Initial support of the magnetometer of the LSM9DS1. More...

#include <LSM9DS1.hpp>

Inheritance diagram for duds::hardware::devices::instruments::LSM9DS1Mag:

Collaboration diagram for duds::hardware::devices::instruments::LSM9DS1Mag:

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

enum	MagAxesMode { AxesLowPower, AxesLowPerformance, AxesMediumPerformance, AxesHighPerformance }
	Selects an operation mode for the axes. More...

enum	MagRange { MagRange400uT, MagRange800uT, MagRange1200uT, MagRange1600uT }
	The maximum magnitude options for the magnetometer. More...

Public Member Functions
	LSM9DS1Mag (std::unique_ptr< duds::hardware::interface::I2c > &i2c)
	Attempts to identify the device, then suspends the device's operation. More...

	~LSM9DS1Mag ()
	Calls suspend(). More...

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

void	quantity (ConvertedQuantity &ps) const

const RawSample &	rawSample () const
	Returns the magnetometer data as read from the device. More...

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

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

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

RawSample	magn
	The values supplied by the device. More...

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

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

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

duds::hardware::interface::Conversation	statq

Detailed Description

Initial support of the magnetometer of the LSM9DS1.

The accelerometer and gyroscope are supported by LSM9DS1AccelGyro because it acts like an independent device. The documentation makes it seem as though the LSM9DS1 is really two devices stuck together.

The axes for the magnetometer are not the same as the accelerometer and gyroscope. The magnetometer's axes are the accelerometer's axes rotated about the Z-axis 90 degrees such that the +X axis is rotated to the accelerometer's -Y axis. This class will modify the magnetometer's data to have the same axes because having different axes is bizarre.

The Sparkfun board I've got uses I2C address 0x1E for the magnetometer.

Author: Jeff Jackowski

Definition at line 282 of file LSM9DS1.hpp.

Member Typedef Documentation

◆ ConvertedQuantity

typedef duds::data::QuantityXyz duds::hardware::devices::instruments::LSM9DS1Mag::ConvertedQuantity

The sample data converted to Tesla.

Definition at line 299 of file LSM9DS1.hpp.

Member Enumeration Documentation

◆ MagAxesMode

enum duds::hardware::devices::instruments::LSM9DS1Mag::MagAxesMode

Selects an operation mode for the axes.

The documentation isn't clear on anything here, so take a guess as to what these options do.

Enumerator
AxesLowPower	Use a low power mode. The relation with the low-power mode for the whole magnetometer isn't specified in the documentation.
AxesLowPerformance	Called medium performance in the doc; renamed to avoid buzzwords.
AxesMediumPerformance	Called high performance in the doc; renamed to avoid buzzwords.
AxesHighPerformance	Buzzword high performance in the doc; renamed to avoid stupid.

Definition at line 313 of file LSM9DS1.hpp.

◆ MagRange

enum duds::hardware::devices::instruments::LSM9DS1Mag::MagRange

The maximum magnitude options for the magnetometer.

Enumerator
MagRange400uT	400 microtesla
MagRange800uT	800 microtesla
MagRange1200uT	1200 microtesla
MagRange1600uT	1600 microtesla

Definition at line 303 of file LSM9DS1.hpp.

Constructor & Destructor Documentation

◆ LSM9DS1Mag()

duds::hardware::devices::instruments::LSM9DS1Mag::LSM9DS1Mag ( 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 0x1E.

Postcondition: The device is suspended.

Parameters

i2c	The I2C object to use to communicate with the magnetometer 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 368 of file LSM9DS1.cpp.

◆ ~LSM9DS1Mag()

duds::hardware::devices::instruments::LSM9DS1Mag::~LSM9DS1Mag ( )

Calls suspend().

Definition at line 414 of file LSM9DS1.cpp.

Member Function Documentation

◆ configure()

void duds::hardware::devices::instruments::LSM9DS1Mag::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 418 of file LSM9DS1.cpp.

◆ quantity()

void duds::hardware::devices::instruments::LSM9DS1Mag::quantity ( ConvertedQuantity & ps ) const

Definition at line 501 of file LSM9DS1.cpp.

◆ rawSample()

const RawSample& duds::hardware::devices::instruments::LSM9DS1Mag::rawSample ( ) const

inline

Returns the magnetometer data as read from the device.

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

Definition at line 475 of file LSM9DS1.hpp.

◆ resume()

void duds::hardware::devices::instruments::LSM9DS1Mag::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 455 of file LSM9DS1.hpp.

◆ sample()

bool duds::hardware::devices::instruments::LSM9DS1Mag::sample ( )

Reads sampled data from the device.

Returns: True if the device had new data.

Definition at line 481 of file LSM9DS1.cpp.

◆ sampleRate()

float duds::hardware::devices::instruments::LSM9DS1Mag::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 467 of file LSM9DS1.hpp.

◆ start()

void duds::hardware::devices::instruments::LSM9DS1Mag::start ( )

inline

Tells the device to start sampling.

Precondition: configure() has been called and succeeded.

Definition at line 439 of file LSM9DS1.hpp.

◆ suspend()

void duds::hardware::devices::instruments::LSM9DS1Mag::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 474 of file LSM9DS1.cpp.

Referenced by configure(), and ~LSM9DS1Mag().

Member Data Documentation

◆ cfg

Settings duds::hardware::devices::instruments::LSM9DS1Mag::cfg

private

The current various configuration options.

Definition at line 392 of file LSM9DS1.hpp.

Referenced by configure(), quantity(), and sample().

◆ initialize

duds::hardware::interface::Conversation duds::hardware::devices::instruments::LSM9DS1Mag::initialize

private

The conversation used to initialize the device.

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

Definition at line 376 of file LSM9DS1.hpp.

◆ magcom

std::unique_ptr<duds::hardware::interface::I2c> duds::hardware::devices::instruments::LSM9DS1Mag::magcom

private

The I2C communication interface.

Definition at line 371 of file LSM9DS1.hpp.

Referenced by configure(), LSM9DS1Mag(), sample(), and suspend().

◆ magn

RawSample duds::hardware::devices::instruments::LSM9DS1Mag::magn

private

The values supplied by the device.

Definition at line 384 of file LSM9DS1.hpp.

Referenced by quantity(), and sample().

◆ magsample

duds::hardware::interface::Conversation duds::hardware::devices::instruments::LSM9DS1Mag::magsample

private

The conversation used to read in samples from the device.

Definition at line 380 of file LSM9DS1.hpp.

Referenced by configure(), and sample().

◆ mdatarate

float duds::hardware::devices::instruments::LSM9DS1Mag::mdatarate

private

The currently configured sample rate.

Definition at line 388 of file LSM9DS1.hpp.

Referenced by configure().

◆ mdrval

std::int8_t duds::hardware::devices::instruments::LSM9DS1Mag::mdrval

private

The data rate value given to the device.

Definition at line 396 of file LSM9DS1.hpp.

Referenced by configure().

◆ statq

duds::hardware::interface::Conversation duds::hardware::devices::instruments::LSM9DS1Mag::statq

private

Definition at line 380 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

◆ MagAxesMode

◆ MagRange

Constructor & Destructor Documentation

◆ LSM9DS1Mag()

◆ ~LSM9DS1Mag()

Member Function Documentation

◆ configure()

◆ quantity()

◆ rawSample()

◆ resume()

◆ sample()

◆ sampleRate()

◆ start()

◆ suspend()

Member Data Documentation

◆ cfg

◆ initialize

◆ magcom

◆ magn

◆ magsample

◆ mdatarate

◆ mdrval

◆ statq