LSM9DS1Sensor Class Reference

Implementation of the Sensor class for the LSM9DS1 (9-axis IMU) More...

#include <LSM9DS1Sensor.h>

Inheritance diagram for LSM9DS1Sensor:

Collaboration diagram for LSM9DS1Sensor:

Public Member Functions
	LSM9DS1Sensor ()
	Construct a new LSM9DS1Sensor object with default minimum_period of 0.
	LSM9DS1Sensor (unsigned long minimum_period)
	Construct a new LSM9DS1Sensor object, given mininum_period between sensor reads.
bool	verify () override
	Verifies that the LSM is connected and working.
String	readData () override
	Retrieves data from LSM 9-axis IMU.
void	calibrate ()
	Calibrates the LSM9DS1 sensor by collecting offset data for gyro and accel.
void	readDataPacket (uint8_t *&packet) override
	Appends the LSM9DS1 sensor data to the packet buffer as raw bytes.
String	decodeToCSV (uint8_t *&packet) override
	Decodes the LSM9DS1 sensor data from the packet buffer into a CSV string.
Public Member Functions inherited from Sensor
	Sensor (String sensor_name, String csv_header, unsigned long minimum_period)
	Sensor (String sensor_name, String csv_header)
	Sensor (String sensor_name, String csv_header, int fields)
	Construct a new Sensor object with default minimum_period of 0 (depreciated)
	Sensor (String sensor_name, String csv_header, int fields, unsigned long minimum_period)
	Construct a new Sensor object (Depreciated)
unsigned long	getPeriod () const
	Get the minimum minimum_period between sensor reads in ms.
void	setPeriod (int minimum_period)
	Set the minimum minimum_period between sensor reads in ms.
unsigned long	getLastExecution () const
	Get the system time of the last execution in ms.
void	setLastExecution (int last_execution)
	Set the system time of the last execution in ms.
const String &	getSensorCSVHeader () const
	Get the csv header string associated with this sensor.
void	getDataPacket (uint32_t &sensor_id, uint8_t *&packet)
	Append the data from a sensor to the packet if the minium period is satisfied.
String	readEmpty () const
	Returns CSV line in the same format as readData() but with "-" instead of data.
String	getDataCSV ()
	Uses readData and readEmpty to get the data-filled or empty-celled CSV line for the sensor.
Public Member Functions inherited from Device
	Device (String device_name)
	Default constructor, sets a max_attempt of 1 (device recovery won't be attempted)
	Device (String device_name, int max_attempts, int wait_factor)
const String &	getDeviceName ()
bool	getVerified ()
	Get if the Device is Verified.
void	recoveryConfig (int max_attempts, int wait_factor)
	Set recovery config (used keep default constructor)
void	setWaitFactor (int wait_factor)
	Set wait_factor.
void	setMaxAttempts (int max_attempts)
	Set max_attempts.
bool	attemptConnection ()
	If the sensor is verified, return true, if not and it has been long enough since the last attempt (decided by wait_factor and attempt_number), attempt to reverify (reinitialize) it.

Private Member Functions
void	setupSensor ()
	Helper function to set up sensor ranges and data rates.

Private Attributes
Adafruit_LSM9DS1	lsm
float	accel_offsets [3]
float	gyro_offsets [3]
float	mag_offsets [3]

Additional Inherited Members
Protected Attributes inherited from Sensor
int	num_fields
Protected Attributes inherited from Device
bool	verified
String	device_name

Detailed Description

Implementation of the Sensor class for the LSM9DS1 (9-axis IMU)

Constructor & Destructor Documentation

LSM9DS1Sensor() [1/2]

LSM9DS1Sensor::LSM9DS1Sensor

(

)

Construct a new LSM9DS1Sensor object with default minimum_period of 0.

LSM9DS1Sensor() [2/2]

LSM9DS1Sensor::LSM9DS1Sensor

(

unsigned long

minimum_period

)

Construct a new LSM9DS1Sensor object, given mininum_period between sensor reads.

Parameters

minimum_period

Minimum time to wait between readings in ms

Member Function Documentation

calibrate()

void LSM9DS1Sensor::calibrate

(

)

Calibrates the LSM9DS1 sensor by collecting offset data for gyro and accel.

decodeToCSV()

String LSM9DS1Sensor::decodeToCSV ( uint8_t *&  packet )

overridevirtual

Decodes the LSM9DS1 sensor data from the packet buffer into a CSV string.

The data are read in the same order they were written and reconstructed as a string "day/month/year" and the remaining fields are appended as CSV values.

Parameters

packet

Pointer to the packet byte array and this packet pointer is incremented.

Returns

String The decoded sensor data in CSV format.

Reimplemented from Sensor.

readData()

String LSM9DS1Sensor::readData ( )

overridevirtual

Retrieves data from LSM 9-axis IMU.

Returns

String A CSV section in format AccX, AccY, AccZ, GyroX, GyroY, GyroZ, MagX, MagY, MagZ,

Implements Sensor.

readDataPacket()

void LSM9DS1Sensor::readDataPacket ( uint8_t *&  packet )

overridevirtual

Appends the LSM9DS1 sensor data to the packet buffer as raw bytes.

The following data are appended in order:

• Date: day (uint8_t), month (uint8_t), year (uint16_t)
• Latitude (float)
• Longitude (float)
• Speed (float)
• Angle (float)
• Altitude (float)
• Satellites (uint8_t)

If no valid fix is available, default value (0) is appended for all fields.

Parameters

packet

Pointer to the packet byte array. This pointer is incremented as each value is copied.

Reimplemented from Sensor.

setupSensor()

void LSM9DS1Sensor::setupSensor ( )

private

Helper function to set up sensor ranges and data rates.

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verify()

bool LSM9DS1Sensor::verify ( )

overridevirtual

Verifies that the LSM is connected and working.

Returns

true if connected and working

false if not connected and working

Implements Sensor.

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Member Data Documentation

accel_offsets

float LSM9DS1Sensor::accel_offsets[3]

private

gyro_offsets

float LSM9DS1Sensor::gyro_offsets[3]

private

lsm

Adafruit_LSM9DS1 LSM9DS1Sensor::lsm

private

mag_offsets

float LSM9DS1Sensor::mag_offsets[3]

private

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

• LSM9DS1Sensor.h
• LSM9DS1Sensor.cpp