DM: fix SPI bugs, gyro bitmask

Author: deanm1278

Adafruit_LSM9DS1.cpp

@@ -301,7 +301,7 @@ void Adafruit_LSM9DS1::setupMag ( lsm9ds1MagGain_t gain )
 void Adafruit_LSM9DS1::setupGyro ( lsm9ds1GyroScale_t scale )
 {
   uint8_t reg = read8(XGTYPE, LSM9DS1_REGISTER_CTRL_REG1_G);
-  reg &= ~(0b00110000);
+  reg &= ~(0b00011000);
   reg |= scale;
   write8(XGTYPE, LSM9DS1_REGISTER_CTRL_REG1_G, reg );
 
@@ -389,7 +389,7 @@ void Adafruit_LSM9DS1::write8(boolean type, byte reg, byte value)
   } else {
     digitalWrite(_cs, LOW);
     if (_clk == -1)     // hardware SPI
-      SPI.beginTransaction(SPISettings(200000, MSBFIRST, SPI_MODE0));
+      SPI.beginTransaction(SPISettings(2000000, MSBFIRST, SPI_MODE3));
     // set address
     spixfer(reg & 0x7F); // write data
     spixfer(value);
@@ -442,13 +442,16 @@ byte Adafruit_LSM9DS1::readBuffer(boolean type, byte reg, byte len, uint8_t *buf
 
   } else {
     if (_clk == -1)     // hardware SPI
-      SPI.beginTransaction(SPISettings(200000, MSBFIRST, SPI_MODE0));
+      SPI.beginTransaction(SPISettings(2000000, MSBFIRST, SPI_MODE3));
     else
       digitalWrite(_clk, HIGH);
     // set address
 
     digitalWrite(_cs, LOW);
 
+    if(type == MAGTYPE)
+      reg |= 0x40;
+
     spixfer(reg | 0x80 ); // readdata
     for (uint8_t i=0; i<len; i++) {
       buffer[i] = spixfer(0);

Adafruit_LSM9DS1.h

@@ -168,9 +168,9 @@ class Adafruit_LSM9DS1
 
     typedef enum
     {
-      LSM9DS1_GYROSCALE_245DPS             = (0b00 << 4),  // +/- 245 degrees per second rotation
-      LSM9DS1_GYROSCALE_500DPS             = (0b01 << 4),  // +/- 500 degrees per second rotation
-      LSM9DS1_GYROSCALE_2000DPS            = (0b11 << 4)   // +/- 2000 degrees per second rotation
+      LSM9DS1_GYROSCALE_245DPS             = (0b00 << 3),  // +/- 245 degrees per second rotation
+      LSM9DS1_GYROSCALE_500DPS             = (0b01 << 3),  // +/- 500 degrees per second rotation
+      LSM9DS1_GYROSCALE_2000DPS            = (0b11 << 3)   // +/- 2000 degrees per second rotation
     } lsm9ds1GyroScale_t;
 
     typedef struct vector_s

library.properties

@@ -1,5 +1,5 @@
 name=Adafruit LSM9DS1 Library
-version=1.0.0
+version=1.0.1
 author=Adafruit
 maintainer=Adafruit <[email protected]>
 sentence=Arduino library for LSM9DS1 9-DOF sensor board.