Seeed_Arduino_LSM6DS3/examples/LowLevelExample/LowLevelExample.ino

/*****************************************************************************/
//  LowLevelExample.ino
//  Hardware:      Grove - 6-Axis Accelerometer&Gyroscope
//	Arduino IDE:   Arduino-1.65
//	Author:	       Lambor
//	Date: 	       Oct,2015
//	Version:       v1.0
//
//  Modified by:
//  Data:
//  Description:
//
//	by www.seeedstudio.com
//
//  This library is free software; you can redistribute it and/or
//  modify it under the terms of the GNU Lesser General Public
//  License as published by the Free Software Foundation; either
//  version 2.1 of the License, or (at your option) any later version.
//
//  This library is distributed in the hope that it will be useful,
//  but WITHOUT ANY WARRANTY; without even the implied warranty of
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
//  Lesser General Public License for more details.
//
//  You should have received a copy of the GNU Lesser General Public
//  License along with this library; if not, write to the Free Software
//  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
//
/*******************************************************************************/

#include "LSM6DS3.h"
#include "Wire.h"
#include "SPI.h"

uint16_t errorsAndWarnings = 0;

//Create instance of LSM6DS3Core
LSM6DS3Core myIMU(I2C_MODE, 0x6A);    //I2C device address 0x6A

void setup() {
    //Init Serial port
    Serial.begin(9600);
    while (!Serial);

    //Call .beginCore() to configure the IMU
    if (myIMU.beginCore() != 0) {
        Serial.print("\nDevice Error.\n");
    } else {
        Serial.print("\nDevice OK.\n");
    }

    uint8_t dataToWrite = 0;  //Temporary variable

    //Setup the accelerometer******************************
    dataToWrite = 0; //Start Fresh!
    dataToWrite |= LSM6DS3_ACC_GYRO_BW_XL_100Hz;
    dataToWrite |= LSM6DS3_ACC_GYRO_FS_XL_8g;
    dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_104Hz;

    //Now, write the patched together data
    errorsAndWarnings += myIMU.writeRegister(LSM6DS3_ACC_GYRO_CTRL1_XL, dataToWrite);

    //Set the ODR bit
    errorsAndWarnings += myIMU.readRegister(&dataToWrite, LSM6DS3_ACC_GYRO_CTRL4_C);
    dataToWrite &= ~((uint8_t)LSM6DS3_ACC_GYRO_BW_SCAL_ODR_ENABLED);

}

void loop() {
    int16_t temp;
    //Get all parameters
    Serial.print("\nAccelerometer Counts:\n");

    //Acelerometer axis X
    if (myIMU.readRegisterInt16(&temp, LSM6DS3_ACC_GYRO_OUTX_L_XL) != 0) {
        errorsAndWarnings++;
    }
    Serial.print(" X = ");
    Serial.println(temp);

    //Acelerometer axis Y
    if (myIMU.readRegisterInt16(&temp, LSM6DS3_ACC_GYRO_OUTY_L_XL) != 0) {
        errorsAndWarnings++;
    }
    Serial.print(" Y = ");
    Serial.println(temp);

    //Acelerometer axis Z
    if (myIMU.readRegisterInt16(&temp, LSM6DS3_ACC_GYRO_OUTZ_L_XL) != 0) {
        errorsAndWarnings++;
    }
    Serial.print(" Z = ");
    Serial.println(temp);

    Serial.println();
    Serial.print("Total reported Errors and Warnings: ");
    Serial.println(errorsAndWarnings);

    delay(1000);
}