Revision 2:4d1fd40fbf43, committed 2015-01-26

Comitter:

aswild

Date:

Mon Jan 26 06:32:58 2015 +0000

Parent:

1:ae1cefe9aa38

Child:

3:6d7606db18e1

Commit message:

Doxygen for LSM9DS0

Changed in this revision

--- a/LSM9DS0.cpp	Mon Jan 26 06:23:41 2015 +0000
+++ b/LSM9DS0.cpp	Mon Jan 26 06:32:58 2015 +0000
@@ -6,8 +6,6 @@
 	// xmAddress and gAddress will store the 7-bit I2C address, if using I2C.
 	xmAddress = xmAddr;
 	gAddress = gAddr;
-	
-//	i2c_ = new I2Cdev(sda, scl);
 }
 
 uint16_t LSM9DS0::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl, 
@@ -419,42 +417,26 @@
 {
 	// Whether we're using I2C or SPI, write a byte using the
 	// accelerometer-specific I2C address or SPI CS pin.
-		return I2CwriteByte(xmAddress, subAddress, data);
+	return I2CwriteByte(xmAddress, subAddress, data);
 }
 
 uint8_t LSM9DS0::gReadByte(uint8_t subAddress)
 {
-		return I2CreadByte(gAddress, subAddress);
+	return I2CreadByte(gAddress, subAddress);
 }
 
-//void LSM9DS0::gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
-//{
-//	// Whether we're using I2C or SPI, read multiple bytes using the
-//	// gyro-specific I2C address.
-//		I2CreadBytes(gAddress, subAddress, dest, count);
-//}
-
 uint8_t LSM9DS0::xmReadByte(uint8_t subAddress)
 {
 	// Whether we're using I2C or SPI, read a byte using the
 	// accelerometer-specific I2C address.
-		return I2CreadByte(xmAddress, subAddress);
+	return I2CreadByte(xmAddress, subAddress);
 }
 
-//void LSM9DS0::xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
-//{
-//	// read multiple bytes using the
-//	// accelerometer-specific I2C address.
-//	I2CreadBytes(xmAddress, subAddress, dest, count);
-//}
-//
-
 void LSM9DS0::I2CwriteByte(char address, char subAddress, char data)
 {	
 	char cmd[2] = {subAddress, data};
 	i2c.write(address<<1, cmd, 2);
 
-//	i2c_->writeByte(address,subAddress,data);
 }
 
 uint8_t LSM9DS0::I2CreadByte(char address, char subAddress)
@@ -463,15 +445,6 @@
 	i2c.write(address<<1, &subAddress, 1, true);
 	i2c.read(address<<1, &data, 1);
 	
-//	I2CreadBytes(address, subAddress, &data, 1);
 	return data;
 
-}
-
-//void LSM9DS0::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest,
-//							uint8_t count)
-//{	
-//	i2c_->readBytes(address, subAddress, count, dest);
-//}
-
-
+}
\ No newline at end of file

--- a/LSM9DS0.h	Mon Jan 26 06:23:41 2015 +0000
+++ b/LSM9DS0.h	Mon Jan 26 06:32:58 2015 +0000
@@ -1,10 +1,9 @@
-//Most of the Credit goes to jimblom
+// Most of the Credit goes to jimblom
+// Modifications by Allen Wild
 #ifndef _LSM9DS0_H__
 #define _LSM9DS0_H__
 
 #include "mbed.h"
-//#include "I2Cdev.h"
-
 
 ////////////////////////////
 // LSM9DS0 Gyro Registers //
@@ -99,14 +98,16 @@
 class LSM9DS0
 {
 public:
-    // gyro_scale defines the possible full-scale ranges of the gyroscope:
+
+    /// gyro_scale defines the possible full-scale ranges of the gyroscope:
     enum gyro_scale
     {
         G_SCALE_245DPS,     // 00: +/- 245 degrees per second
         G_SCALE_500DPS,     // 01: +/- 500 dps
         G_SCALE_2000DPS,    // 10: +/- 2000 dps
     };
-    // accel_scale defines all possible FSR's of the accelerometer:
+
+    /// accel_scale defines all possible FSR's of the accelerometer:
     enum accel_scale
     {
         A_SCALE_2G, // 000: +/- 2g
@@ -115,7 +116,8 @@
         A_SCALE_8G, // 011: +/- 8g
         A_SCALE_16G // 100: +/- 16g
     };
-    // mag_scale defines all possible FSR's of the magnetometer:
+
+    /// mag_scale defines all possible FSR's of the magnetometer:
     enum mag_scale
     {
         M_SCALE_2GS,    // 00: +/- 2Gs
@@ -123,7 +125,8 @@
         M_SCALE_8GS,    // 10: +/- 8Gs
         M_SCALE_12GS,   // 11: +/- 12Gs
     };
-    // gyro_odr defines all possible data rate/bandwidth combos of the gyro:
+
+    /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
     enum gyro_odr
     {                           // ODR (Hz) --- Cutoff
         G_ODR_95_BW_125  = 0x0, //   95         12.5
@@ -142,7 +145,8 @@
         G_ODR_760_BW_50  = 0xE, //   760         50
         G_ODR_760_BW_100 = 0xF, //   760         100
     };
-    // accel_oder defines all possible output data rates of the accelerometer:
+
+    /// accel_oder defines all possible output data rates of the accelerometer:
     enum accel_odr
     {
         A_POWER_DOWN,   // Power-down mode (0x0)
@@ -157,7 +161,7 @@
         A_ODR_800,      // 800 Hz (9)
         A_ODR_1600      // 1600 Hz (0xA)
     };
-    // accel_oder defines all possible output data rates of the magnetometer:
+    /// accel_oder defines all possible output data rates of the magnetometer:
     enum mag_odr
     {
         M_ODR_3125, // 3.125 Hz (0x00)
@@ -188,277 +192,271 @@
     float gbias[3];
 
     
-    // LSM9DS0 -- LSM9DS0 class constructor
-    // The constructor will set up a handful of private variables, and set the
-    // communication mode as well.
-    // Input:
-    //  - interface = Either MODE_SPI or MODE_I2C, whichever you're using
-    //              to talk to the IC.
-    //  - gAddr = If MODE_I2C, this is the I2C address of the gyroscope.
-    //              If MODE_SPI, this is the chip select pin of the gyro (CSG)
-    //  - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag.
-    //              If MODE_SPI, this is the cs pin of the accel/mag (CSXM)
+    /**  LSM9DS0 -- LSM9DS0 class constructor
+    *  The constructor will set up a handful of private variables, and set the
+    *  communication mode as well.
+    *  Input:
+    *   - interface = Either MODE_SPI or MODE_I2C, whichever you're using
+    *               to talk to the IC.
+    *   - gAddr = If MODE_I2C, this is the I2C address of the gyroscope.
+    *               If MODE_SPI, this is the chip select pin of the gyro (CSG)
+    *   - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag.
+    *               If MODE_SPI, this is the cs pin of the accel/mag (CSXM)
+	*/
     LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr);
     
-    // begin() -- Initialize the gyro, accelerometer, and magnetometer.
-    // This will set up the scale and output rate of each sensor. It'll also
-    // "turn on" every sensor and every axis of every sensor.
-    // Input:
-    //  - gScl = The scale of the gyroscope. This should be a gyro_scale value.
-    //  - aScl = The scale of the accelerometer. Should be a accel_scale value.
-    //  - mScl = The scale of the magnetometer. Should be a mag_scale value.
-    //  - gODR = Output data rate of the gyroscope. gyro_odr value.
-    //  - aODR = Output data rate of the accelerometer. accel_odr value.
-    //  - mODR = Output data rate of the magnetometer. mag_odr value.
-    // Output: The function will return an unsigned 16-bit value. The most-sig
-    //      bytes of the output are the WHO_AM_I reading of the accel. The
-    //      least significant two bytes are the WHO_AM_I reading of the gyro.
-    // All parameters have a defaulted value, so you can call just "begin()".
-    // Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for 
-    // gyro, 100 Hz for accelerometer, 100 Hz for magnetometer.
-    // Use the return value of this function to verify communication.
+    /**  begin() -- Initialize the gyro, accelerometer, and magnetometer.
+    *  This will set up the scale and output rate of each sensor. It'll also
+    *  "turn on" every sensor and every axis of every sensor.
+    *  Input:
+    *   - gScl = The scale of the gyroscope. This should be a gyro_scale value.
+    *   - aScl = The scale of the accelerometer. Should be a accel_scale value.
+    *   - mScl = The scale of the magnetometer. Should be a mag_scale value.
+    *   - gODR = Output data rate of the gyroscope. gyro_odr value.
+    *   - aODR = Output data rate of the accelerometer. accel_odr value.
+    *   - mODR = Output data rate of the magnetometer. mag_odr value.
+    *  Output: The function will return an unsigned 16-bit value. The most-sig
+    *       bytes of the output are the WHO_AM_I reading of the accel. The
+    *       least significant two bytes are the WHO_AM_I reading of the gyro.
+    *  All parameters have a defaulted value, so you can call just "begin()".
+    *  Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for 
+    *  gyro, 100 Hz for accelerometer, 100 Hz for magnetometer.
+    *  Use the return value of this function to verify communication.
+	*/
     uint16_t begin(gyro_scale gScl = G_SCALE_245DPS, 
                 accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_2GS,
                 gyro_odr gODR = G_ODR_95_BW_125, accel_odr aODR = A_ODR_50, 
                 mag_odr mODR = M_ODR_50);
     
-    // readGyro() -- Read the gyroscope output registers.
-    // This function will read all six gyroscope output registers.
-    // The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
-    // those _after_ calling readGyro().
+    /**  readGyro() -- Read the gyroscope output registers.
+    *  This function will read all six gyroscope output registers.
+    *  The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
+    *  those _after_ calling readGyro().
+	*/
     void readGyro();
     
-    // readAccel() -- Read the accelerometer output registers.
-    // This function will read all six accelerometer output registers.
-    // The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
-    // those _after_ calling readAccel().
+    /**  readAccel() -- Read the accelerometer output registers.
+    *  This function will read all six accelerometer output registers.
+    *  The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
+    *  those _after_ calling readAccel().
+	*/
     void readAccel();
     
-    // readMag() -- Read the magnetometer output registers.
-    // This function will read all six magnetometer output registers.
-    // The readings are stored in the class' mx_raw, my_raw, and mz_raw variables. Read
-    // those _after_ calling readMag().
+    /**  readMag() -- Read the magnetometer output registers.
+    *  This function will read all six magnetometer output registers.
+    *  The readings are stored in the class' mx_raw, my_raw, and mz_raw variables. Read
+    *  those _after_ calling readMag().
+	*/
     void readMag();
     
-    // readTemp() -- Read the temperature output register.
-    // This function will read two temperature output registers.
-    // The combined readings are stored in the class' temperature variables. Read
-    // those _after_ calling readTemp().
+    /**  readTemp() -- Read the temperature output register.
+    *  This function will read two temperature output registers.
+    *  The combined readings are stored in the class' temperature variables. Read
+    *  those _after_ calling readTemp().
+	*/
     void readTemp();
     
-    // setGyroScale() -- Set the full-scale range of the gyroscope.
-    // This function can be called to set the scale of the gyroscope to 
-    // 245, 500, or 200 degrees per second.
-    // Input:
-    //  - gScl = The desired gyroscope scale. Must be one of three possible
-    //      values from the gyro_scale enum.
+    /**  setGyroScale() -- Set the full-scale range of the gyroscope.
+    *  This function can be called to set the scale of the gyroscope to 
+    *  245, 500, or 200 degrees per second.
+    *  Input:
+    *   - gScl = The desired gyroscope scale. Must be one of three possible
+    *       values from the gyro_scale enum.
+	*/
     void setGyroScale(gyro_scale gScl);
     
-    // setAccelScale() -- Set the full-scale range of the accelerometer.
-    // This function can be called to set the scale of the accelerometer to
-    // 2, 4, 6, 8, or 16 g's.
-    // Input:
-    //  - aScl = The desired accelerometer scale. Must be one of five possible
-    //      values from the accel_scale enum.
+    /**  setAccelScale() -- Set the full-scale range of the accelerometer.
+    *  This function can be called to set the scale of the accelerometer to
+    *  2, 4, 6, 8, or 16 g's.
+    *  Input:
+    *   - aScl = The desired accelerometer scale. Must be one of five possible
+    *       values from the accel_scale enum.
+	*/
     void setAccelScale(accel_scale aScl);
     
-    // setMagScale() -- Set the full-scale range of the magnetometer.
-    // This function can be called to set the scale of the magnetometer to
-    // 2, 4, 8, or 12 Gs.
-    // Input:
-    //  - mScl = The desired magnetometer scale. Must be one of four possible
-    //      values from the mag_scale enum.
+    /**  setMagScale() -- Set the full-scale range of the magnetometer.
+    *  This function can be called to set the scale of the magnetometer to
+    *  2, 4, 8, or 12 Gs.
+    *  Input:
+    *   - mScl = The desired magnetometer scale. Must be one of four possible
+    *       values from the mag_scale enum.
+	*/
     void setMagScale(mag_scale mScl);
     
-    // setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
-    // Input:
-    //  - gRate = The desired output rate and cutoff frequency of the gyro.
-    //      Must be a value from the gyro_odr enum (check above, there're 14).
+    /**  setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
+    *  Input:
+    *   - gRate = The desired output rate and cutoff frequency of the gyro.
+    *       Must be a value from the gyro_odr enum (check above, there're 14).
+	*/
     void setGyroODR(gyro_odr gRate);
     
-    // setAccelODR() -- Set the output data rate of the accelerometer
-    // Input:
-    //  - aRate = The desired output rate of the accel.
-    //      Must be a value from the accel_odr enum (check above, there're 11).
+    /**  setAccelODR() -- Set the output data rate of the accelerometer
+    *  Input:
+    *   - aRate = The desired output rate of the accel.
+    *       Must be a value from the accel_odr enum (check above, there're 11).
+	*/
     void setAccelODR(accel_odr aRate);
     
-    // setMagODR() -- Set the output data rate of the magnetometer
-    // Input:
-    //  - mRate = The desired output rate of the mag.
-    //      Must be a value from the mag_odr enum (check above, there're 6).
+    /**  setMagODR() -- Set the output data rate of the magnetometer
+    *  Input:
+    *   - mRate = The desired output rate of the mag.
+    *       Must be a value from the mag_odr enum (check above, there're 6).
+	*/
     void setMagODR(mag_odr mRate);
     
-    // configGyroInt() -- Configure the gyro interrupt output.
-    // Triggers can be set to either rising above or falling below a specified
-    // threshold. This function helps setup the interrupt configuration and 
-    // threshold values for all axes.
-    // Input:
-    //  - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G
-    //      register. This sets AND/OR and high/low interrupt gen for each axis
-    //  - int1ThsX = 16-bit interrupt threshold value for x-axis
-    //  - int1ThsY = 16-bit interrupt threshold value for y-axis
-    //  - int1ThsZ = 16-bit interrupt threshold value for z-axis
-    //  - duration = Duration an interrupt holds after triggered. This value
-    //      is copied directly into the INT1_DURATION_G register.
-    // Before using this function, read about the INT1_CFG_G register and
-    // the related INT1* registers in the LMS9DS0 datasheet.
+    /**  configGyroInt() -- Configure the gyro interrupt output.
+    *  Triggers can be set to either rising above or falling below a specified
+    *  threshold. This function helps setup the interrupt configuration and 
+    *  threshold values for all axes.
+    *  Input:
+    *   - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G
+    *       register. This sets AND/OR and high/low interrupt gen for each axis
+    *   - int1ThsX = 16-bit interrupt threshold value for x-axis
+    *   - int1ThsY = 16-bit interrupt threshold value for y-axis
+    *   - int1ThsZ = 16-bit interrupt threshold value for z-axis
+    *   - duration = Duration an interrupt holds after triggered. This value
+    *       is copied directly into the INT1_DURATION_G register.
+    *  Before using this function, read about the INT1_CFG_G register and
+    *  the related INT1* registers in the LMS9DS0 datasheet.
+	*/
     void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0,
                           uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0, 
                           uint8_t duration = 0);
                           
     void calcBias();
 
-	// return a comass heading (in degrees) using X/Y magnetometer data
+	*  return a comass heading (in degrees) using X/Y magnetometer data
 	float calcHeading();
 
 
 private:    
-    // xmAddress and gAddress store the I2C address
-    // for each sensor.
+    /**  xmAddress and gAddress store the I2C address
+    *  for each sensor.
+	*/
     uint8_t xmAddress, gAddress;
     
-    // gScale, aScale, and mScale store the current scale range for each 
-    // sensor. Should be updated whenever that value changes.
+    /**  gScale, aScale, and mScale store the current scale range for each 
+    *  sensor. Should be updated whenever that value changes.
+	*/
     gyro_scale gScale;
     accel_scale aScale;
     mag_scale mScale;
     
-    // gRes, aRes, and mRes store the current resolution for each sensor. 
-    // Units of these values would be DPS (or g's or Gs's) per ADC tick.
-    // This value is calculated as (sensor scale) / (2^15).
+    /**  gRes, aRes, and mRes store the current resolution for each sensor. 
+    *  Units of these values would be DPS (or g's or Gs's) per ADC tick.
+    *  This value is calculated as (sensor scale) / (2^15).
+	*/
     float gRes, aRes, mRes;
     
-    // initGyro() -- Sets up the gyroscope to begin reading.
-    // This function steps through all five gyroscope control registers.
-    // Upon exit, the following parameters will be set:
-    //  - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. 
-    //      95 Hz ODR, 12.5 Hz cutoff frequency.
-    //  - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
-    //      set to 7.2 Hz (depends on ODR).
-    //  - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
-    //      active high). Data-ready output enabled on DRDY_G.
-    //  - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
-    //      address. Scale set to 245 DPS. SPI mode set to 4-wire.
-    //  - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
+    /**  initGyro() -- Sets up the gyroscope to begin reading.
+    *  This function steps through all five gyroscope control registers.
+    *  Upon exit, the following parameters will be set:
+    *   - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. 
+    *       95 Hz ODR, 12.5 Hz cutoff frequency.
+    *   - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
+    *       set to 7.2 Hz (depends on ODR).
+    *   - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
+    *       active high). Data-ready output enabled on DRDY_G.
+    *   - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
+    *       address. Scale set to 245 DPS. SPI mode set to 4-wire.
+    *   - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
+	*/
     void initGyro();
     
-    // initAccel() -- Sets up the accelerometer to begin reading.
-    // This function steps through all accelerometer related control registers.
-    // Upon exit these registers will be set as:
-    //  - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
-    //  - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
-    //      all axes enabled.
-    //  - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW.
-    //  - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
+    /**  initAccel() -- Sets up the accelerometer to begin reading.
+    *  This function steps through all accelerometer related control registers.
+    *  Upon exit these registers will be set as:
+    *   - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
+    *   - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
+    *       all axes enabled.
+    *   - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW.
+    *   - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
+	*/
     void initAccel();
     
-    // initMag() -- Sets up the magnetometer to begin reading.
-    // This function steps through all magnetometer-related control registers.
-    // Upon exit these registers will be set as:
-    //  - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
-    //  - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
-    //      requests don't latch. Temperature sensor disabled.
-    //  - CTRL_REG6_XM = 0x00: +/- 2 Gs scale.
-    //  - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
-    //  - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
+    /**  initMag() -- Sets up the magnetometer to begin reading.
+    *  This function steps through all magnetometer-related control registers.
+    *  Upon exit these registers will be set as:
+    *   - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
+    *   - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
+    *       requests don't latch. Temperature sensor disabled.
+    *   - CTRL_REG6_XM = 0x00: +/- 2 Gs scale.
+    *   - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
+    *   - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
+	*/
     void initMag();
     
-    // gReadByte() -- Reads a byte from a specified gyroscope register.
-    // Input:
-    //  - subAddress = Register to be read from.
-    // Output:
-    //  - An 8-bit value read from the requested address.
+    /**  gReadByte() -- Reads a byte from a specified gyroscope register.
+    *  Input:
+    *   - subAddress = Register to be read from.
+    *  Output:
+    *   - An 8-bit value read from the requested address.
+	*/
     uint8_t gReadByte(uint8_t subAddress);
     
-    // gReadBytes() -- Reads a number of bytes -- beginning at an address
-    // and incrementing from there -- from the gyroscope.
-    // Input:
-    //  - subAddress = Register to be read from.
-    //  - * dest = A pointer to an array of uint8_t's. Values read will be
-    //      stored in here on return.
-    //  - count = The number of bytes to be read.
-    // Output: No value is returned, but the `dest` array will store
-    //  the data read upon exit.
-//    void gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
-    
-    // gWriteByte() -- Write a byte to a register in the gyroscope.
-    // Input:
-    //  - subAddress = Register to be written to.
-    //  - data = data to be written to the register.
+    /**  gWriteByte() -- Write a byte to a register in the gyroscope.
+    *  Input:
+    *   - subAddress = Register to be written to.
+    *   - data = data to be written to the register.
+	*/
     void gWriteByte(uint8_t subAddress, uint8_t data);
     
-    // xmReadByte() -- Read a byte from a register in the accel/mag sensor
-    // Input:
-    //  - subAddress = Register to be read from.
-    // Output:
-    //  - An 8-bit value read from the requested register.
+    /**  xmReadByte() -- Read a byte from a register in the accel/mag sensor
+    *  Input:
+    *   - subAddress = Register to be read from.
+    *  Output:
+    *   - An 8-bit value read from the requested register.
+	*/
     uint8_t xmReadByte(uint8_t subAddress);
     
-    // xmReadBytes() -- Reads a number of bytes -- beginning at an address
-    // and incrementing from there -- from the accelerometer/magnetometer.
-    // Input:
-    //  - subAddress = Register to be read from.
-    //  - * dest = A pointer to an array of uint8_t's. Values read will be
-    //      stored in here on return.
-    //  - count = The number of bytes to be read.
-    // Output: No value is returned, but the `dest` array will store
-    //  the data read upon exit.
-//    void xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
-    
-    // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
-    // Input:
-    //  - subAddress = Register to be written to.
-    //  - data = data to be written to the register.
+    /**  xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
+    *  Input:
+    *   - subAddress = Register to be written to.
+    *   - data = data to be written to the register.
+	*/
     void xmWriteByte(uint8_t subAddress, uint8_t data);
     
-    // calcgRes() -- Calculate the resolution of the gyroscope.
-    // This function will set the value of the gRes variable. gScale must
-    // be set prior to calling this function.
+    /**  calcgRes() -- Calculate the resolution of the gyroscope.
+    *  This function will set the value of the gRes variable. gScale must
+    *  be set prior to calling this function.
+	*/
     void calcgRes();
     
-    // calcmRes() -- Calculate the resolution of the magnetometer.
-    // This function will set the value of the mRes variable. mScale must
-    // be set prior to calling this function.
+    /**  calcmRes() -- Calculate the resolution of the magnetometer.
+    *  This function will set the value of the mRes variable. mScale must
+    *  be set prior to calling this function.
+	*/
     void calcmRes();
     
-    // calcaRes() -- Calculate the resolution of the accelerometer.
-    // This function will set the value of the aRes variable. aScale must
-    // be set prior to calling this function.
+    /**  calcaRes() -- Calculate the resolution of the accelerometer.
+    *  This function will set the value of the aRes variable. aScale must
+    *  be set prior to calling this function.
+	*/
     void calcaRes();
     
     
     ///////////////////
     // I2C Functions //
     ///////////////////
-//    I2Cdev* i2c_;
 	I2C i2c;
 
     
-    // I2CwriteByte() -- Write a byte out of I2C to a register in the device
-    // Input:
-    //  - address = The 7-bit I2C address of the slave device.
-    //  - subAddress = The register to be written to.
-    //  - data = Byte to be written to the register.
+    /**  I2CwriteByte() -- Write a byte out of I2C to a register in the device
+    *  Input:
+    *   - address = The 7-bit I2C address of the slave device.
+    *   - subAddress = The register to be written to.
+    *   - data = Byte to be written to the register.
+	*/
     void I2CwriteByte(char address, char subAddress, char data);
     
-    // I2CreadByte() -- Read a single byte from a register over I2C.
-    // Input:
-    //  - address = The 7-bit I2C address of the slave device.
-    //  - subAddress = The register to be read from.
-    // Output:
-    //  - The byte read from the requested address.
+    /**  I2CreadByte() -- Read a single byte from a register over I2C.
+    *  Input:
+    *   - address = The 7-bit I2C address of the slave device.
+    *   - subAddress = The register to be read from.
+    *  Output:
+    *   - The byte read from the requested address.
+	*/
     uint8_t I2CreadByte(char address, char subAddress);
-    
-    // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
-    // Input:
-    //  - address = The 7-bit I2C address of the slave device.
-    //  - subAddress = The register to begin reading.
-    //  - * dest = Pointer to an array where we'll store the readings.
-    //  - count = Number of registers to be read.
-    // Output: No value is returned by the function, but the registers read are
-    //      all stored in the *dest array given.
-//    void I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
 };
 
 #endif // _LSM9DS0_H //
-