A Team / DCM_AHRS

DCM Code ported from Arduino for FRDM-KL25Z

Dependents:   minimu_data_capture minimu_data_capture

Fork of DCM_AHRS by Kris Reynolds

LSM303.cpp@0:dc35364e2291, 2012-04-12 (annotated)

Committer:
krmreynolds
Date:
Thu Apr 12 13:47:23 2012 +0000
Revision:
0:dc35364e2291
Child:
1:3272ece36ce1
Added GNU Agreement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krmreynolds 0:dc35364e2291 1 /* mbed LSM303 Library version 0beta1
krmreynolds 0:dc35364e2291 2 * Copyright (c) 2012 bengo
krmreynolds 0:dc35364e2291 3 *
krmreynolds 0:dc35364e2291 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
krmreynolds 0:dc35364e2291 5 * of this software and associated documentation files (the "Software"), to deal
krmreynolds 0:dc35364e2291 6 * in the Software without restriction, including without limitation the rights
krmreynolds 0:dc35364e2291 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
krmreynolds 0:dc35364e2291 8 * copies of the Software, and to permit persons to whom the Software is
krmreynolds 0:dc35364e2291 9 * furnished to do so, subject to the following conditions:
krmreynolds 0:dc35364e2291 10 *
krmreynolds 0:dc35364e2291 11 * The above copyright notice and this permission notice shall be included in
krmreynolds 0:dc35364e2291 12 * all copies or substantial portions of the Software.
krmreynolds 0:dc35364e2291 13 *
krmreynolds 0:dc35364e2291 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
krmreynolds 0:dc35364e2291 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
krmreynolds 0:dc35364e2291 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
krmreynolds 0:dc35364e2291 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
krmreynolds 0:dc35364e2291 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
krmreynolds 0:dc35364e2291 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
krmreynolds 0:dc35364e2291 20 * THE SOFTWARE.
krmreynolds 0:dc35364e2291 21 */
krmreynolds 0:dc35364e2291 22
krmreynolds 0:dc35364e2291 23 #include <LSM303.h>
krmreynolds 0:dc35364e2291 24 #include <cmath>
krmreynolds 0:dc35364e2291 25
krmreynolds 0:dc35364e2291 26 // LSM303 I2C addresses
krmreynolds 0:dc35364e2291 27 const int LSM303::ACC_ADDRESS = 0x30;
krmreynolds 0:dc35364e2291 28 const int LSM303::MAG_ADDRESS = 0x3c;
krmreynolds 0:dc35364e2291 29 // LSM303 register addresses
krmreynolds 0:dc35364e2291 30 const int LSM303::ACC_CTRL_REG1 = 0x20;
krmreynolds 0:dc35364e2291 31 const int LSM303::ACC_CTRL_REG2 = 0x21;
krmreynolds 0:dc35364e2291 32 const int LSM303::ACC_CTRL_REC3 = 0x22;
krmreynolds 0:dc35364e2291 33 const int LSM303::ACC_CTRL_REG4 = 0x23;
krmreynolds 0:dc35364e2291 34 const int LSM303::ACC_CTRL_REG5 = 0x24;
krmreynolds 0:dc35364e2291 35 const int LSM303::ACC_HP_FILTER_RESET = 0x25;
krmreynolds 0:dc35364e2291 36 const int LSM303::ACC_REFERENCE = 0x26;
krmreynolds 0:dc35364e2291 37 const int LSM303::ACC_STATUS_REG = 0x27;
krmreynolds 0:dc35364e2291 38 const int LSM303::ACC_OUT_X_L = 0x28;
krmreynolds 0:dc35364e2291 39 const int LSM303::ACC_OUT_X_H = 0x29;
krmreynolds 0:dc35364e2291 40 const int LSM303::ACC_OUT_Y_L = 0x2a;
krmreynolds 0:dc35364e2291 41 const int LSM303::ACC_OUT_Y_H = 0x2b;
krmreynolds 0:dc35364e2291 42 const int LSM303::ACC_OUT_Z_L = 0x2c;
krmreynolds 0:dc35364e2291 43 const int LSM303::ACC_OUT_Z_H = 0x2d;
krmreynolds 0:dc35364e2291 44 const int LSM303::ACC_INT1_CFG = 0x30;
krmreynolds 0:dc35364e2291 45 const int LSM303::ACC_INT1_SOURCE = 0x31;
krmreynolds 0:dc35364e2291 46 const int LSM303::ACC_INT1_THS = 0x32;
krmreynolds 0:dc35364e2291 47 const int LSM303::ACC_INT1_DURATION = 0x33;
krmreynolds 0:dc35364e2291 48 const int LSM303::ACC_INT2_CFG = 0x34;
krmreynolds 0:dc35364e2291 49 const int LSM303::ACC_INT2_SOURCE = 0x35;
krmreynolds 0:dc35364e2291 50 const int LSM303::ACC_INT2_THS = 0x36;
krmreynolds 0:dc35364e2291 51 const int LSM303::ACC_INT2_DURATION = 0x37;
krmreynolds 0:dc35364e2291 52 const int LSM303::MAG_CRA_REG = 0x00;
krmreynolds 0:dc35364e2291 53 const int LSM303::MAG_CRB_REG = 0x01;
krmreynolds 0:dc35364e2291 54 const int LSM303::MAG_MR_REG = 0x02;
krmreynolds 0:dc35364e2291 55 const int LSM303::MAG_OUT_X_H = 0x03;
krmreynolds 0:dc35364e2291 56 const int LSM303::MAG_OUT_X_L = 0x04;
krmreynolds 0:dc35364e2291 57 const int LSM303::MAG_OUT_Y_H = 0x07;
krmreynolds 0:dc35364e2291 58 const int LSM303::MAG_OUT_Y_L = 0x08;
krmreynolds 0:dc35364e2291 59 const int LSM303::MAG_OUT_Z_H = 0x05;
krmreynolds 0:dc35364e2291 60 const int LSM303::MAG_OUT_Z_L = 0x6;
krmreynolds 0:dc35364e2291 61 const int LSM303::MAG_SR_REG = 0x9;
krmreynolds 0:dc35364e2291 62 const int LSM303::MAG_IRA_REG = 0x0a;
krmreynolds 0:dc35364e2291 63 const int LSM303::MAG_IRB_REG = 0x0b;
krmreynolds 0:dc35364e2291 64 const int LSM303::MAG_IRC_REG = 0x0c;
krmreynolds 0:dc35364e2291 65 const int LSM303::MAG_WHO_AM_I = 0x0f;
krmreynolds 0:dc35364e2291 66 //
krmreynolds 0:dc35364e2291 67
krmreynolds 0:dc35364e2291 68 // -------------------------------------------
krmreynolds 0:dc35364e2291 69 LSM303::LSM303( PinName sda, PinName scl ) : _i2c( sda, scl ) {
krmreynolds 0:dc35364e2291 70 // Get SA0 pin status
krmreynolds 0:dc35364e2291 71 _bytes[0] = ACC_CTRL_REG1;
krmreynolds 0:dc35364e2291 72 _i2c.write( ACC_ADDRESS, _bytes, 1 );
krmreynolds 0:dc35364e2291 73 int sa0low = _i2c.read( ACC_ADDRESS+1, _bytes, 1 );
krmreynolds 0:dc35364e2291 74 _bytes[0] = ACC_CTRL_REG1;
krmreynolds 0:dc35364e2291 75 _i2c.write( ACC_ADDRESS+2, _bytes, 1 );
krmreynolds 0:dc35364e2291 76 int sa0hig = _i2c.read( ACC_ADDRESS+2+1, _bytes, 1 );
krmreynolds 0:dc35364e2291 77 if( sa0low == 0 && sa0hig != 0 ) {
krmreynolds 0:dc35364e2291 78 _SA0Pad = 0x0;
krmreynolds 0:dc35364e2291 79 }
krmreynolds 0:dc35364e2291 80 else if( sa0low != 0 && sa0hig == 0 ) {
krmreynolds 0:dc35364e2291 81 _SA0Pad = 0x2;
krmreynolds 0:dc35364e2291 82 }
krmreynolds 0:dc35364e2291 83 else {
krmreynolds 0:dc35364e2291 84 _status = 1;
krmreynolds 0:dc35364e2291 85 return;
krmreynolds 0:dc35364e2291 86 }
krmreynolds 0:dc35364e2291 87 // Check that you're talking with an LM303DLM device
krmreynolds 0:dc35364e2291 88 _bytes[0] = MAG_WHO_AM_I;
krmreynolds 0:dc35364e2291 89 _i2c.write( MAG_ADDRESS, _bytes, 1 );
krmreynolds 0:dc35364e2291 90 _status = _i2c.read( MAG_ADDRESS+1, _bytes, 1 );
krmreynolds 0:dc35364e2291 91 if( _bytes[0] == 0x3c ) {
krmreynolds 0:dc35364e2291 92 _status = 0;
krmreynolds 0:dc35364e2291 93 }
krmreynolds 0:dc35364e2291 94 else {
krmreynolds 0:dc35364e2291 95 _status = 1;
krmreynolds 0:dc35364e2291 96 return;
krmreynolds 0:dc35364e2291 97 }
krmreynolds 0:dc35364e2291 98 // Enable normal mode...
krmreynolds 0:dc35364e2291 99 // ... On accelerometer
krmreynolds 0:dc35364e2291 100 this->accRegisterWrite( ACC_CTRL_REG1, 0x27 );
krmreynolds 0:dc35364e2291 101 if( _status != 0 ) {
krmreynolds 0:dc35364e2291 102 return;
krmreynolds 0:dc35364e2291 103 }
krmreynolds 0:dc35364e2291 104 // ... And on magnetometer
krmreynolds 0:dc35364e2291 105 this->magRegisterWrite( MAG_MR_REG, 0x00 );
krmreynolds 0:dc35364e2291 106 }
krmreynolds 0:dc35364e2291 107 LSM303::LSM303( void ) : _i2c( p9, p10 ) {}
krmreynolds 0:dc35364e2291 108 // -------------------------------------------
krmreynolds 0:dc35364e2291 109 int LSM303::accRegisterRead( int reg ) {
krmreynolds 0:dc35364e2291 110 _bytes[0] = reg & 0xff;
krmreynolds 0:dc35364e2291 111 _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 1 );
krmreynolds 0:dc35364e2291 112 if( _status == 0 ) {
krmreynolds 0:dc35364e2291 113 _status = _i2c.read( ACC_ADDRESS + _SA0Pad + 1, _bytes, 1 );
krmreynolds 0:dc35364e2291 114 return( _bytes[0] );
krmreynolds 0:dc35364e2291 115 }
krmreynolds 0:dc35364e2291 116 return( 0 );
krmreynolds 0:dc35364e2291 117 }
krmreynolds 0:dc35364e2291 118
krmreynolds 0:dc35364e2291 119 // -------------------------------------------
krmreynolds 0:dc35364e2291 120 void LSM303::accRegisterWrite( int reg, char data ) {
krmreynolds 0:dc35364e2291 121 _bytes[0] = reg & 0xff;
krmreynolds 0:dc35364e2291 122 _bytes[1] = data & 0xff;
krmreynolds 0:dc35364e2291 123 _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 2 );
krmreynolds 0:dc35364e2291 124 }
krmreynolds 0:dc35364e2291 125
krmreynolds 0:dc35364e2291 126 // -------------------------------------------
krmreynolds 0:dc35364e2291 127 int LSM303::magRegisterRead( int reg ) {
krmreynolds 0:dc35364e2291 128 _bytes[0] = reg & 0xff;
krmreynolds 0:dc35364e2291 129 _status = _i2c.write( MAG_ADDRESS, _bytes, 1 );
krmreynolds 0:dc35364e2291 130 if( _status == 0 ) {
krmreynolds 0:dc35364e2291 131 _status = _i2c.read( MAG_ADDRESS + 1, _bytes, 1 );
krmreynolds 0:dc35364e2291 132 return( _bytes[0] );
krmreynolds 0:dc35364e2291 133 }
krmreynolds 0:dc35364e2291 134 return( 0 );
krmreynolds 0:dc35364e2291 135 }
krmreynolds 0:dc35364e2291 136
krmreynolds 0:dc35364e2291 137 // -------------------------------------------
krmreynolds 0:dc35364e2291 138 void LSM303::magRegisterWrite( int reg, char data ) {
krmreynolds 0:dc35364e2291 139 _bytes[0] = reg & 0xff;
krmreynolds 0:dc35364e2291 140 _bytes[1] = data & 0xff;
krmreynolds 0:dc35364e2291 141 _status = _i2c.write( MAG_ADDRESS, _bytes, 2 );
krmreynolds 0:dc35364e2291 142 }
krmreynolds 0:dc35364e2291 143
krmreynolds 0:dc35364e2291 144
krmreynolds 0:dc35364e2291 145 // -------------------------------------------
krmreynolds 0:dc35364e2291 146 std::vector<short> LSM303::accRead( void ) {
krmreynolds 0:dc35364e2291 147 std::vector<short> acc( 3, 0 );
krmreynolds 0:dc35364e2291 148 _bytes[0] = ACC_OUT_X_L | (1<<7);
krmreynolds 0:dc35364e2291 149 _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 1 );
krmreynolds 0:dc35364e2291 150 if( _status == 0 ) {
krmreynolds 0:dc35364e2291 151 _status = _i2c.read( ACC_ADDRESS + _SA0Pad + 1, _bytes, 6 );
krmreynolds 0:dc35364e2291 152 if( _status == 0 ) {
krmreynolds 0:dc35364e2291 153 for( int i=0; i<3; i++ ) {
krmreynolds 0:dc35364e2291 154 acc[i] = ( short( _bytes[2*i] ) | short(_bytes[2*i+1]) << 8 );
krmreynolds 0:dc35364e2291 155 }
krmreynolds 0:dc35364e2291 156 }
krmreynolds 0:dc35364e2291 157 }
krmreynolds 0:dc35364e2291 158 return( acc );
krmreynolds 0:dc35364e2291 159 }
krmreynolds 0:dc35364e2291 160
krmreynolds 0:dc35364e2291 161 // -------------------------------------------
krmreynolds 0:dc35364e2291 162 std::vector<float> LSM303::acceleration( void ) {
krmreynolds 0:dc35364e2291 163
krmreynolds 0:dc35364e2291 164 const float cal[3][2] = { { 16291.5, -16245.4 }, { 16819.0, -16253.0 }, { 16994.8, -15525.6 } };
krmreynolds 0:dc35364e2291 165
krmreynolds 0:dc35364e2291 166 std::vector<float> acc( 3, 0 );
krmreynolds 0:dc35364e2291 167 int fs = ( this->accRegisterRead( ACC_CTRL_REG4 ) >> 4 ) & 0x3;
krmreynolds 0:dc35364e2291 168 std::vector<short> a = this->accRead();
krmreynolds 0:dc35364e2291 169 if( _status == 0 ) {
krmreynolds 0:dc35364e2291 170 for( int i=0; i<3; i++ ) {
krmreynolds 0:dc35364e2291 171 acc[i] = acc[i] * ( (cal[i][0] - cal[i][1]) / 32768. ) + (cal[i][0]+cal[i][1])/2.;
krmreynolds 0:dc35364e2291 172 acc[i] = float( a[i] ) * pow(2.,(fs+1)) / 32768.;
krmreynolds 0:dc35364e2291 173 }
krmreynolds 0:dc35364e2291 174 }
krmreynolds 0:dc35364e2291 175 return( acc );
krmreynolds 0:dc35364e2291 176 }
krmreynolds 0:dc35364e2291 177
krmreynolds 0:dc35364e2291 178 // -------------------------------------------
krmreynolds 0:dc35364e2291 179 std::vector<short> LSM303::magRead( void ) {
krmreynolds 0:dc35364e2291 180 std::vector<short> mag( 3, 0 );
krmreynolds 0:dc35364e2291 181 _bytes[0] = MAG_OUT_X_H;
krmreynolds 0:dc35364e2291 182 _status = _i2c.write( MAG_ADDRESS, _bytes, 1 );
krmreynolds 0:dc35364e2291 183 if( _status == 0 ) {
krmreynolds 0:dc35364e2291 184 _status = _i2c.read( MAG_ADDRESS + 1, _bytes, 6 );
krmreynolds 0:dc35364e2291 185 if( _status == 0 ) {
krmreynolds 0:dc35364e2291 186 mag[0] = (short)( _bytes[0] << 8 ) | (short)( _bytes[1] );
krmreynolds 0:dc35364e2291 187 mag[1] = (short)( _bytes[4] << 8 ) | (short)( _bytes[5] );
krmreynolds 0:dc35364e2291 188 mag[2] = (short)( _bytes[2] << 8 ) | (short)( _bytes[3] );
krmreynolds 0:dc35364e2291 189 }
krmreynolds 0:dc35364e2291 190 }
krmreynolds 0:dc35364e2291 191 return( mag );
krmreynolds 0:dc35364e2291 192 }
krmreynolds 0:dc35364e2291 193
krmreynolds 0:dc35364e2291 194 // -------------------------------------------
krmreynolds 0:dc35364e2291 195 std::vector<float> LSM303::magneticField( void ) {
krmreynolds 0:dc35364e2291 196
krmreynolds 0:dc35364e2291 197 float gainxy[] = { 1100., 855., 670., 450., 400., 330., 230. };
krmreynolds 0:dc35364e2291 198 float gainz[] = { 980., 760., 600., 400., 355., 295., 205. };
krmreynolds 0:dc35364e2291 199
krmreynolds 0:dc35364e2291 200 std::vector<float> mag( 3, 0 );
krmreynolds 0:dc35364e2291 201 int gn = ( this->magRegisterRead( MAG_CRB_REG ) >> 5 ) & 0x7;
krmreynolds 0:dc35364e2291 202 std::vector<short> m = this->magRead();
krmreynolds 0:dc35364e2291 203 if( _status == 0 ) {
krmreynolds 0:dc35364e2291 204 mag[0] = float( m[0] ) / gainxy[gn-1];
krmreynolds 0:dc35364e2291 205 mag[1] = float( m[1] ) / gainxy[gn-1];
krmreynolds 0:dc35364e2291 206 mag[2] = float( m[2] ) / gainz[gn-1];
krmreynolds 0:dc35364e2291 207 }
krmreynolds 0:dc35364e2291 208 return( mag );
krmreynolds 0:dc35364e2291 209 }