lsm9ds0: Initial implementation

This module implements support for the LSM9DS0 accelerometer,
magnetometer, and gyroscope.

It was developed on the Sparkfun 9DOF sensor block for Intel Edison.

https://www.sparkfun.com/products/13033

Commonly used capabilities are supported, and methods/register
definitions exist to easily implement any desired functionality that
is missing.  Interrupt support has also been added.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/c++/CMakeLists.txt

@@ -131,6 +131,7 @@ add_executable (pn532-writeurl-example pn532-writeurl.cxx)
 add_executable (sainsmartks-example sainsmartks.cxx)
 add_executable (mpu60x0-example mpu60x0.cxx)
 add_executable (ak8975-example ak8975.cxx)
+add_executable (lsm9ds0-example lsm9ds0.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -236,6 +237,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/grovecircularled)
 include_directories (${PROJECT_SOURCE_DIR}/src/rgbringcoder)
 include_directories (${PROJECT_SOURCE_DIR}/src/hp20x)
 include_directories (${PROJECT_SOURCE_DIR}/src/pn532)
+include_directories (${PROJECT_SOURCE_DIR}/src/lsm9ds0)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -368,3 +370,4 @@ target_link_libraries (pn532-writeurl-example pn532 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (sainsmartks-example i2clcd ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (mpu60x0-example mpu9150 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ak8975-example mpu9150 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (lsm9ds0-example lsm9ds0 ${CMAKE_THREAD_LIBS_INIT})

examples/c++/lsm9ds0.cxx

@@ -0,0 +1,83 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "lsm9ds0.h"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Instantiate an LSM9DS0 using default parameters (bus 1, gyro addr 6b,
+  // xm addr 1d)
+  upm::LSM9DS0 *sensor = new upm::LSM9DS0();
+
+  sensor->init();
+
+  while (shouldRun)
+    {
+      sensor->update();
+      
+      float x, y, z;
+      
+      sensor->getAccelerometer(&x, &y, &z);
+      cout << "Accelerometer: ";
+      cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
+
+      sensor->getGyroscope(&x, &y, &z);
+      cout << "Gryoscope:     ";
+      cout << "GX: " << x << " GY: " << y << " GZ: " << z << endl;
+      
+      sensor->getMagnetometer(&x, &y, &z);
+      cout << "Magnetometer:  ";
+      cout << "MX = " << x << " MY = " << y << " MZ = " << z << endl;
+
+      cout << "Temperature:   " << sensor->getTemperature() << endl;
+      cout << endl;
+
+      usleep(500000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+  
+  delete sensor;
+  
+  return 0;
+}

examples/javascript/lsm9ds0.js

@@ -0,0 +1,77 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_lsm9ds0');
+
+// Instantiate an LSM9DS0 using default parameters (bus 1, gyro addr 6b,
+// xm addr 1d)
+var sensor = new sensorObj.LSM9DS0();
+
+// Initialize the device with default values
+sensor.init();
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// Output data every half second until interrupted
+setInterval(function()
+{
+    sensor.update();
+    
+    sensor.getAccelerometer(x, y, z);
+    console.log("Accelerometer: AX: " + sensorObj.floatp_value(x) + 
+                " AY: " + sensorObj.floatp_value(y) + 
+                " AZ: " + sensorObj.floatp_value(z));
+
+    sensor.getGyroscope(x, y, z);
+    console.log("Gyroscope:     GX: " + sensorObj.floatp_value(x) + 
+                " AY: " + sensorObj.floatp_value(y) + 
+                " AZ: " + sensorObj.floatp_value(z));
+ 
+    sensor.getMagnetometer(x, y, z);
+    console.log("Magnetometer:  MX: " + sensorObj.floatp_value(x) + 
+                " MY: " + sensorObj.floatp_value(y) + 
+                " MZ: " + sensorObj.floatp_value(z));
+
+    console.log("Temperature:   " + sensor.getTemperature());
+ 
+    console.log();
+
+}, 500);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});
+

examples/python/lsm9ds0.py

@@ -0,0 +1,71 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2015 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_lsm9ds0 as sensorObj
+
+# Instantiate an LSM9DS0 using default parameters (bus 1, gyro addr 6b,
+# xm addr 1d)
+sensor = sensorObj.LSM9DS0()
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+sensor.init()
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+while (1):
+        sensor.update()
+        sensor.getAccelerometer(x, y, z)
+        print "Accelerometer: AX: ", sensorObj.floatp_value(x), 
+        print " AY: ", sensorObj.floatp_value(y),
+        print " AZ: ", sensorObj.floatp_value(z)
+
+        sensor.getGyroscope(x, y, z)
+        print "Gyroscope:     GX: ", sensorObj.floatp_value(x), 
+        print " GY: ", sensorObj.floatp_value(y),
+        print " GZ: ", sensorObj.floatp_value(z)
+
+        sensor.getMagnetometer(x, y, z)
+        print "Magnetometer:  MX: ", sensorObj.floatp_value(x), 
+        print " MY: ", sensorObj.floatp_value(y),
+        print " MZ: ", sensorObj.floatp_value(z)
+
+        print "Temperature:  ", sensor.getTemperature()
+        print
+
+	time.sleep(.5)

src/lsm9ds0/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "lsm9ds0")
+set (libdescription "gyro, accelerometer and magnometer sensor based on lsm9ds0")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/lsm9ds0/jsupm_lsm9ds0.i

@@ -0,0 +1,11 @@
+%module jsupm_lsm9ds0
+%include "../upm.i"
+%include "cpointer.i"
+
+%pointer_functions(float, floatp);
+
+%include "lsm9ds0.h"
+%{
+    #include "lsm9ds0.h"
+%}
+

src/lsm9ds0/lsm9ds0.cxx

@@ -0,0 +1,751 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <exception>
+#include <string.h>
+
+#include "lsm9ds0.h"
+
+using namespace upm;
+using namespace std;
+
+
+LSM9DS0::LSM9DS0(int bus, uint8_t gAddress, uint8_t xmAddress) :
+  m_i2cG(bus), m_i2cXM(bus), m_gpioG_INT(0), m_gpioG_DRDY(0),
+  m_gpioXM_GEN1(0), m_gpioXM_GEN2(0)
+{
+  m_gAddr = gAddress;
+  m_xmAddr = xmAddress;
+
+  m_accelX = 0.0;
+  m_accelY = 0.0;
+  m_accelZ = 0.0;
+  
+  m_gyroX = 0.0;
+  m_gyroY = 0.0;
+  m_gyroZ = 0.0;
+  
+  m_magX = 0.0;
+  m_magY = 0.0;
+  m_magZ = 0.0;
+  
+  m_temp = 0.0;
+
+  m_accelScale = 0.0;
+  m_gyroScale = 0.0;
+  m_magScale = 0.0;
+
+  mraa_result_t rv;
+  if ( (rv = m_i2cG.address(m_gAddr)) != MRAA_SUCCESS)
+    {
+      cerr << __FUNCTION__ << ": Could not initialize Gyro i2c address." 
+           << endl;
+      mraa_result_print(rv);
+      throw std::runtime_error(string(__FUNCTION__) +
+                               ": Could not initialize Gyro i2c address");
+      return;
+    }
+
+  if ( (rv = m_i2cXM.address(m_xmAddr)) != MRAA_SUCCESS)
+    {
+      cerr << __FUNCTION__ << ": Could not initialize XM i2c address. " << endl;
+      mraa_result_print(rv);
+      throw std::runtime_error(string(__FUNCTION__) + 
+                               ": Could not initialize XM i2c address");
+      return;
+    }
+}
+
+LSM9DS0::~LSM9DS0()
+{
+  uninstallISR(INTERRUPT_G_INT);
+  uninstallISR(INTERRUPT_G_DRDY);
+  uninstallISR(INTERRUPT_XM_GEN1);
+  uninstallISR(INTERRUPT_XM_GEN2);
+}
+
+bool LSM9DS0::init()
+{
+  // Init the gyroscope
+
+  // power up
+  if (!setGyroscopePowerDown(false))
+    {
+      cerr << __FUNCTION__ << ": Unable to wake up gyro" << endl;
+      return false;
+    }
+  
+  // enable all axes
+  if (!setGyroscopeEnableAxes(CTRL_REG1_G_YEN |CTRL_REG1_G_XEN |
+                              CTRL_REG1_G_ZEN))
+    {
+      cerr << __FUNCTION__ << ": Unable to enable gyro axes" << endl;
+      return false;
+    }
+  
+  // set gyro ODR
+  if (!setGyroscopeODR(G_ODR_95_25))
+    {
+      cerr << __FUNCTION__ << ": Unable to set gyro ODR" << endl;
+      return false;
+    }
+
+  // set gyro scale
+  if (!setGyroscopeScale(G_FS_245))
+    {
+      cerr << __FUNCTION__ << ": Unable to set gyro scale" << endl;
+      return false;
+    }
+
+  // Init the accelerometer
+
+  // power up and set ODR
+  if (!setAccelerometerODR(XM_AODR_100))
+    {
+      cerr << __FUNCTION__ << ": Unable to set accel ODR" << endl;
+      return false;
+    }
+
+  // enable all axes
+  if (!setAccelerometerEnableAxes(CTRL_REG1_XM_AXEN |CTRL_REG1_XM_AYEN |
+                                  CTRL_REG1_XM_AZEN))
+    {
+      cerr << __FUNCTION__ << ": Unable to enable accel axes" << endl;
+      return false;
+    }
+  
+  // set scaling rate
+  if (!setAccelerometerScale(XM_AFS_2))
+    {
+      cerr << __FUNCTION__ << ": Unable to set accel scale" << endl;
+      return false;
+    }
+  
+  // temperature sensor
+
+  // enable the temperature sensor
+  if (!enableTemperatureSensor(true))
+    {
+      cerr << __FUNCTION__ << ": Unable to enable temp sensor" << endl;
+      return false;
+    }
+
+  // Init the magnetometer
+  
+  // set mode (this also powers it up if not XM_MD_POWERDOWN)
+  if (!setMagnetometerMode(XM_MD_CONTINUOUS))
+    {
+      cerr << __FUNCTION__ << ": Unable to set mag scale" << endl;
+      return false;
+    }
+
+  // turn LPM off
+  if (!setMagnetometerLPM(false))
+    {
+      cerr << __FUNCTION__ << ": Unable to disable mag LPM" << endl;
+      return false;
+    }
+
+  // set resolution
+  if (!setMagnetometerResolution(XM_RES_LOW))
+    {
+      cerr << __FUNCTION__ << ": Unable to set mag res" << endl;
+      return false;
+    }
+  
+  // set ODR
+  if (!setMagnetometerODR(XM_ODR_12_5))
+    {
+      cerr << __FUNCTION__ << ": Unable to set mag ODR" << endl;
+      return false;
+    }
+  
+  // set scale
+  if (!setMagnetometerScale(XM_MFS_2))
+    {
+      cerr << __FUNCTION__ << ": Unable to set mag scale" << endl;
+      return false;
+    }
+
+  return true;
+}
+
+
+void LSM9DS0::update()
+{
+  updateGyroscope();
+  updateAccelerometer();
+  updateMagnetometer();
+  updateTemperature();
+}
+
+void LSM9DS0::updateGyroscope()
+{
+  uint8_t buffer[6];
+
+  memset(buffer, 0, 6);
+  readRegs(DEV_GYRO, REG_OUT_X_L_G, buffer, 6);
+
+  int16_t x, y, z;
+
+  x =  ( (buffer[1] << 8) | buffer[0] );
+  y =  ( (buffer[3] << 8) | buffer[2] );
+  z =  ( (buffer[5] << 8) | buffer[4] );
+
+  m_gyroX = float(x);
+  m_gyroY = float(y);
+  m_gyroZ = float(z);
+}
+
+void LSM9DS0::updateAccelerometer()
+{
+  uint8_t buffer[6];
+
+  memset(buffer, 0, 6);
+  readRegs(DEV_XM, REG_OUT_X_L_A, buffer, 6);
+
+  int16_t x, y, z;
+
+  x =  ( (buffer[1] << 8) | buffer[0] );
+  y =  ( (buffer[3] << 8) | buffer[2] );
+  z =  ( (buffer[5] << 8) | buffer[4] );
+
+  m_accelX = float(x);
+  m_accelY = float(y);
+  m_accelZ = float(z);
+}
+
+void LSM9DS0::updateMagnetometer()
+{
+  uint8_t buffer[6];
+
+  memset(buffer, 0, 6);
+  readRegs(DEV_XM, REG_OUT_X_L_M, buffer, 6);
+
+  int16_t x, y, z;
+
+  x =  ( (buffer[1] << 8) | buffer[0] );
+  y =  ( (buffer[3] << 8) | buffer[2] );
+  z =  ( (buffer[5] << 8) | buffer[4] );
+
+  m_magX = float(x);
+  m_magY = float(y);
+  m_magZ = float(z);
+}
+
+void LSM9DS0::updateTemperature()
+{
+  uint8_t buffer[2];
+
+  memset(buffer, 0, 2);
+  readRegs(DEV_XM, REG_OUT_TEMP_L_XM, buffer, 2);
+
+  //  cerr << "HIGH: " << int(buffer[1]) << " LOW: " << int(buffer[0]) << endl;
+
+  // 12b signed
+  int16_t temp = ( (buffer[1] << 8) | (buffer[0] ) );
+  if (temp & 0x0800)
+    {
+      temp &= ~0x0800;
+      temp *= -1;
+    }
+
+  m_temp = float(temp);
+}
+
+uint8_t LSM9DS0::readReg(DEVICE_T dev, uint8_t reg)
+{
+  mraa::I2c *device;
+
+  switch(dev)
+    {
+    case DEV_GYRO: device = &m_i2cG; break;
+    case DEV_XM:   device = &m_i2cXM; break;
+    default:
+      cerr << __FUNCTION__ << ": Internal error, invalid device" << endl;
+      return 0;
+    }
+
+  return device->readReg(reg);
+}
+
+void LSM9DS0::readRegs(DEVICE_T dev, uint8_t reg, uint8_t *buf, int len)
+{
+  mraa::I2c *device;
+
+  switch(dev)
+    {
+    case DEV_GYRO: device = &m_i2cG; break;
+    case DEV_XM:   device = &m_i2cXM; break;
+    default:
+      cerr << __FUNCTION__ << ": Internal error, invalid device" << endl;
+      return;
+    }
+
+  // We need to set the high bit of the register to enable
+  // auto-increment mode for reading multiple registers in one go.
+  device->readBytesReg(reg | m_autoIncrementMode, buf, len);
+}
+
+bool LSM9DS0::writeReg(DEVICE_T dev, uint8_t reg, uint8_t val)
+{
+  mraa::I2c *device;
+
+  switch(dev)
+    {
+    case DEV_GYRO: device = &m_i2cG; break;
+    case DEV_XM:   device = &m_i2cXM; break;
+    default:
+      cerr << __FUNCTION__ << ": Internal error, invalid device" << endl;
+      return false;
+    }
+
+  mraa_result_t rv;
+  if ((rv = device->writeReg(reg, val)) != MRAA_SUCCESS)
+    {
+      cerr << __FUNCTION__ << ": failed:" << endl;
+      mraa_result_print(rv);
+      return false;
+    } 
+  
+  return true;
+}
+
+bool LSM9DS0::setGyroscopePowerDown(bool enable)
+{
+  uint8_t reg = readReg(DEV_GYRO, REG_CTRL_REG1_G);
+
+  if (enable)
+    reg &= ~CTRL_REG1_G_PD;
+  else
+    reg |= CTRL_REG1_G_PD;
+
+  return writeReg(DEV_GYRO, REG_CTRL_REG1_G, reg);
+}
+
+bool LSM9DS0::setGyroscopeEnableAxes(uint8_t axes)
+{
+  uint8_t reg = readReg(DEV_GYRO, REG_CTRL_REG1_G);
+
+  // filter out any non-axis related data from arg
+  axes &= (CTRL_REG1_G_YEN | CTRL_REG1_G_XEN |  CTRL_REG1_G_ZEN);
+
+  // clear them in the register
+  reg &= ~(CTRL_REG1_G_YEN | CTRL_REG1_G_XEN |  CTRL_REG1_G_ZEN);
+
+  // now add them
+  reg |= axes;
+
+  return writeReg(DEV_GYRO, REG_CTRL_REG1_G, reg);
+}
+
+bool LSM9DS0::setGyroscopeODR(G_ODR_T odr)
+{
+  uint8_t reg = readReg(DEV_GYRO, REG_CTRL_REG1_G);
+
+  reg &= ~(_CTRL_REG1_G_ODR_MASK << _CTRL_REG1_G_ODR_SHIFT);
+
+  reg |= (odr << _CTRL_REG1_G_ODR_SHIFT);
+  
+  return writeReg(DEV_GYRO, REG_CTRL_REG1_G, reg);
+}
+
+bool LSM9DS0::setGyroscopeScale(G_FS_T scale)
+{
+  uint8_t reg = readReg(DEV_GYRO, REG_CTRL_REG4_G);
+
+  reg &= ~(_CTRL_REG4_G_FS_MASK << _CTRL_REG4_G_FS_SHIFT);
+
+  reg |= (scale << _CTRL_REG4_G_FS_SHIFT);
+
+  if (!writeReg(DEV_GYRO, REG_CTRL_REG4_G, reg))
+    {
+      return false;
+    }
+
+  // store scaling factor (mDeg/s/LSB)
+
+  switch (scale)
+    {
+    case G_FS_245:
+      m_gyroScale = 8.75;
+      break;
+
+    case G_FS_500:
+      m_gyroScale = 17.5;
+      break;
+
+    case G_FS_2000:
+      m_gyroScale = 70.0;
+      break;
+
+    default: // should never occur, but...
+      m_gyroScale = 0.0;        // set a safe, though incorrect value
+      cerr << __FUNCTION__ << ": internal error, unsupported scale" << endl;
+      break;
+    }
+
+  return true;
+}
+
+bool LSM9DS0::setAccelerometerEnableAxes(uint8_t axes)
+{
+  uint8_t reg = readReg(DEV_XM, REG_CTRL_REG1_XM);
+
+  // filter out any non-axis related data from arg
+  axes &= (CTRL_REG1_XM_AXEN | CTRL_REG1_XM_AYEN | CTRL_REG1_XM_AZEN);
+
+  // clear them in the register
+  reg &= ~(CTRL_REG1_XM_AXEN | CTRL_REG1_XM_AYEN | CTRL_REG1_XM_AZEN);
+
+  // now add them
+  reg |= axes;
+
+  return writeReg(DEV_XM, REG_CTRL_REG1_XM, reg);
+}
+
+bool LSM9DS0::setAccelerometerODR(XM_AODR_T odr)
+{
+  uint8_t reg = readReg(DEV_XM, REG_CTRL_REG1_XM);
+
+  reg &= ~(_CTRL_REG1_XM_AODR_MASK << _CTRL_REG1_XM_AODR_SHIFT);
+
+  reg |= (odr << _CTRL_REG1_XM_AODR_SHIFT);
+  
+  return writeReg(DEV_XM, REG_CTRL_REG1_XM, reg);
+}
+
+bool LSM9DS0::setAccelerometerScale(XM_AFS_T scale)
+{
+  uint8_t reg = readReg(DEV_XM, REG_CTRL_REG2_XM);
+
+  reg &= ~(_CTRL_REG2_XM_AFS_MASK << _CTRL_REG2_XM_AFS_SHIFT);
+
+  reg |= (scale << _CTRL_REG2_XM_AFS_SHIFT);
+
+  if (!writeReg(DEV_XM, REG_CTRL_REG2_XM, reg))
+    {
+      return false;
+    }
+
+  // store scaling factor
+  
+  switch (scale)
+    {
+    case XM_AFS_2:
+      m_accelScale = 0.061; 
+      break;
+
+    case XM_AFS_4:
+      m_accelScale = 0.122 ;
+      break;
+
+    case XM_AFS_6:
+      m_accelScale = 0.183 ;
+      break;
+
+    case XM_AFS_8:
+      m_accelScale = 0.244 ;
+      break;
+
+    case XM_AFS_16:
+      m_accelScale = 0.732 ;
+      break;
+
+    default: // should never occur, but...
+      m_accelScale = 0.0;        // set a safe, though incorrect value
+      cerr << __FUNCTION__ << ": internal error, unsupported scale" << endl;
+      break;
+    }
+
+  return true;
+}
+
+bool LSM9DS0::setMagnetometerResolution(XM_RES_T res)
+{
+  uint8_t reg = readReg(DEV_XM, REG_CTRL_REG5_XM);
+
+  reg &= ~(_CTRL_REG5_XM_RES_MASK << _CTRL_REG5_XM_RES_SHIFT);
+
+  reg |= (res << _CTRL_REG5_XM_RES_SHIFT);
+  
+  return writeReg(DEV_XM, REG_CTRL_REG5_XM, reg);
+}
+
+bool LSM9DS0::setMagnetometerODR(XM_ODR_T odr)
+{
+  uint8_t reg = readReg(DEV_XM, REG_CTRL_REG5_XM);
+
+  reg &= ~(_CTRL_REG5_XM_ODR_MASK << _CTRL_REG5_XM_ODR_SHIFT);
+
+  reg |= (odr << _CTRL_REG5_XM_ODR_SHIFT);
+  
+  return writeReg(DEV_XM, REG_CTRL_REG5_XM, reg);
+}
+
+bool LSM9DS0::setMagnetometerMode(XM_MD_T mode)
+{
+  uint8_t reg = readReg(DEV_XM, REG_CTRL_REG7_XM);
+
+  reg &= ~(_CTRL_REG7_XM_MD_MASK << _CTRL_REG7_XM_MD_SHIFT);
+
+  reg |= (mode << _CTRL_REG7_XM_MD_SHIFT);
+  
+  return writeReg(DEV_XM, REG_CTRL_REG7_XM, reg);
+}
+
+bool LSM9DS0::setMagnetometerLPM(bool enable)
+{
+  uint8_t reg = readReg(DEV_XM, REG_CTRL_REG7_XM);
+
+  if (enable)
+    reg |= CTRL_REG7_XM_MLP;
+  else
+    reg &= ~CTRL_REG7_XM_MLP;
+  
+  return writeReg(DEV_XM, REG_CTRL_REG7_XM, reg);
+}
+
+bool LSM9DS0::setMagnetometerScale(XM_MFS_T scale)
+{
+  uint8_t reg = readReg(DEV_XM, REG_CTRL_REG6_XM);
+
+  reg &= ~(_CTRL_REG6_XM_MFS_MASK << _CTRL_REG6_XM_MFS_SHIFT);
+
+  reg |= (scale << _CTRL_REG6_XM_MFS_SHIFT);
+
+  if (!writeReg(DEV_XM, REG_CTRL_REG6_XM, reg))
+    {
+      return false;
+    }
+
+  // store scaling factor
+  
+  switch (scale)
+    {
+    case XM_MFS_2:
+      m_magScale = 0.08;
+      break;
+
+    case XM_MFS_4:
+      m_magScale = 0.16;
+      break;
+
+    case XM_MFS_8:
+      m_magScale = 0.32;
+      break;
+
+    case XM_MFS_12:
+      m_magScale = 0.48;
+      break;
+
+    default: // should never occur, but...
+      m_magScale = 0.0;        // set a safe, though incorrect value
+      cerr << __FUNCTION__ << ": internal error, unsupported scale" << endl;
+      break;
+    }
+
+  return true;
+}
+
+void LSM9DS0::getAccelerometer(float *x, float *y, float *z)
+{
+  if (x)
+    *x = (m_accelX * m_accelScale) / 1000.0;
+
+  if (y)
+    *y = (m_accelY * m_accelScale) / 1000.0;
+
+  if (z)
+    *z = (m_accelZ * m_accelScale) / 1000.0;
+}
+
+void LSM9DS0::getGyroscope(float *x, float *y, float *z)
+{
+  if (x)
+    *x = (m_gyroX * m_gyroScale) / 1000.0;
+
+  if (y)
+    *y = (m_gyroY * m_gyroScale) / 1000.0;
+
+  if (z)
+    *z = (m_gyroZ * m_gyroScale) / 1000.0;
+}
+
+void LSM9DS0::getMagnetometer(float *x, float *y, float *z)
+{
+  if (x)
+    *x = (m_magX * m_magScale) / 1000.0;
+
+  if (y)
+    *y = (m_magY * m_magScale) / 1000.0;
+
+  if (z)
+    *z = (m_magZ * m_magScale) / 1000.0;
+}
+
+float LSM9DS0::getTemperature()
+{
+  // This might be wrong... The datasheet does not provide enough info
+  // to calculate the temperature given a specific sensor reading.  So
+  // - with 12b resolution, signed, and 8 degrees/per LSB, we come up
+  // with the following.  Then scale up and we get a number that seems
+  // pretty close.
+  return (((m_temp / 2048.0) * 8.0) * 100.0);
+}
+
+bool LSM9DS0::enableTemperatureSensor(bool enable)
+{
+  uint8_t reg = readReg(DEV_XM, REG_CTRL_REG5_XM);
+
+  if (enable)
+    reg |= CTRL_REG5_XM_TEMP_EN;
+  else
+    reg &= ~CTRL_REG5_XM_TEMP_EN;
+
+  return writeReg(DEV_XM, REG_CTRL_REG5_XM, reg);
+}
+
+uint8_t LSM9DS0::getGyroscopeStatus()
+{
+  return readReg(DEV_GYRO, REG_STATUS_REG_G);
+}
+
+uint8_t LSM9DS0::getMagnetometerStatus()
+{
+  return readReg(DEV_XM, REG_STATUS_REG_M);
+}
+
+uint8_t LSM9DS0::getAccelerometerStatus()
+{
+  return readReg(DEV_XM, REG_STATUS_REG_A);
+}
+
+uint8_t LSM9DS0::getGyroscopeInterruptConfig()
+{
+  return readReg(DEV_GYRO, REG_INT1_CFG_G);
+}
+
+bool LSM9DS0::setGyroscopeInterruptConfig(uint8_t enables)
+{
+  return writeReg(DEV_GYRO, REG_INT1_CFG_G, enables);
+}
+
+uint8_t LSM9DS0::getGyroscopeInterruptSrc()
+{
+  return readReg(DEV_GYRO, REG_INT1_SRC_G);
+}
+
+uint8_t LSM9DS0::getMagnetometerInterruptControl()
+{
+  return readReg(DEV_XM, REG_INT_CTRL_REG_M);
+}
+
+bool LSM9DS0::setMagnetometerInterruptControl(uint8_t enables)
+{
+  return writeReg(DEV_XM, REG_INT_CTRL_REG_M, enables);
+}
+
+uint8_t LSM9DS0::getMagnetometerInterruptSrc()
+{
+  return readReg(DEV_XM, REG_INT_SRC_REG_M);
+}
+
+uint8_t LSM9DS0::getInterruptGen1()
+{
+  return readReg(DEV_XM, REG_INT_GEN_1_REG);
+}
+
+bool LSM9DS0::setInterruptGen1(uint8_t enables)
+{
+  return writeReg(DEV_XM, REG_INT_GEN_1_REG, enables);
+}
+
+uint8_t LSM9DS0::getInterruptGen1Src()
+{
+  return readReg(DEV_XM, REG_INT_GEN_1_SRC);
+}
+
+uint8_t LSM9DS0::getInterruptGen2()
+{
+  return readReg(DEV_XM, REG_INT_GEN_2_REG);
+}
+
+bool LSM9DS0::setInterruptGen2(uint8_t enables)
+{
+  return writeReg(DEV_XM, REG_INT_GEN_2_REG, enables);
+}
+
+uint8_t LSM9DS0::getInterruptGen2Src()
+{
+  return readReg(DEV_XM, REG_INT_GEN_2_SRC);
+}
+
+void LSM9DS0::installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, 
+                         void (*isr)(void *), void *arg)
+{
+  // delete any existing ISR and GPIO context
+  uninstallISR(intr);
+
+  // greate gpio context
+  getPin(intr) = new mraa::Gpio(gpio);
+
+  getPin(intr)->dir(mraa::DIR_IN);
+  getPin(intr)->isr(level, isr, arg);
+}
+
+void LSM9DS0::uninstallISR(INTERRUPT_PINS_T intr)
+{
+  if (getPin(intr))
+    {
+      getPin(intr)->isrExit();
+      delete getPin(intr);
+      
+      getPin(intr) = 0;
+    }
+}
+
+mraa::Gpio*& LSM9DS0::getPin(INTERRUPT_PINS_T intr)
+{
+  switch(intr)
+    {
+    case INTERRUPT_G_INT:
+      return m_gpioG_INT;
+      break;
+    case INTERRUPT_G_DRDY:
+      return m_gpioG_DRDY;
+      break;
+    case INTERRUPT_XM_GEN1:
+      return m_gpioXM_GEN1;
+      break;
+    case INTERRUPT_XM_GEN2:
+      return m_gpioXM_GEN2;
+      break;
+    default:
+      throw std::logic_error(string(__FUNCTION__) +
+                             ": Invalid interrupt enum passed");
+    }
+}

src/lsm9ds0/pyupm_lsm9ds0.i

@@ -0,0 +1,15 @@
+%module pyupm_lsm9ds0
+%include "../upm.i"
+%include "cpointer.i"
+
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%pointer_functions(float, floatp);
+
+%include "lsm9ds0.h"
+%{
+    #include "lsm9ds0.h"
+%}
+