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1 // Copyright (c) 2015, the Fletch project authors. Please see the AUTHORS file | 1 // Copyright (c) 2015, the Dartino project authors. Please see the AUTHORS file |
2 // for details. All rights reserved. Use of this source code is governed by a | 2 // for details. All rights reserved. Use of this source code is governed by a |
3 // BSD-style license that can be found in the LICENSE.md file. | 3 // BSD-style license that can be found in the LICENSE.md file. |
4 | 4 |
5 /// API for LSM9DS1 "iNEMO inertial module: 3D accelerometer, 3D gyroscope, | 5 /// API for LSM9DS1 "iNEMO inertial module: 3D accelerometer, 3D gyroscope, |
6 /// 3D magnetometer" chip using the I2C bus. | 6 /// 3D magnetometer" chip using the I2C bus. |
7 /// | 7 /// |
8 /// Currently this has only been tested with a Raspberry Pi 2 and the Sense HAT. | 8 /// Currently this has only been tested with a Raspberry Pi 2 and the Sense HAT. |
9 /// | 9 /// |
10 /// The following sample code show how to access the LSM9DS1 on a Raspberry Pi 2 | 10 /// The following sample code show how to access the LSM9DS1 on a Raspberry Pi 2 |
11 /// Sense HAT. | 11 /// Sense HAT. |
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413 var z = _signed16(_deviceM.readByte(_outZHM), _deviceM.readByte(_outZLM)); | 413 var z = _signed16(_deviceM.readByte(_outZHM), _deviceM.readByte(_outZLM)); |
414 var res = _magnetRes[_magnetScale]; | 414 var res = _magnetRes[_magnetScale]; |
415 return new MagnetMeasurement(x * res, y * res, z * res); | 415 return new MagnetMeasurement(x * res, y * res, z * res); |
416 } | 416 } |
417 } | 417 } |
418 | 418 |
419 int _signed16(int msb, int lsb) { | 419 int _signed16(int msb, int lsb) { |
420 var x = msb << 8 | lsb; | 420 var x = msb << 8 | lsb; |
421 return x < 0x7fff ? x : x - 0x10000; | 421 return x < 0x7fff ? x : x - 0x10000; |
422 } | 422 } |
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