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Reduce number of I2C reads on values already known #16

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Reduce number of I2C reads on values already known #16

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1e62180
Save I2C Time, don't read values already known
dlktdr Dec 31, 2020
d830a21
OOPS Wrong order and Gyro value
dlktdr Jan 3, 2021
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40 changes: 30 additions & 10 deletions src/LSM9DS1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,10 @@ int LSM9DS1Class::begin()
{
_wire->begin();

storedAccelFS = false;
storedGyroFS = false;
storedMagnetFS = false;

// reset
writeRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG8, 0x05);
writeRegister(LSM9DS1_ADDRESS_M, LSM9DS1_CTRL_REG2_M, 0x0c);
Expand Down Expand Up @@ -240,15 +244,20 @@ float LSM9DS1Class::getAccelBW() //Bandwidth setting 0,1,2,3 see documentation

int LSM9DS1Class::setAccelFS(uint8_t range) // 0: ±2g ; 1: ±16g ; 2: ±4g ; 3: ±8g
{ if (range >=4) return 0;
lastAccelFS = range;
storedAccelFS = true;
range = (range & 0b00000011) << 3;
uint8_t setting = ((readRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG6_XL) & 0xE7) | range);
return writeRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG6_XL,setting) ;
return writeRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG6_XL,setting) ;
}

float LSM9DS1Class::getAccelFS() // Full scale dimensionless, but its value corresponds to g
{ float ranges[] ={2.0, 24.0, 4.0, 8.0}; //g
uint8_t setting = (readRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG6_XL) & 0x18) >> 3;
return ranges[setting] ;
{ float ranges[] ={2.0, 24.0, 4.0, 8.0}; //g
if(!storedAccelFS) {
lastAccelFS = (readRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG6_XL) & 0x18) >> 3;
storedAccelFS = true;
}
return ranges[lastAccelFS] ;
}

//************************************ Gyroscope *****************************************
Expand Down Expand Up @@ -367,15 +376,20 @@ float LSM9DS1Class::getGyroBW()

int LSM9DS1Class::setGyroFS(uint8_t range) // (0: 245 dps; 1: 500 dps; 2: 1000 dps; 3: 2000 dps)
{ if (range >=4) return 0;
lastGyroFS = range;
storedGyroFS = true;
range = (range & 0b00000011) << 3;
uint8_t setting = ((readRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG1_G) & 0xE7) | range );
uint8_t setting = ((readRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG1_G) & 0xE7) | range );
return writeRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG1_G,setting) ;
}

float LSM9DS1Class::getGyroFS() // dimensionless, but its value defaults to deg/s
{ float Ranges[] ={245.0, 500.0, 1000.0, 2000.0}; //dps
uint8_t setting = (readRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG1_G) & 0x18) >> 3;
return Ranges[setting] ;
if(!storedGyroFS) {
lastGyroFS = (readRegister(LSM9DS1_ADDRESS, LSM9DS1_CTRL_REG1_G) & 0x18) >> 3;
storedGyroFS = true;
}
return Ranges[lastGyroFS] ;
}

//************************************ Magnetic field *****************************************
Expand Down Expand Up @@ -430,14 +444,19 @@ void LSM9DS1Class::setMagnetSlope(float x, float y, float z)

int LSM9DS1Class::setMagnetFS(uint8_t range) // 0=400.0; 1=800.0; 2=1200.0 , 3=1600.0 (µT)
{ if (range >=4) return 0;
range = (range & 0b00000011) << 5;
lastMagnetFS = range;
storedMagnetFS = true;
range = (range & 0b00000011) << 5;
return writeRegister(LSM9DS1_ADDRESS_M, LSM9DS1_CTRL_REG2_M,range) ;
}

float LSM9DS1Class::getMagnetFS() // dimensionless, but its value defaults to µT
{ const float Ranges[] ={400.0, 800.0, 1200.0, 1600.0}; //
uint8_t setting = readRegister(LSM9DS1_ADDRESS_M, LSM9DS1_CTRL_REG2_M) >> 5;
return Ranges[setting] ;
if(!storedMagnetFS) {
lastMagnetFS = readRegister(LSM9DS1_ADDRESS_M, LSM9DS1_CTRL_REG2_M) >> 5;
storedMagnetFS = true;
}
return Ranges[lastMagnetFS] ;
}

int LSM9DS1Class::setMagnetODR(uint8_t range) // range (0..8) = {0.625,1.25,2.5,5,10,20,40,80,400}Hz
Expand All @@ -447,6 +466,7 @@ int LSM9DS1Class::setMagnetODR(uint8_t range) // range (0..8) = {0.625,1.25,2.5
writeRegister(LSM9DS1_ADDRESS_M, LSM9DS1_CTRL_REG1_M,setting) ;
uint16_t duration = 1750 / (range + 1); // 1750,875,666,500,400,333,285,250,222 calculate measuring time
magnetODR= measureMagnetODR(duration); //measure the actual ODR value
return 1;
}

float LSM9DS1Class::getMagnetODR() // Output {0.625, 1.25, 2.5, 5.0, 10.0, 20.0, 40.0 , 80.0}; //Hz
Expand Down
6 changes: 6 additions & 0 deletions src/LSM9DS1.h
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,8 @@ class LSM9DS1Class {
float accelOffset[3] = {0,0,0}; // zero point offset correction factor for calibration
float accelSlope[3] = {1,1,1}; // slope correction factor for calibration
float accelUnit = GRAVITY; // GRAVITY OR METERPERSECOND2
uint8_t lastAccelFS;
bool storedAccelFS;
virtual int readAccel(float& x, float& y, float& z); // Return calibrated data in unit of choise G or m/s2.
virtual int readRawAccel(float& x, float& y, float& z); // Return uncalibrated results
virtual int accelAvailable(); // Number of samples in the FIFO.
Expand All @@ -98,6 +100,8 @@ class LSM9DS1Class {
float gyroOffset[3] = {0,0,0}; // zero point offset correction factor for calibration
float gyroSlope[3] = {1,1,1}; // slope correction factor for calibration
float gyroUnit = DEGREEPERSECOND; // DEGREEPERSECOND RADIANSPERSECOND REVSPERMINUTE REVSPERSECOND
uint8_t lastGyroFS;
bool storedGyroFS;
virtual int readGyro(float& x, float& y, float& z); // Return calibrated data in in unit of choise °/s or rad/s.
virtual int readRawGyro(float& x, float& y, float& z); // Return uncalibrated results
virtual int gyroAvailable(); // Number of samples in the FIFO.
Expand All @@ -114,6 +118,8 @@ class LSM9DS1Class {
float magnetOffset[3] = {0,0,0}; // zero point offset correction factor for calibration
float magnetSlope[3] = {1,1,1}; // slope correction factor for calibration
float magnetUnit = MICROTESLA; // GAUSS, MICROTESLA NANOTESLA
uint8_t lastMagnetFS;
bool storedMagnetFS;
virtual int readMagnet(float& x, float& y, float& z); // Return calibrated data in unit of choise µT , nT or G
virtual int readRawMagnet(float& x, float& y, float& z); // Return uncalibrated results
virtual int magnetAvailable(); // Number of samples in the FIFO.
Expand Down