LSE_PUCRS / ALTIMU

This lib was build for reading the 3 IMU unit sensors of Altimu10v4 board (https://www.pololu.com/product/2470).

ALTIMU.cpp@0:08c9e51e6fd6, 2018-10-15 (annotated)

Committer:
renanbmx123
Date:
Mon Oct 15 02:14:19 2018 +0000
Revision:
0:08c9e51e6fd6
Child:
1:8cc36ccb8d58
Frist commit of ALTIMU10V4 library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
renanbmx123 0:08c9e51e6fd6 1 /**
renanbmx123 0:08c9e51e6fd6 2 */
renanbmx123 0:08c9e51e6fd6 3 #include "ALTIMU.h"
renanbmx123 0:08c9e51e6fd6 4
renanbmx123 0:08c9e51e6fd6 5 // Public Methods //////////////////////////////////////////////////////////////
renanbmx123 0:08c9e51e6fd6 6
renanbmx123 0:08c9e51e6fd6 7 // Constructor
renanbmx123 0:08c9e51e6fd6 8 Altimu::Altimu(PinName sda, PinName scl):
renanbmx123 0:08c9e51e6fd6 9 _ALTIMU(sda, scl)
renanbmx123 0:08c9e51e6fd6 10 {
renanbmx123 0:08c9e51e6fd6 11 // Setting I2C operation frequency.
renanbmx123 0:08c9e51e6fd6 12 _ALTIMU.frequency(200000);
renanbmx123 0:08c9e51e6fd6 13
renanbmx123 0:08c9e51e6fd6 14 // L3GD20 configuration.
renanbmx123 0:08c9e51e6fd6 15 // DRDY_HL (DRDY active high);I2C_dis = (I2C & SPI enable); SW = (Normal Mode); Low_ODR = (Low speed disable).
renanbmx123 0:08c9e51e6fd6 16 write_reg(L3GD20_ADDR,0x39,0x00);
renanbmx123 0:08c9e51e6fd6 17 // DR = 01 (200 Hz ODR); BW = 10 (50 Hz bandwidth); PD = 1 (normal mode); Zen = Yen = Xen = 1 (all axes enabled).
renanbmx123 0:08c9e51e6fd6 18 write_reg(L3GD20_ADDR,0x20,0x5F); //Setting CTRL_REG1
renanbmx123 0:08c9e51e6fd6 19 // End L3GD20 configuration.
renanbmx123 0:08c9e51e6fd6 20
renanbmx123 0:08c9e51e6fd6 21 // LSM303 configuration
renanbmx123 0:08c9e51e6fd6 22 // Acell configuration
renanbmx123 0:08c9e51e6fd6 23 // 50 Hz X/Y/Z axis enable.
renanbmx123 0:08c9e51e6fd6 24 write_reg(LSM303_ADDR, 0x20, 0x57);
renanbmx123 0:08c9e51e6fd6 25 // mag
renanbmx123 0:08c9e51e6fd6 26 //continuous mag
renanbmx123 0:08c9e51e6fd6 27 write_reg(LSM303_ADDR, 0x24, 0x78);
renanbmx123 0:08c9e51e6fd6 28 write_reg(LSM303_ADDR, 0x26, 0x00);
renanbmx123 0:08c9e51e6fd6 29 // End LSM303 configuration.
renanbmx123 0:08c9e51e6fd6 30 // LPS25H configuration
renanbmx123 0:08c9e51e6fd6 31 write_reg(LPS25H_ADDR, 0x10, 0x05);
renanbmx123 0:08c9e51e6fd6 32 write_reg(LPS25H_ADDR, 0x2e, 0xdf);
renanbmx123 0:08c9e51e6fd6 33 write_reg(LPS25H_ADDR, 0x21, 0x40);
renanbmx123 0:08c9e51e6fd6 34 write_reg(LPS25H_ADDR, 0x20, 0x90);
renanbmx123 0:08c9e51e6fd6 35 }
renanbmx123 0:08c9e51e6fd6 36 // L3GD30 read data function,
renanbmx123 0:08c9e51e6fd6 37 bool Altimu::read_L3GD20(float *gx, float *gy, float *gz) {
renanbmx123 0:08c9e51e6fd6 38 char gyr[6];
renanbmx123 0:08c9e51e6fd6 39 if (recv(L3GD20_ADDR, 0x28, gyr, 6)) {
renanbmx123 0:08c9e51e6fd6 40 //scale is 8.75 mdps/digit
renanbmx123 0:08c9e51e6fd6 41 *gx = float(short(gyr[1] << 8 | gyr[0]))*0.00875;
renanbmx123 0:08c9e51e6fd6 42 *gy = float(short(gyr[3] << 8 | gyr[2]))*0.00875;
renanbmx123 0:08c9e51e6fd6 43 *gz = float(short(gyr[5] << 8 | gyr[4]))*0.00875;
renanbmx123 0:08c9e51e6fd6 44 return true;
renanbmx123 0:08c9e51e6fd6 45 }
renanbmx123 0:08c9e51e6fd6 46 return false;
renanbmx123 0:08c9e51e6fd6 47 }
renanbmx123 0:08c9e51e6fd6 48
renanbmx123 0:08c9e51e6fd6 49 // LSM303D read data function.
renanbmx123 0:08c9e51e6fd6 50 bool Altimu::read_LSM303D(float *ax, float *ay, float *az, float *mx, float *my, float *mz) {
renanbmx123 0:08c9e51e6fd6 51 char acc[6], mag[6];
renanbmx123 0:08c9e51e6fd6 52
renanbmx123 0:08c9e51e6fd6 53 if (recv(LSM303_ADDR, 0x28, acc, 6) && recv(LSM303_ADDR, 0x08, mag, 6)) {
renanbmx123 0:08c9e51e6fd6 54 *ax = float(short(acc[1] << 8 | acc[0]))*0.061; //32768/4=8192
renanbmx123 0:08c9e51e6fd6 55 *ay = float(short(acc[3] << 8 | acc[2]))*0.061;
renanbmx123 0:08c9e51e6fd6 56 *az = float(short(acc[5] << 8 | acc[4]))*0.061;
renanbmx123 0:08c9e51e6fd6 57 //+-4gauss
renanbmx123 0:08c9e51e6fd6 58 *mx = float(short(mag[0] << 8 | mag[1]))*0.16;
renanbmx123 0:08c9e51e6fd6 59 *mz = float(short(mag[2] << 8 | mag[3]))*0.16;
renanbmx123 0:08c9e51e6fd6 60 *my = float(short(mag[4] << 8 | mag[5]))*0.16;
renanbmx123 0:08c9e51e6fd6 61
renanbmx123 0:08c9e51e6fd6 62 return true;
renanbmx123 0:08c9e51e6fd6 63 }
renanbmx123 0:08c9e51e6fd6 64
renanbmx123 0:08c9e51e6fd6 65 return false;
renanbmx123 0:08c9e51e6fd6 66 }
renanbmx123 0:08c9e51e6fd6 67
renanbmx123 0:08c9e51e6fd6 68 // LPS25H read data function.
renanbmx123 0:08c9e51e6fd6 69 void Altimu::read_LPS25H(float *press, float *alt)
renanbmx123 0:08c9e51e6fd6 70 {
renanbmx123 0:08c9e51e6fd6 71 char dt[3];
renanbmx123 0:08c9e51e6fd6 72 dt[0] = 0x28 | 0x80;
renanbmx123 0:08c9e51e6fd6 73 _ALTIMU.write(LPS25H_ADDR, dt, 1, true);
renanbmx123 0:08c9e51e6fd6 74 _ALTIMU.read(LPS25H_ADDR, dt, 3, false);
renanbmx123 0:08c9e51e6fd6 75 *press = dt[2] << 16 | dt[1] << 8 | dt[0];
renanbmx123 0:08c9e51e6fd6 76 *press /= 4096;
renanbmx123 0:08c9e51e6fd6 77 *alt = (1-pow(*press / 1013.25, 0.190263))*44330.8;
renanbmx123 0:08c9e51e6fd6 78 }
renanbmx123 0:08c9e51e6fd6 79
renanbmx123 0:08c9e51e6fd6 80 // I2C functions
renanbmx123 0:08c9e51e6fd6 81 bool Altimu::write_reg(int addr_i2c,int addr_reg, char v)
renanbmx123 0:08c9e51e6fd6 82 {
renanbmx123 0:08c9e51e6fd6 83 char data[2] = {addr_reg, v};
renanbmx123 0:08c9e51e6fd6 84 return Altimu::_ALTIMU.write(addr_i2c, data, 2) == 0;
renanbmx123 0:08c9e51e6fd6 85 }
renanbmx123 0:08c9e51e6fd6 86
renanbmx123 0:08c9e51e6fd6 87 bool Altimu::read_reg(int addr_i2c,int addr_reg, char *v)
renanbmx123 0:08c9e51e6fd6 88 {
renanbmx123 0:08c9e51e6fd6 89 char data = addr_reg;
renanbmx123 0:08c9e51e6fd6 90 bool result = false;
renanbmx123 0:08c9e51e6fd6 91
renanbmx123 0:08c9e51e6fd6 92 __disable_irq();
renanbmx123 0:08c9e51e6fd6 93 if ((_ALTIMU.write(addr_i2c, &data, 1) == 0) && (_ALTIMU.read(addr_i2c, &data, 1) == 0)){
renanbmx123 0:08c9e51e6fd6 94 *v = data;
renanbmx123 0:08c9e51e6fd6 95 result = true;
renanbmx123 0:08c9e51e6fd6 96 }
renanbmx123 0:08c9e51e6fd6 97 __enable_irq();
renanbmx123 0:08c9e51e6fd6 98 return result;
renanbmx123 0:08c9e51e6fd6 99 }
renanbmx123 0:08c9e51e6fd6 100
renanbmx123 0:08c9e51e6fd6 101 bool Altimu::recv(char sad, char sub, char *buf, int length) {
renanbmx123 0:08c9e51e6fd6 102 if (length > 1) sub |= 0x80;
renanbmx123 0:08c9e51e6fd6 103
renanbmx123 0:08c9e51e6fd6 104 return _ALTIMU.write(sad, &sub, 1, true) == 0 && _ALTIMU.read(sad, buf, length) == 0;
renanbmx123 0:08c9e51e6fd6 105 }