duds::hardware::devices::instruments::LSM9DS1_internal Namespace Reference

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Enumerations
enum	AccelGyroRegs {   AgrDeviceId = 0xF, AgrGyroConfig1, AgrGyroConfig2, AgrGyroConfig3,   AgrTemp = 0x15, AgrStatusPreGyro = 0x17, AgrGyroSampleX, AgrGyroSampleY = 0x1A,   AgrGyroSampleZ = 0x1C, AgrGyroConfig4 = 0x1E, AgrAccelConfig5, AgrAccelConfig6,   AgrAccelConfig7, AgrConfig8, AgrConfig9, AgrStatusPreAccel = 0x27,   AgrAccelSampleX, AgrAccelSampleY = 0x2A, AgrAccelSampleZ = 0x2C, AgrFifoConfig = 0x2E,   AgrFifoStatus }
	The registers for the accelerometer and gyroscope device. More...
enum	MagRegs {   MagOffsetX = 5, MagOffsetY = 7, MagOffsetZ = 9, MagDeviceId = 0xF,   MagConfig1 = 0x20, MagConfig2, MagConfig3, MagConfig4,   MagConfig5, MagStatus = 0x27, MagSampleX, MagSampleY = 0x2A,   MagSampleZ = 0x2C }
	The registers for the magnetometer device. More...

Functions
static bool	matchDataRate (std::int8_t &destVal, float &actualRate, float reqRate, const std::map< float, int > &rateMap)
	Finds the lowest data rate that is at least as fast as requested, and the value needed to select this rate with the device. More...

Variables
static const std::map< float, int >	AccelDataRateVals
	Available sampling rates for the accelerometer when the gyroscope is not in use. More...
static const std::map< float, int >	AccelGyroDataRateVals
	Available sampling rates for the accelerometer and gyroscope when both are in use. More...
static const double	AccelScaleToUnits []
static const double	GyroScaleToUnits []
static const std::map< float, int >	MagDataRateVals
	Sample rates for the magnetometer. More...
static const double	MagScaleToUnits []

Detailed Description

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Enumeration Type Documentation

AccelGyroRegs

enum duds::hardware::devices::instruments::LSM9DS1_internal::AccelGyroRegs

The registers for the accelerometer and gyroscope device.

They have been renamed to be more readable, understandable, and consistent with other code in this library.

Enumerator
AgrDeviceId
AgrGyroConfig1	CTRL_REG1_G.
AgrGyroConfig2	CTRL_REG2_G.
AgrGyroConfig3	CTRL_REG3_G.
AgrTemp
AgrStatusPreGyro	A general status register; same data as AgrStatusPreAccel.
AgrGyroSampleX	OUT_X_G.
AgrGyroSampleY	OUT_Y_G.
AgrGyroSampleZ	OUT_Z_G.
AgrGyroConfig4	CTRL_REG4.
AgrAccelConfig5	CTRL_REG5_XL.
AgrAccelConfig6	CTRL_REG6_XL.
AgrAccelConfig7	CTRL_REG7_XL.
AgrConfig8	CTRL_REG8.
AgrConfig9	CTRL_REG9.
AgrStatusPreAccel	A general status register; same data as AgrStatusPreGyro.
AgrAccelSampleX	OUT_X_XL.
AgrAccelSampleY	OUT_Y_XL.
AgrAccelSampleZ	OUT_Z_XL.
AgrFifoConfig	FIFO_CTRL.
AgrFifoStatus	FIFO_SRC.

Definition at line 32 of file LSM9DS1.cpp.

MagRegs

enum duds::hardware::devices::instruments::LSM9DS1_internal::MagRegs

The registers for the magnetometer device.

They have been renamed to be more readable, understandable, and consistent with other code in this library.

Enumerator
MagOffsetX
MagOffsetY
MagOffsetZ
MagDeviceId
MagConfig1	CTRL_REG1_M.
MagConfig2	CTRL_REG2_M.
MagConfig3	CTRL_REG3_M.
MagConfig4	CTRL_REG4_M.
MagConfig5	CTRL_REG5_M.
MagStatus	STATUS_REG_M.
MagSampleX	OUT_X_L_M.
MagSampleY	OUT_Y_L_M.
MagSampleZ	OUT_Z_L_M.

Definition at line 67 of file LSM9DS1.cpp.

Function Documentation

matchDataRate()

static bool duds::hardware::devices::instruments::LSM9DS1_internal::matchDataRate ( std::int8_t &  destVal, float &  actualRate, float  reqRate, const std::map< float, int > &  rateMap  )

static

Finds the lowest data rate that is at least as fast as requested, and the value needed to select this rate with the device.

No exception is thrown so that the caller may throw an object based on which data rate has trouble.

Parameters

destVal	Will be set to the value to send to the device to select the data rate.
actualRate	Will be set to the actual rate to use if one is found.
reqRate	The requested data rate. The actual rate may be greater, but will not be lower.
rateMap	The map containing the data rates and values.

Returns

True if a rate was found, false if the requested rate is faster than all supported rates. If false, destVal and actualRate will not be altered.

Todo:

Make something generic like this.

Definition at line 140 of file LSM9DS1.cpp.

Referenced by duds::hardware::devices::instruments::LSM9DS1AccelGyro::configure(), and duds::hardware::devices::instruments::LSM9DS1Mag::configure().

Variable Documentation

AccelDataRateVals

const std::map<float, int> duds::hardware::devices::instruments::LSM9DS1_internal::AccelDataRateVals

static

Initial value:

= {
    {   0,    0 },  
    {  10.0,  1 },
    {  50.0,  2 },
    { 119.0,  3 },
    { 238.0,  4 },
    { 476.0,  5 },
    { 952.0,  6 }
}

Available sampling rates for the accelerometer when the gyroscope is not in use.

Definition at line 87 of file LSM9DS1.cpp.

Referenced by duds::hardware::devices::instruments::LSM9DS1AccelGyro::configure().

AccelGyroDataRateVals

const std::map<float, int> duds::hardware::devices::instruments::LSM9DS1_internal::AccelGyroDataRateVals

static

Initial value:

= {
    {   0,    0 },  
    {  14.9,  1 },
    {  59.5,  2 },
    { 119.0,  3 },
    { 238.0,  4 },
    { 476.0,  5 },
    { 952.0,  6 }
}

Available sampling rates for the accelerometer and gyroscope when both are in use.

Definition at line 101 of file LSM9DS1.cpp.

Referenced by duds::hardware::devices::instruments::LSM9DS1AccelGyro::configure().

AccelScaleToUnits

const double duds::hardware::devices::instruments::LSM9DS1_internal::AccelScaleToUnits[]

static

Initial value:

= {  
    0.061 * 1e-3 * duds::data::constants::EarthSurfaceGravity.value,
    0.732 * 1e-3 * duds::data::constants::EarthSurfaceGravity.value,
    0.122 * 1e-3 * duds::data::constants::EarthSurfaceGravity.value,
    0.244 * 1e-3 * duds::data::constants::EarthSurfaceGravity.value
}

Definition at line 156 of file LSM9DS1.cpp.

Referenced by duds::hardware::devices::instruments::LSM9DS1AccelGyro::accelerometerQuantity().

GyroScaleToUnits

const double duds::hardware::devices::instruments::LSM9DS1_internal::GyroScaleToUnits[]

static

Initial value:

= {  
    8.75 * 1e-3 * M_PI / 180.0,
    17.5 * 1e-3 * M_PI / 180.0,
    0, 
    70.0 * 1e-3 * M_PI / 180.0
}

Definition at line 164 of file LSM9DS1.cpp.

Referenced by duds::hardware::devices::instruments::LSM9DS1AccelGyro::gyroscopeQuantity().

MagDataRateVals

const std::map<float, int> duds::hardware::devices::instruments::LSM9DS1_internal::MagDataRateVals

static

Initial value:

= {
    {  0.625, 0 },  
    {  1.25,  1 },
    {  2.5,   2 },
    {  5.0,   3 },
    { 10.0,   4 },
    { 20.0,   5 },
    { 40.0,   6 },
    { 80.0,   7 }
}

Sample rates for the magnetometer.

Definition at line 114 of file LSM9DS1.cpp.

Referenced by duds::hardware::devices::instruments::LSM9DS1Mag::configure().

MagScaleToUnits

const double duds::hardware::devices::instruments::LSM9DS1_internal::MagScaleToUnits[]

static

Initial value:

= {  
    0.14 * 1e-7,
    0.29 * 1e-7,
    0.43 * 1e-7,
    0.58 * 1e-7
}

Definition at line 172 of file LSM9DS1.cpp.

Referenced by duds::hardware::devices::instruments::LSM9DS1Mag::quantity().