Initial support of the accelerometer and gyroscope on the LSM9DS1. More...

#include <LSM9DS1.hpp>

Inheritance diagram for duds::hardware::devices::instruments::LSM9DS1AccelGyro:

Collaboration diagram for duds::hardware::devices::instruments::LSM9DS1AccelGyro:

Classes
union	RawSample
	Stores the sample data as reported by the device. More...

struct	Settings
	The various settings for the device packed into an integer to avoid passing a lot of parameters. More...

Public Types
enum	AccelRange { AccelRange2g, AccelRange16g, AccelRange4g, AccelRange8g, AccelRange19m61ps2 = 0, AccelRange156m9ps2, AccelRange39m23ps2, AccelRange78m45ps2 }
	The maximum magnitude options for the accelerometer. More...

typedef duds::data::QuantityXyz	ConvertedQuantity
	The sample data converted to known units. More...

enum	GyroRange { GyroRange245dps, GyroRange500dps, GyroRange2000dps = 3, GyroRange4r276ps = 0, GyroRange8r727ps, GyroRange34r91ps = 3 }
	The maximum magnitude options for the gyroscope. More...

Public Member Functions
	LSM9DS1AccelGyro (std::unique_ptr< duds::hardware::interface::I2c > &i2c)
	Attempts to identify the device, then suspends the device's operation. More...

	~LSM9DS1AccelGyro ()
	Calls suspend(). More...

void	accelerometerQuantity (ConvertedQuantity &ps) const
	Provides the accelerometer data in meters per second squared. More...

void	configure (float freq, Settings settings)
	Configures the device. More...

void	gyroscopeQuantity (ConvertedQuantity &ps) const
	Provides the gyroscope data in radians per second. More...

const RawSample &	rawAccelerometer () const
	Returns the accelerometer data as read from the device. More...

const RawSample &	rawGyroscope () const

void	resume ()
	Resumes operation after a call to suspend(). More...

bool	sample ()
	Reads sampled data from the device. More...

float	sampleRate () const
	Returns the confiured sampling rate. More...

void	start ()
	Tells the device to start sampling. More...

void	suspend ()
	Suspends operation by putting the device into a low-power mode that discontinues sampling. More...

Private Attributes
RawSample	accl
	The values supplied by the device. More...

std::unique_ptr< duds::hardware::interface::I2c >	agcom
	The I2C communication interface. More...

float	agdatarate
	The currently configured sample rate. More...

std::int8_t	agdrval
	The data rate value given to the device. More...

duds::hardware::interface::Conversation	agsample
	The conversation used to read in samples from the device. More...

Settings	cfg
	The current various configuration options. More...

RawSample	gyro

duds::hardware::interface::Conversation	initialize
	The conversation used to initialize the device. More...

duds::hardware::interface::Conversation	statq

Detailed Description

Initial support of the accelerometer and gyroscope on the LSM9DS1.

The magnetometer is supported by LSM9DS1Mag because it acts like an independent device. The documentation makes it seem as though the LSM9DS1 is really two devices stuck together.

The Sparkfun board I've got uses I2C address 0x6B for the accelerometer and gyroscope.

Author: Jeff Jackowski

Definition at line 49 of file LSM9DS1.hpp.

Member Typedef Documentation

◆ ConvertedQuantity

typedef duds::data::QuantityXyz duds::hardware::devices::instruments::LSM9DS1AccelGyro::ConvertedQuantity

The sample data converted to known units.

The accelerometer data is a bit of a guess since its units are vaugely defined and callibration is done based on the local pull of Earth's gravity.

Definition at line 68 of file LSM9DS1.hpp.

Member Enumeration Documentation

◆ AccelRange

enum duds::hardware::devices::instruments::LSM9DS1AccelGyro::AccelRange

The maximum magnitude options for the accelerometer.

The ordering is strange, but that is how the device does it.

Enumerator
AccelRange2g	Selects the +/-2g accelerometer range.
AccelRange16g	Selects the +/-16g accelerometer range.
AccelRange4g	Selects the +/-4g accelerometer range.
AccelRange8g	Selects the +/-8g accelerometer range.
AccelRange19m61ps2	19.6133m/(s*s)
AccelRange156m9ps2	156.9064m/(s*s)
AccelRange39m23ps2	39.2266m/(s*s)
AccelRange78m45ps2	78.4532m/(s*s)

Definition at line 73 of file LSM9DS1.hpp.

◆ GyroRange

enum duds::hardware::devices::instruments::LSM9DS1AccelGyro::GyroRange

The maximum magnitude options for the gyroscope.

Enumerator
GyroRange245dps	245 degrees per second
GyroRange500dps	500 degrees per second
GyroRange2000dps	2000 degrees per second
GyroRange4r276ps	4.276 radians per second
GyroRange8r727ps	8.727 radians per second
GyroRange34r91ps	34.91 radians per second

Definition at line 98 of file LSM9DS1.hpp.

Constructor & Destructor Documentation

◆ LSM9DS1AccelGyro()

duds::hardware::devices::instruments::LSM9DS1AccelGyro::LSM9DS1AccelGyro ( std::unique_ptr< duds::hardware::interface::I2c > & i2c )

Attempts to identify the device, then suspends the device's operation.

This resets the device, which requires 2ms to complete.

Sparkfun's board uses device address 0x6B.

Postcondition: The device is suspended.

Parameters

i2c	The I2C object to use to communicate with the accelerometer/gyroscope part of the device. This LSM9DS1 object will take ownership over the communicator.

Postcondition: The provided i2c unique_ptr no longer contains an object upon success. If any exception is thrown, the unique_ptr will retain the object.

Exceptions

DeviceMisidentified The reported device ID is incorrect.

Definition at line 188 of file LSM9DS1.cpp.

◆ ~LSM9DS1AccelGyro()

duds::hardware::devices::instruments::LSM9DS1AccelGyro::~LSM9DS1AccelGyro ( )

Calls suspend().

Definition at line 232 of file LSM9DS1.cpp.

Member Function Documentation

◆ accelerometerQuantity()

void duds::hardware::devices::instruments::LSM9DS1AccelGyro::accelerometerQuantity ( ConvertedQuantity & ps ) const

Provides the accelerometer data in meters per second squared.

Definition at line 352 of file LSM9DS1.cpp.

◆ configure()

void duds::hardware::devices::instruments::LSM9DS1AccelGyro::configure	(	float	freq,
		Settings	settings
	)

Configures the device.

Postcondition: The device will be suspended.

Parameters

freq	The minimum sample frequency. If the rate is too high, LSM9DS1BadDataRate will be thrown.
settings	The requested device configuration.

Exceptions

LSM9DS1NoInsturment	The configuration does not select either the accelerometer or magnetometer for use.
LSM9DS1BadMagnitude	The requested maximum magnetude for the accelerometer is either not supported or an invalid value.
LSM9DS1BadDataRate

Definition at line 236 of file LSM9DS1.cpp.

◆ gyroscopeQuantity()

void duds::hardware::devices::instruments::LSM9DS1AccelGyro::gyroscopeQuantity ( ConvertedQuantity & ps ) const

Provides the gyroscope data in radians per second.

Definition at line 359 of file LSM9DS1.cpp.

◆ rawAccelerometer()

const RawSample& duds::hardware::devices::instruments::LSM9DS1AccelGyro::rawAccelerometer ( ) const

inline

Returns the accelerometer data as read from the device.

The data will be shifted, if needed, so that the LSb of the sample data will be in the LSb of the integers. Otherwise, the data is unchanged from what the device reported.

Note: The values will change when the device is sampled and the accelerometer is in use.

Definition at line 248 of file LSM9DS1.hpp.

◆ rawGyroscope()

const RawSample& duds::hardware::devices::instruments::LSM9DS1AccelGyro::rawGyroscope ( ) const

inline

Definition at line 251 of file LSM9DS1.hpp.

◆ resume()

void duds::hardware::devices::instruments::LSM9DS1AccelGyro::resume ( )

inline

Resumes operation after a call to suspend().

Seems to be a nice name that I used with other device drivers, so I put it here until I do more to figure out a consistent interface that I like.

Exceptions

DeviceUninitalized init() hasn't been called.

Definition at line 225 of file LSM9DS1.hpp.

◆ sample()

bool duds::hardware::devices::instruments::LSM9DS1AccelGyro::sample ( )

Reads sampled data from the device.

Returns: True if the device had new data.

Definition at line 333 of file LSM9DS1.cpp.

◆ sampleRate()

float duds::hardware::devices::instruments::LSM9DS1AccelGyro::sampleRate ( ) const

inline

Returns the confiured sampling rate.

The value will be zero if configure() has not yet been called, or if it failed.

Definition at line 237 of file LSM9DS1.hpp.

◆ start()

void duds::hardware::devices::instruments::LSM9DS1AccelGyro::start ( )

inline

Tells the device to start sampling.

Precondition: configure() has been called and succeeded.

Definition at line 209 of file LSM9DS1.hpp.

◆ suspend()

void duds::hardware::devices::instruments::LSM9DS1AccelGyro::suspend ( )

Suspends operation by putting the device into a low-power mode that discontinues sampling.

This may require as much as 300ms to complete if the magnetometer is in use.

Definition at line 322 of file LSM9DS1.cpp.

Referenced by configure(), and ~LSM9DS1AccelGyro().

Member Data Documentation

◆ accl

RawSample duds::hardware::devices::instruments::LSM9DS1AccelGyro::accl

private

The values supplied by the device.

Definition at line 153 of file LSM9DS1.hpp.

Referenced by accelerometerQuantity(), and sample().

◆ agcom

std::unique_ptr<duds::hardware::interface::I2c> duds::hardware::devices::instruments::LSM9DS1AccelGyro::agcom

private

The I2C communication interface.

Definition at line 140 of file LSM9DS1.hpp.

Referenced by configure(), LSM9DS1AccelGyro(), sample(), and suspend().

◆ agdatarate

float duds::hardware::devices::instruments::LSM9DS1AccelGyro::agdatarate

private

The currently configured sample rate.

Definition at line 157 of file LSM9DS1.hpp.

Referenced by configure().

◆ agdrval

std::int8_t duds::hardware::devices::instruments::LSM9DS1AccelGyro::agdrval

private

The data rate value given to the device.

Definition at line 165 of file LSM9DS1.hpp.

Referenced by configure().

◆ agsample

duds::hardware::interface::Conversation duds::hardware::devices::instruments::LSM9DS1AccelGyro::agsample

private

The conversation used to read in samples from the device.

Definition at line 149 of file LSM9DS1.hpp.

Referenced by configure(), and sample().

◆ cfg

Settings duds::hardware::devices::instruments::LSM9DS1AccelGyro::cfg

private

The current various configuration options.

Definition at line 161 of file LSM9DS1.hpp.

Referenced by accelerometerQuantity(), configure(), gyroscopeQuantity(), and sample().

◆ gyro

RawSample duds::hardware::devices::instruments::LSM9DS1AccelGyro::gyro

private

Definition at line 153 of file LSM9DS1.hpp.

Referenced by gyroscopeQuantity(), and sample().

◆ initialize

duds::hardware::interface::Conversation duds::hardware::devices::instruments::LSM9DS1AccelGyro::initialize

private

The conversation used to initialize the device.

It is created in init() and held for later use by resume().

Definition at line 145 of file LSM9DS1.hpp.

◆ statq

duds::hardware::interface::Conversation duds::hardware::devices::instruments::LSM9DS1AccelGyro::statq

private

Definition at line 149 of file LSM9DS1.hpp.

Referenced by configure(), and sample().

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

Classes

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConvertedQuantity

Member Enumeration Documentation

◆ AccelRange

◆ GyroRange

Constructor & Destructor Documentation

◆ LSM9DS1AccelGyro()

◆ ~LSM9DS1AccelGyro()

Member Function Documentation

◆ accelerometerQuantity()

◆ configure()

◆ gyroscopeQuantity()

◆ rawAccelerometer()

◆ rawGyroscope()

◆ resume()

◆ sample()

◆ sampleRate()

◆ start()

◆ suspend()

Member Data Documentation

◆ accl

◆ agcom

◆ agdatarate

◆ agdrval

◆ agsample

◆ cfg

◆ gyro

◆ initialize

◆ statq