Make changes to supplied settings visible via pointer - .cpp

User can now provide a pointer to their own SensorSettings structure. If it is supplied it is first filled out to be identical to the desired settings, and then when default cases are selected (because other cases do not match the switch value) the appropriate field is updated in the output SensorSettings. Then the user can double check that SensorSettings matches the settings that they intended. If not then that sub-setting was not a valid choice.

Author: Owen

src/SparkFunLSM6DS3.cpp

@@ -388,13 +388,36 @@ LSM6DS3::LSM6DS3( uint8_t busType, uint8_t inputArg ) : LSM6DS3Core( busType, in
 //  "myIMU.settings.accelEnabled = 1;" to configure before calling .begin();
 //
 //****************************************************************************//
-status_t LSM6DS3::begin()
+status_t LSM6DS3::begin(SensorSettings* pActualSettings)
 {
 	//Check the settings structure values to determine how to setup the device
 	uint8_t dataToWrite = 0;  //Temporary variable
 
 	//Begin the inherited core.  This gets the physical wires connected
 	status_t returnError = beginCore();
+	
+	// Copy the values from the user's settings into the output 'pActualSettings'
+	// that will reflect if any default choices had to be made
+	if(pActualSettings != NULL){ 
+		pActualSettings->gyroEnabled = settings.gyroEnabled;
+		pActualSettings->gyroRange = settings.gyroRange;
+		pActualSettings->gyroSampleRate = settings.gyroSampleRate;
+		pActualSettings->gyroBandWidth = settings.gyroBandWidth;
+		pActualSettings->gyroFifoEnabled = settings.gyroFifoEnabled;
+		pActualSettings->gyroFifoDecimation = settings.gyroFifoDecimation;
+		pActualSettings->accelEnabled = settings.accelEnabled;
+		pActualSettings->accelODROff = settings.accelODROff;
+		pActualSettings->accelRange = settings.accelRange;
+		pActualSettings->accelSampleRate = settings.accelSampleRate;
+		pActualSettings->accelBandWidth = settings.accelBandWidth;
+		pActualSettings->accelFifoEnabled = settings.accelFifoEnabled;
+		pActualSettings->accelFifoDecimation = settings.accelFifoDecimation;
+		pActualSettings->tempEnabled = settings.tempEnabled;
+		pActualSettings->commMode = settings.commMode;
+		pActualSettings->fifoThreshold = settings.fifoThreshold;
+		pActualSettings->fifoSampleRate = settings.fifoSampleRate;
+		pActualSettings->fifoModeWord = settings.fifoModeWord;
+	}
 
 	//Setup the accelerometer******************************
 	dataToWrite = 0; //Start Fresh!
@@ -412,6 +435,7 @@ status_t LSM6DS3::begin()
 			dataToWrite |= LSM6DS3_ACC_GYRO_BW_XL_200Hz;
 			break;
 		default:  //set default case to max passthrough
+			if(pActualSettings != NULL){ pActualSettings->accelBandWidth = 400; }
 		case 400:
 			dataToWrite |= LSM6DS3_ACC_GYRO_BW_XL_400Hz;
 			break;
@@ -428,6 +452,7 @@ status_t LSM6DS3::begin()
 			dataToWrite |= LSM6DS3_ACC_GYRO_FS_XL_8g;
 			break;
 		default:  //set default case to 16(max)
+			if(pActualSettings != NULL){ pActualSettings->accelRange = 16; }
 		case 16:
 			dataToWrite |= LSM6DS3_ACC_GYRO_FS_XL_16g;
 			break;
@@ -444,6 +469,7 @@ status_t LSM6DS3::begin()
 			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_52Hz;
 			break;
 		default:  //Set default to 104
+			if(pActualSettings != NULL){ pActualSettings->accelSampleRate = 104; }
 		case 104:
 			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_104Hz;
 			break;
@@ -505,6 +531,7 @@ status_t LSM6DS3::begin()
 			dataToWrite |= LSM6DS3_ACC_GYRO_FS_G_1000dps;
 			break;
 		default:  //Default to full 2000DPS range
+			if(pActualSettings != NULL){ pActualSettings->gyroRange = 2000; }
 		case 2000:
 			dataToWrite |= LSM6DS3_ACC_GYRO_FS_G_2000dps;
 			break;
@@ -521,6 +548,7 @@ status_t LSM6DS3::begin()
 			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_52Hz;
 			break;
 		default:  //Set default to 104
+			if(pActualSettings != NULL){ pActualSettings->gyroSampleRate = gyroSampleRate; }
 		case 104:
 			dataToWrite |= LSM6DS3_ACC_GYRO_ODR_G_104Hz;
 			break;