test-lsm9ds1 compiles

sbs.conf

@@ -491,3 +491,11 @@ BinName:    test-l3gd20
 Include:    %shared %spi
 Defines:
 Main:       drivers/test-l3gd20
+
+[test-lsm9ds1]
+Type:       test
+BoardId:    stm32f429zi_stm32f4discovery
+BinName:    test-lsm9ds1
+Include:    %shared %spi
+Defines:
+Main:       drivers/test-lsm9ds1
\ No newline at end of file

src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h

@@ -27,7 +27,7 @@
 #include <miosix.h>
 
 #include "drivers/spi/SPIDriver.h"
-#include "Sensor.h"
+#include "../Sensor.h"
 
 using miosix::GpioPin;
 
@@ -158,9 +158,9 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
             //FIFO setup: FIFO enabled in continous mode, decimation OFF, temperature on FIFO ON.
             if(fifo_enabled)
             {
-                spi.write(regMapXLG::FIFO_CTRL, FIFO_CTRL_VAL | fifo_watermark); //FIFO continous mode + fifo watermark threshold setup
+                spi.write(regMapXLG::FIFO_CTRL, (FIFO_CTRL_VAL|fifo_watermark)); //FIFO continous mode + fifo watermark threshold setup
                 spi.write(regMapXLG::INT1_CTRL, INT1_CTRL_VAL); //interrupt on FIFO treshold
-                spi.write(regMapXLG::CTRL_REG9, CTRL_REG9_VAL | 0x02); //DRDY_mask_bit ON, I2C OFF, FIFO ON
+                spi.write(regMapXLG::CTRL_REG9, (CTRL_REG9_VAL|0x02)); //DRDY_mask_bit ON, I2C OFF, FIFO ON
             }
             else
                 spi.write(regMapXLG::CTRL_REG9, CTRL_REG9_VAL); //DRDY_mask_bit ON, I2C OFF, FIFO OFF
@@ -182,7 +182,7 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
             if(spi.read(regMapXLG::CTRL_REG8)!=CTRL_REG8_VAL)                          return false;
             if(fifo_enabled)
             {
-                if(spi.read(regMapXLG::FIFO_CTRL) != FIFO_CTRL_VAL | fifo_watermark)   return false;
+                if(spi.read(regMapXLG::FIFO_CTRL) != (FIFO_CTRL_VAL|fifo_watermark))   return false;
                 if(spi.read(regMapXLG::INT1_CTRL) != INT1_CTRL_VAL)                    return false;
                 if(spi.read(regMapXLG::CTRL_REG9) != (CTRL_REG9_VAL| 0x02))            return false;
             }
@@ -269,6 +269,7 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
 
             int16_t temp = tempData[0] | tempData[1] << 8;
             mLastTemp = tempZero + temp / tempSensistivity; //25°C + TEMP/S devo castare a float "temp"?
+            return true;
         }
 
     private:

src/tests/drivers/test-lsm9ds1.cpp

+/**
+ * test LSM9DS1 axel + gyro
+ * Copyright (c) 2020 Skyward Experimental Rocketry
+ * Authors: Andrea Milluzzo
+ *
+ * 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 "drivers/spi/SPIDriver.h"
+#include "sensors/LSM9DS1/LSM9DS1_AxelGyro.h"
+
+using namespace miosix;
+
+typedef Gpio<GPIOA_BASE, 5> GpioSck; //questi sono i pin SPI per f407_discovery
+typedef Gpio<GPIOA_BASE, 6> GpioMiso;
+typedef Gpio<GPIOA_BASE, 7> GpioMosi;
+
+static const bool FIFO_ENABLED = false;
+Vec3 adata, gdata;
+
+//SPI
+SPIBus bus(SPI1);
+SPIBusConfig cfg;
+GpioPin cs(GPIOE_BASE, 7);
+
+
+
+int main(){
+    cfg.br = SPIBaudRate::DIV_64; //max 10MHz
+    {
+        FastInterruptDisableLock dLock;
+
+        RCC->APB2ENR |= RCC_APB2ENR_SPI1EN; //SPI1 ENABLE
+        
+        GpioSck::mode(Mode::ALTERNATE);
+        GpioMiso::mode(Mode::ALTERNATE);
+        GpioMosi::mode(Mode::ALTERNATE);
+        cs.mode(Mode::OUTPUT);
+
+        GpioSck::alternateFunction(5);
+        GpioMiso::alternateFunction(5);
+        GpioMosi::alternateFunction(5);
+    }
+
+    cs.high();
+    LSM9DS1_XLG lsm9ds1(
+                    bus,
+                    cs,
+                    LSM9DS1_XLG::AxelFSR::FS_8, 
+                    LSM9DS1_XLG::GyroFSR::FS_245,
+                    LSM9DS1_XLG::ODR::ODR_952
+                    );
+    
+    while(!lsm9ds1.init()){}
+    Thread::sleep(500);
+    long long first_tick = miosix::getTick();
+    
+    for(;;)
+    {
+        long long tick = miosix::getTick();
+        lsm9ds1.onSimpleUpdate();
+        adata = *(lsm9ds1.accelDataPtr());
+        gdata = *(lsm9ds1.gyroDataPtr());
+        printf("TIMESTAMP:%.3f\taxel:%.3f,%.3f,%.3f\tgyro:%.3f,%.3f,%.3f", 
+                tick-first_tick, 
+                adata.getX(), adata.getY(), adata.getZ(),
+                gdata.getX(), gdata.getY(), gdata.getZ());
+        Thread::sleep(500);
+    }
+    
+    
+    return 0;
+}
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