1 (X Negative Sign, Y and Z Positive Sign)
#define LSM9DS0_REG_GYRO_CTRL_REG4_SIM_MASK (0x01) // SPI Serial Interface Mode Selection
#define LSM9DS0_REG_GYRO_CTRL_REG4_SIM_4WIRE (0x00) // 4-Wire Interface
#define LSM9DS0_REG_GYRO_CTRL_REG4_SIM_3WIRE (0x01) // 3-Wire Interface
/**************************************************************************
ACCELEROMETER/MAGNETOMETER CONTROL REGISTER 1 DESCRIPTION
**************************************************************************/
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_MASK (0xF0) // Acceleration Data Rate Selection
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_PD (0x00) // Power-Down Mode
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_3_125 (0x10) // 3.125 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_6_25 (0x20) // 6.25 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_12_5 (0x30) // 12.5 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_25 (0x40) // 25 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_50 (0x50) // 50 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_100 (0x60) // 100 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_200 (0x70) // 200 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_400 (0x80) // 400 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_800 (0x90) // 800 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_1600 (0xA0) // 1600 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_BDU_MASK (0x08) // Block Data Update for Acceleration and Magnetic Data
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_BDU_CONTINUOUS (0x00) // Continuous Update
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_BDU_NOTUPDATE (0x08) // Output Registers Not Updated until MSB and LSB Read
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AZEN_MASK (0x04) // Acceleration Z-axis Enable
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AZEN_DISABLE (0x00) // Acceleration Z-axis Disabled
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AZEN_ENABLE (0x04) // Acceleration Z-axis Enabled
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AYEN_MASK (0x02) // Acceleration Y-axis Enable
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AYEN_DISABLE (0x00) // Acceleration Y-axis Disabled
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AYEN_ENABLE (0x02) // Acceleration Y-axis Enabled
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AXEN_MASK (0x01) // Acceleration X-axis Enable
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AXEN_DISABLE (0x00) // Acceleration X-axis Disabled
#define LSM9DS0_REG_ACCELMAG_CTRL_REG1_AXEN_ENABLE (0x01) // Acceleration X-axis Enabled
/**************************************************************************
ACCELEROMETER/MAGNETOMETER CONTROL REGISTER 2 DESCRIPTION
**************************************************************************/
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_MASK (0xC0) // Accelerometer Anti-Alias Filter Bandwidth
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_773 (0x00) // 773 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_194 (0x40) // 194 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_362 (0x80) // 362 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_50 (0xC0) // 50 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_MASK (0x38) // Acceleration Full-Scale Selection
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_2G (0x00) // ±2 g
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_4G (0x08) // ±4 g
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_6G (0x10) // ±6 g
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_8G (0x18) // ±8 g
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_16G (0x20) // ±16 g
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AST_MASK (0x06) // Acceleration Self-Test Enable
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AST_NORMAL (0x00) // Normal Mode
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AST_POSITIVE (0x02) // Positive Sign Self-Test
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AST_NEGATIVE (0x04) // Negative Sign Self-Test
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_AST_NOT (0x06) // Not Allowed
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_SIM_MASK (0x01) // SPI Serial Interface Mode Selection
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_SIM_4WIRE (0x00) // 4-Wire Interface
#define LSM9DS0_REG_ACCELMAG_CTRL_REG2_SIM_3WIRE (0x01) // 3-Wire Interface
/**************************************************************************
ACCELEROMETER/MAGNETOMETER CONTROL REGISTER 5 DESCRIPTION
**************************************************************************/
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_TEMP_MASK (0x80) // Temperature Sensor Enable
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_TEMP_DISABLED (0x00) // Temperature Sensor Disabled
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_TEMP_ENABLED (0x80) // Temperature Sensor Enabled
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_M_RES_MASK (0x60) // Magnetic Resolution Selection
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_M_RES_LOW (0x00) // Magnetic Resolution Low
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_M_RES_HIGH (0x60) // Magnetic Resolution High
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_MASK (0x1C) // Magnetic Data Rate Selection
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_3_125 (0x00) // 3.125 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_6_25 (0x04) // 6.25 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_12_5 (0x08) // 12.5 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_25 (0x0C) // 25 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_50 (0x10) // 50 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_100 (0x14) // 100 Hz
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_RES (0x1C) // Reserved
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR2_MASK (0x02) // Latch Interrupt Request on INT2_SRC Register, with INT2_SRC Register Cleared by Reading INT2_SRC Itself
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR2_NOLATCH (0x00) // Interrupt Request Not Latched
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR2_LATCH (0x02) // Interrupt Request Latched
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR1_MASK (0x01) // Latch Interrupt Request on INT1_SRC Register, with INT1_SRC Register Cleared by Reading INT1_SRC Itself
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR1_NOLATCH (0x00) // Interrupt Request Not Latched
#define LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR1_LATCH (0x01) // Interrupt Request Latched
/**************************************************************************
ACCELEROMETER/MAGNETOMETER CONTROL REGISTER 6 DESCRIPTION
**************************************************************************/
#define LSM9DS0_REG_ACCELMAG_CTRL_REG6_MFS_MASK (0x60) // Magnetic Full-Scale Selection
#define LSM9DS0_REG_ACCELMAG_CTRL_REG6_MFS_2G (0x00) // ±2 gauss
#define LSM9DS0_REG_ACCELMAG_CTRL_REG6_MFS_4G (0x20) // ±4 gauss
#define LSM9DS0_REG_ACCELMAG_CTRL_REG6_MFS_8G (0x40) // ±8 gauss
#define LSM9DS0_REG_ACCELMAG_CTRL_REG6_MFS_12G (0x60) // ±12 gauss
/**************************************************************************
ACCELEROMETER/MAGNETOMETER CONTROL REGISTER 7 DESCRIPTION
**************************************************************************/
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_AHPM_MASK (0xC0) // High-Pass Filter Mode Selection for Acceleration Data
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_AHPM_NORMAL (0x00) // Normal mode (resets x, y and z-axis reading REFERENCE_X (1Ch), REFERENCE_Y (1Dh) and REFERENCE_Y (1Dh) registers respectively)
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_AHPM_REF (0x40) // Reference signal for filtering
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_AHPM_NORMAL1 (0x80) // Normal mode
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_AHPM_AUTO (0xC0) // Autoreset on interrupt event
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_AFDS_MASK (0x20) // Filtered Acceleration Data Selection
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_AFDS_BYPASS (0x00) // Internal Filter Bypassed
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_AFDS_INTFILTER (0x20) // Data From Internal Filter Sent to Output Register and FIFO
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_MLP_MASK (0x04) // Magnetic Sensor Mode Selection
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_MLP_MODR (0x00) // Magnetic Data Rate is Configured by MODR Bits
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_MLP_3_125 (0x04) // MODR is Set to 3.125 Hz Independently From the MODR Settings
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_MD_MASK (0x03) // Magnetic Sensor Mode Selection
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_MD_CONTINUOUS (0x00) // Continuous-Conversion Mode
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_MD_SINGLE (0x01) // Single-conversion mode
#define LSM9DS0_REG_ACCELMAG_CTRL_REG7_MD_PDOWN (0x03) // Power-Down mode
typedef enum
{
GYRO_DATARATE_95_12_5 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_95_12_5,
GYRO_DATARATE_95_25 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_95_25,
GYRO_DATARATE_190_12_5 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_190_12_5,
GYRO_DATARATE_190_25 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_190_25,
GYRO_DATARATE_190_50 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_190_50,
GYRO_DATARATE_190_70 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_190_70,
GYRO_DATARATE_380_20 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_380_20,
GYRO_DATARATE_380_25 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_380_25,
GYRO_DATARATE_380_50 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_380_50,
GYRO_DATARATE_380_100 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_380_100,
GYRO_DATARATE_760_30 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_760_30,
GYRO_DATARATE_760_35 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_760_35,
GYRO_DATARATE_760_50 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_760_50,
GYRO_DATARATE_760_100 = LSM9DS0_REG_GYRO_CTRL_REG1_DRBW_760_100
} lsmGyroDataRate_t;
typedef enum
{
GYRO_POWER_DOWN_MODE = LSM9DS0_REG_GYRO_CTRL_REG1_PD_DOWN,
GYRO_NORMAL_MODE = LSM9DS0_REG_GYRO_CTRL_REG1_PD_NORMAL
} lsmGyroMode_t;
typedef enum
{
GYRO_Z_AXIS_DISABLED = LSM9DS0_REG_GYRO_CTRL_REG1_ZEN_DISABLE,
GYRO_Z_AXIS_ENABLED = LSM9DS0_REG_GYRO_CTRL_REG1_ZEN_ENABLE
} lsmGyroZen_t;
typedef enum
{
GYRO_Y_AXIS_DISABLED = LSM9DS0_REG_GYRO_CTRL_REG1_YEN_DISABLE,
GYRO_Y_AXIS_ENABLED = LSM9DS0_REG_GYRO_CTRL_REG1_YEN_ENABLE
} lsmGyroYen_t;
typedef enum
{
GYRO_X_AXIS_DISABLED = LSM9DS0_REG_GYRO_CTRL_REG1_XEN_DISABLE,
GYRO_X_AXIS_ENABLED = LSM9DS0_REG_GYRO_CTRL_REG1_XEN_ENABLE
} lsmGyroXen_t;
typedef enum
{
GYRO_CONTINUOUS = LSM9DS0_REG_GYRO_CTRL_REG4_BDU_CONTINUOUS,
GYRO_NOT_UPDATED = LSM9DS0_REG_GYRO_CTRL_REG4_BDU_NOTUPDATE
} lsmGyroBlockData_t;
typedef enum
{
GYRO_DATA_LSB = LSM9DS0_REG_GYRO_CTRL_REG4_BLE_LSB,
GYRO_DATA_MSB = LSM9DS0_REG_GYRO_CTRL_REG4_BLE_MSB
} lsmGyroEndianData_t;
typedef enum
{
GYRO_SCALE_245DPS = LSM9DS0_REG_GYRO_CTRL_REG4_FS_245,
GYRO_SCALE_500DPS = LSM9DS0_REG_GYRO_CTRL_REG4_FS_500,
GYRO_SCALE_2000DPS = LSM9DS0_REG_GYRO_CTRL_REG4_FS_2000
} lsmGyroScale_t;
typedef enum
{
GYRO_SELF_TEST_NORMAL = LSM9DS0_REG_GYRO_CTRL_REG4_ST_NORMAL,
GYRO_SELF_TEST_0 = LSM9DS0_REG_GYRO_CTRL_REG4_ST_0,
GYRO_SELF_TEST_1 = LSM9DS0_REG_GYRO_CTRL_REG4_ST_1
} lsmGyroSelfTest_t;
typedef enum
{
GYRO_SPI_WIRE_4 = LSM9DS0_REG_GYRO_CTRL_REG4_SIM_4WIRE,
GYRO_SPI_WIRE_3 = LSM9DS0_REG_GYRO_CTRL_REG4_SIM_3WIRE
} lsmGyroSPIWire_t;
typedef enum
{
ACCEL_DATARATE_POWERDOWN = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_PD,
ACCEL_DATARATE_3_125HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_3_125,
ACCEL_DATARATE_6_25HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_6_25,
ACCEL_DATARATE_12_5HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_12_5,
ACCEL_DATARATE_25HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_25,
ACCEL_DATARATE_50HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_50,
ACCEL_DATARATE_100HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_100,
ACCEL_DATARATE_200HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_200,
ACCEL_DATARATE_400HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_400,
ACCEL_DATARATE_800HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_800,
ACCEL_DATARATE_1600HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AODR_1600
} lsmAccelDataRate_t;
typedef enum
{
ACCELMAG_CONTINUOUS = LSM9DS0_REG_ACCELMAG_CTRL_REG1_BDU_CONTINUOUS,
ACCELMAG_NOT_UPDATED = LSM9DS0_REG_ACCELMAG_CTRL_REG1_BDU_NOTUPDATE
} lsmAccelMagBlockData_t;
typedef enum
{
ACCEL_Z_AXIS_DISABLED = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AZEN_DISABLE,
ACCEL_Z_AXIS_ENABLED = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AZEN_ENABLE
} lsmAccelZen_t;
typedef enum
{
ACCEL_Y_AXIS_DISABLED = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AYEN_DISABLE,
ACCEL_Y_AXIS_ENABLED = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AYEN_ENABLE
} lsmAccelYen_t;
typedef enum
{
ACCEL_X_AXIS_DISABLED = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AYEN_DISABLE,
ACCEL_X_AXIS_ENABLED = LSM9DS0_REG_ACCELMAG_CTRL_REG1_AYEN_ENABLE
} lsmAccelXen_t;
typedef enum
{
ACCEL_BANDWIDTH_773HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_773,
ACCEL_BANDWIDTH_194HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_194,
ACCEL_BANDWIDTH_362HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_362,
ACCEL_BANDWIDTH_50HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG2_ABW_50
} lsmAccelBandwidth_t;
typedef enum
{
ACCEL_RANGE_2G = LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_2G,
ACCEL_RANGE_4G = LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_4G,
ACCEL_RANGE_6G = LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_6G,
ACCEL_RANGE_8G = LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_8G,
ACCEL_RANGE_16G = LSM9DS0_REG_ACCELMAG_CTRL_REG2_AFS_16G
} lsmAccelRange_t;
typedef enum
{
ACCEL_SELF_TEST_NORMAL = LSM9DS0_REG_ACCELMAG_CTRL_REG2_AST_NORMAL,
ACCEL_SELF_TEST_POSITIVE = LSM9DS0_REG_ACCELMAG_CTRL_REG2_AST_POSITIVE,
ACCEl_SELF_TEST_NEGATIVE = LSM9DS0_REG_ACCELMAG_CTRL_REG2_AST_NEGATIVE
} lsmAccelSelfTest_t;
typedef enum
{
ACCEL_MAG_SPI_WIRE_4 = LSM9DS0_REG_ACCELMAG_CTRL_REG2_SIM_4WIRE,
ACCEL_MAG_SPI_WIRE_3 = LSM9DS0_REG_ACCELMAG_CTRL_REG2_SIM_3WIRE
} lsmAccelMagSPIWire_t;
typedef enum
{
TEMP_SENSOR_DISABLED = LSM9DS0_REG_ACCELMAG_CTRL_REG5_TEMP_DISABLED,
TEMP_SENSOR_ENABLED = LSM9DS0_REG_ACCELMAG_CTRL_REG5_TEMP_ENABLED
} lsmTempSensor_t;
typedef enum
{
MAG_RESOLUTION_LOW = LSM9DS0_REG_ACCELMAG_CTRL_REG5_M_RES_LOW,
MAG_RESOLUTION_HIGH = LSM9DS0_REG_ACCELMAG_CTRL_REG5_M_RES_HIGH
} lsmMagResolution_t;
typedef enum
{
MAG_DATARATE_3_125HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_3_125,
MAG_DATARATE_6_25HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_6_25,
MAG_DATARATE_12_5HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_12_5,
MAG_DATARATE_25HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_25,
MAG_DATARATE_50HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_50,
MAG_DATARATE_100HZ = LSM9DS0_REG_ACCELMAG_CTRL_REG5_MODR_100
} lsmMagDataRate_t;
typedef enum
{
MAG_INTR2_NOT_LATCHED = LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR2_NOLATCH,
MAG_INTR2_LATCHED = LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR2_LATCH
} lsmMagIntr2Latch_t;
typedef enum
{
MAG_INTR1_NOT_LATCHED = LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR1_NOLATCH,
MAG_INTR1_LATCHED = LSM9DS0_REG_ACCELMAG_CTRL_REG5_LIR1_LATCH
} lsmMagIntr1Latch_t;
typedef enum
{
MAG_GAIN_2GAUSS = LSM9DS0_REG_ACCELMAG_CTRL_REG6_MFS_2G,
MAG_GAIN_4GAUSS = LSM9DS0_REG_ACCELMAG_CTRL_REG6_MFS_4G,
MAG_GAIN_8GAUSS = LSM9DS0_REG_ACCELMAG_CTRL_REG6_MFS_8G,
MAG_GAIN_12GAUSS = LSM9DS0_REG_ACCELMAG_CTRL_REG6_MFS_12G
} lsmMagGain_t;
typedef enum
{
MAG_CONTINUOUS = LSM9DS0_REG_ACCELMAG_CTRL_REG7_MD_CONTINUOUS,
MAG_SINGLE = LSM9DS0_REG_ACCELMAG_CTRL_REG7_MD_SINGLE,
MAG_POWER_DOWN = LSM9DS0_REG_ACCELMAG_CTRL_REG7_MD_PDOWN
} lsmMagMode_t;
typedef struct
{
int16_t X;
int16_t Y;
int16_t Z;
float T;
} lsmSensorData_t;
class LSM9DS0
{
protected:
// Instance-specific properties
uint8_t lsm_conversionDelay;
lsmGyroDataRate_t lsm_gyrodatarate;
lsmGyroMode_t lsm_gyromode;
lsmGyroZen_t lsm_gyrozen;
lsmGyroYen_t lsm_gyroyen;
lsmGyroXen_t lsm_gyroxen;
lsmGyroBlockData_t lsm_gyroblockdata;
lsmGyroEndianData_t lsm_gyroendiandata;
lsmGyroScale_t lsm_gyroscale;
lsmGyroSelfTest_t lsm_gyroselftest;
lsmGyroSPIWire_t lsm_gyrospiwire;
lsmAccelDataRate_t lsm_acceldatarate;
lsmAccelMagBlockData_t lsm_accelmagblockdata;
lsmAccelZen_t lsm_accelzen;
lsmAccelYen_t lsm_accelyen;
lsmAccelXen_t lsm_accelxen;
lsmAccelBandwidth_t lsm_accelbandwidth;
lsmAccelRange_t lsm_accelrange;
lsmAccelSelfTest_t lsm_accelselftest;
lsmAccelMagSPIWire_t lsm_accelmagspiwire;
lsmTempSensor_t lsm_tempsensor;
lsmMagResolution_t lsm_magresolution;
lsmMagDataRate_t lsm_magdatarate;
lsmMagIntr2Latch_t lsm_magintr2latch;
lsmMagIntr1Latch_t lsm_magintr1latch;
lsmMagGain_t lsm_maggain;
lsmMagMode_t lsm_magmode;
public:
uint8_t lsm_i2cAddressG;
uint8_t lsm_i2cAddressXM;
lsmSensorData_t lsm_gyroData;
lsmSensorData_t lsm_accelData;
lsmSensorData_t lsm_magData;
lsmSensorData_t lsm_tempData;
int16_t tempData;
void getAddrG_LSM9DS0(uint8_t i2cAddress);
void getAddrXM_LSM9DS0(uint8_t i2cAddress);
bool begin(void);
void Measure_Sensor(void);
void setUpGyroscope(void);
void setUpAccelerometer(void);
void setUpMagnetometer(void);
void Measure_Gyroscope(void);
void Measure_Accelerometer(void);
void Measure_Magnetometer(void);
void Measure_Temperature(void);
void setGyroDataRate(lsmGyroDataRate_t gyrodatarate);
lsmGyroDataRate_t getGyroDataRate(void);
void setGyroMode(lsmGyroMode_t gyromode);
lsmGyroMode_t getGyroMode(void);
void setGyroZen(lsmGyroZen_t gyrozen);
lsmGyroZen_t getGyroZen(void);
void setGyroYen(lsmGyroYen_t gyroyen);
lsmGyroYen_t getGyroYen(void);
void setGyroXen(lsmGyroXen_t gyroxen);
lsmGyroXen_t getGyroXen(void);
void setGyroBlockData(lsmGyroBlockData_t gyroblockdata);
lsmGyroBlockData_t getGyroBlockData(void);
void setGyroEndianData(lsmGyroEndianData_t gyroendiandata);
lsmGyroEndianData_t getGyroEndianData(void);
void setGyroScale(lsmGyroScale_t gyroscale);
lsmGyroScale_t getGyroScale(void);
void setGyroSelfTest(lsmGyroSelfTest_t gyroselftest);
lsmGyroSelfTest_t getGyroSelfTest(void);
void setGyroSPIWire(lsmGyroSPIWire_t gyrospiwire);
lsmGyroSPIWire_t getGyroSPIWire(void);
void setAccelDataRate(lsmAccelDataRate_t acceldatarate);
lsmAccelDataRate_t getAccelDataRate(void);
void setAccelMagBlockData(lsmAccelMagBlockData_t accelmagblockdata);
lsmAccelMagBlockData_t getAccelMagBlockData(void);
void setAccelZen(lsmAccelZen_t accelzen);
lsmAccelZen_t getAccelZen(void);
void setAccelYen(lsmAccelYen_t accelyen);
lsmAccelYen_t getAccelYen(void);
void setAccelXen(lsmAccelXen_t accelxen);
lsmAccelXen_t getAccelXen(void);
void setAccelBandwidth(lsmAccelBandwidth_t accelbandwidth);
lsmAccelBandwidth_t getAccelBandwidth(void);
void setAccelRange(lsmAccelRange_t accelrange);
lsmAccelRange_t getAccelRange(void);
void setAccelSelfTest(lsmAccelSelfTest_t accelselftest);
lsmAccelSelfTest_t getAccelSelfTest(void);
void setAccelMagSPIWire(lsmAccelMagSPIWire_t accelmagspiwire);
lsmAccelMagSPIWire_t getAccelMagSPIWire(void);
void setTempSensor(lsmTempSensor_t tempsensor);
lsmTempSensor_t getTempSensor(void);
void setMagResolution(lsmMagResolution_t magresolution);
lsmMagResolution_t getMagResolution(void);
void setMagDataRate(lsmMagDataRate_t magdatarate);
lsmMagDataRate_t getMagDataRate(void);
void setMagIntr2Latch(lsmMagIntr2Latch_t magintr2latch);
lsmMagIntr2Latch_t getMagIntr2Latch(void);
void setMagIntr1Latch(lsmMagIntr1Latch_t magintr1latch);
lsmMagIntr1Latch_t getMagIntr1Latch(void);
void setMagGain(lsmMagGain_t maggain);
lsmMagGain_t getMagGain(void);
void setMagMode(lsmMagMode_t magmode);
lsmMagMode_t getMagMode(void);
private:
};
