SAIT ARIS / Custom_LSM303

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Show/hide line numbers magnometer.cpp Source File

magnometer.cpp

00001 #include "Custom_LSM303/magnometer.h"
00002 
00003 #define LSM303_ADR_MAG 0x3C
00004 
00005 #define LSM303_REG_MAG_OFFSET_X_REG_L_M 0x45
00006 #define LSM303_REG_MAG_OFFSET_X_REG_H_M 0x46
00007 #define LSM303_REG_MAG_OFFSET_Y_REG_L_M 0x47
00008 #define LSM303_REG_MAG_OFFSET_Y_REG_H_M 0x48
00009 #define LSM303_REG_MAG_OFFSET_Z_REG_L_M 0x49
00010 #define LSM303_REG_MAG_OFFSET_Z_REG_H_M 0x4A
00011 //#define LSM303_REG_MAG_WHO_AM_I_M 0x4F
00012 //#define LSM303_REG_MAG_CFG_REG_A_M 0x60
00013 //#define LSM303_REG_MAG_CFG_REG_B_M 0x61
00014 //#define LSM303_REG_MAG_CFG_REG_C_M 0x62
00015 #define LSM303_REG_MAG_INT_CTRL_REG_M 0x63
00016 #define LSM303_REG_MAG_INT_SOURCE_REG_M 0x64
00017 #define LSM303_REG_MAG_INT_THS_L_REG_M 0x65
00018 #define LSM303_REG_MAG_INT_THS_H_REG_M 0x66
00019 //#define LSM303_REG_MAG_STATUS_REG_M 0x67
00020 //#define LSM303_REG_MAG_OUTX_L_REG_M 0x68
00021 //#define LSM303_REG_MAG_OUTX_H_REG_M 0x69
00022 //#define LSM303_REG_MAG_OUTY_L_REG_M 0x6A
00023 //#define LSM303_REG_MAG_OUTY_H_REG_M 0x6B
00024 //#define LSM303_REG_MAG_OUTZ_L_REG_M 0x6C
00025 //#define LSM303_REG_MAG_OUTZ_H_REG_M 0x6D
00026 
00027 #if defined(TARGET_LRAT)
00028 
00029     #define LSM303_REG_MAG_WHO_AM_I_M 0x0F
00030     #define LSM303_WHO_MAG 0x3D
00031     
00032     #define LSM303_REG_MAG_CTRL_REG1_M 0x20
00033     #define LSM303_REG_MAG_CTRL_REG2_M 0x21
00034     #define LSM303_REG_MAG_CTRL_REG3_M 0x22
00035     #define LSM303_REG_MAG_CTRL_REG4_M 0x23
00036     #define LSM303_REG_MAG_CTRL_REG5_M 0x24
00037     #define LSM303_REG_MAG_STATUS_REG_M 0x27
00038     #define LSM303_REG_MAG_OUTX_L_REG_M 0x28
00039     #define LSM303_REG_MAG_OUTX_H_REG_M 0x29
00040     #define LSM303_REG_MAG_OUTY_L_REG_M 0x2A
00041     #define LSM303_REG_MAG_OUTY_H_REG_M 0x2B
00042     #define LSM303_REG_MAG_OUTZ_L_REG_M 0x2C
00043     #define LSM303_REG_MAG_OUTZ_H_REG_M 0x2D
00044     #define LSM303_REG_MAG_TEMP_L_M 0x2E
00045     #define LSM303_REG_MAG_TEMP_H_M 0x2F
00046     #define LSM303_REG_MAG_TEMP_CFG_REG_A 0x1F
00047     
00048     #define CFG_MAG_ADR LSM303_REG_MAG_CTRL_REG1_M
00049     #define CFG_MAG_LEN 5
00050     
00051 #else
00052 
00053 //    #define PIN_MAG PB_12 // Not really though - Pick dead pin here for time being
00054 
00055     #define LSM303_REG_MAG_WHO_AM_I_M 0x4F
00056     #define LSM303_WHO_MAG 0x40
00057     
00058     #define LSM303_REG_MAG_CFG_REG_A_M 0x60
00059     #define LSM303_REG_MAG_CFG_REG_B_M 0x61
00060     #define LSM303_REG_MAG_CFG_REG_C_M 0x62
00061     #define LSM303_REG_MAG_STATUS_REG_M 0x67
00062     #define LSM303_REG_MAG_OUTX_L_REG_M 0x68
00063     #define LSM303_REG_MAG_OUTX_H_REG_M 0x69
00064     #define LSM303_REG_MAG_OUTY_L_REG_M 0x6A
00065     #define LSM303_REG_MAG_OUTY_H_REG_M 0x6B
00066     #define LSM303_REG_MAG_OUTZ_L_REG_M 0x6C
00067     #define LSM303_REG_MAG_OUTZ_H_REG_M 0x6D
00068     
00069     #define CFG_MAG_ADR LSM303_REG_MAG_CFG_REG_A_M
00070     #define CFG_MAG_LEN 3
00071 #endif
00072 
00073 char sPass[26] = "[\u001b[32mPASS\u001b[0m]";
00074 char sFail[26] = "[\u001b[31mFAIL\u001b[0m]";
00075 
00076 /**
00077  */
00078 Magnometer::Magnometer()
00079 {
00080     
00081 }
00082 
00083 /**
00084  */
00085 Magnometer::~Magnometer()
00086 {
00087     
00088 }
00089 
00090 /**
00091  */
00092 void Magnometer::setters(I2C *_i2c, char *_buf)
00093 {
00094     i2c = _i2c;
00095     buf = _buf;
00096 }
00097 
00098 /**
00099  */
00100 void Magnometer::dumpCfg()
00101 {
00102     char cmd[2];
00103     char start = CFG_MAG_ADR;
00104     
00105     for (int i = 0; i < CFG_MAG_LEN; i++)
00106     {
00107         cmd[0] = start + i;
00108         i2c->write(LSM303_ADR_MAG, cmd, 1);
00109         i2c->read(LSM303_ADR_MAG, &buf[i], 1);
00110     }
00111     
00112     printf("CFGMAG: | ");
00113     for (int i = 0; i < CFG_MAG_LEN; i++)
00114     {
00115         printf("%02X ", buf[i]);
00116     }
00117     printf("|\r\n");
00118 }
00119         
00120 /**
00121  */
00122 void Magnometer::onIRQ()
00123 {
00124     // MAGNOMETER INTERRUPT FUNCTION
00125 }
00126 
00127 /**
00128  */
00129 void Magnometer::wipeIRQ()
00130 {
00131     char ret;
00132     char cmd[2];
00133     cmd[0] = LSM303_REG_MAG_INT_SOURCE_REG_M;
00134     
00135     i2c->write(LSM303_ADR_MAG, cmd, 1);
00136     i2c->read(LSM303_ADR_MAG, &ret, 1);
00137 }
00138         
00139 /**
00140  */
00141 void Magnometer::init()
00142 {
00143     printf("In Magnometer Init Sequence...\r\n");
00144     
00145     char *res;
00146     char ret;
00147     
00148     char cmd[2];
00149     cmd[0] = LSM303_REG_MAG_WHO_AM_I_M;
00150     
00151     i2c->write(LSM303_ADR_MAG, cmd, 1);
00152     i2c->read(LSM303_ADR_MAG, &ret, 1);
00153     res = (ret == LSM303_WHO_MAG ? sPass : sFail);
00154     printf("MAG WhoAmI: %02X %s\r\n", ret, res);
00155     
00156 #if defined(TARGET_LRAT)
00157     cmd[0] = LSM303_REG_MAG_CTRL_REG1_M;
00158     cmd[1] = 0x70;  // Ultra-High Performance Mode on XY axes, ODR=10Hz
00159     i2c->write(LSM303_ADR_MAG, cmd, 2);
00160     
00161     cmd[0] = LSM303_REG_MAG_CTRL_REG3_M;
00162     cmd[1] = 0x00;  // High Resolution? (Full-power), Continuous
00163     i2c->write(LSM303_ADR_MAG, cmd, 2);
00164     
00165     cmd[0] = LSM303_REG_MAG_CTRL_REG4_M;
00166     cmd[1] = 0x0C;  // Ultra-High Performance Mode on Z axis
00167     i2c->write(LSM303_ADR_MAG, cmd, 2);
00168     
00169     #if defined(ENABLE_TMPSENSOR)
00170         // Enable Temp Sensor
00171         cmd[0] = LSM303_REG_MAG_CTRL_REG1_M;
00172         i2c->write(LSM303_ADR_MAG, cmd, 1);
00173         i2c->read(LSM303_ADR_MAG, &ret, 1);
00174         
00175         cmd[0] = LSM303_REG_MAG_CTRL_REG1_M;
00176         cmd[1] = ret | 0x80;
00177         i2c->write(LSM303_ADR_MAG, cmd, 2);
00178 
00179     #endif
00180 #else
00181 
00182     cmd[0] = LSM303_REG_MAG_CFG_REG_A_M;
00183     cmd[1] = 0x00;  // Mag = 10 Hz (high-resolution and continuous mode)
00184     i2c->write(LSM303_ADR_MAG, cmd, 2);
00185     
00186     cmd[0] = LSM303_REG_MAG_CFG_REG_C_M;
00187     cmd[1] = 0x40; // Mag enable interrupt on pin
00188     i2c->write(LSM303_ADR_MAG, cmd, 2);
00189     
00190 #endif
00191 
00192 #if defined(TARGET_LRAT)
00193     // LRAT MAG IRQ SETUP GOES HERE (IF DIFFERENT)
00194 #else
00195     // MAG INTERRUPT SETUP
00196     cmd[0] = LSM303_REG_MAG_INT_THS_L_REG_M;
00197     cmd[1] = 0xE8;
00198     i2c->write(LSM303_ADR_MAG, cmd, 2);
00199     
00200     cmd[0] = LSM303_REG_MAG_INT_THS_H_REG_M;
00201     cmd[1] = 0x03;
00202     i2c->write(LSM303_ADR_MAG, cmd, 2);
00203     
00204     cmd[0] = LSM303_REG_MAG_INT_CTRL_REG_M;
00205     cmd[1] = 0xE7;
00206     i2c->write(LSM303_ADR_MAG, cmd, 2);
00207     magPin.rise(&onIRQ);
00208 #endif
00209 }
00210 
00211 /**
00212  */
00213 /*
00214 void Magnometer::read()
00215 {
00216     int16_t myMagX = 0;
00217     int16_t myMagY = 0;
00218     int16_t myMagZ = 0;
00219     
00220     int16_t magMinX = 0;
00221     int16_t magMinY = 0;
00222     int16_t magMinZ = 0;
00223     int16_t magMaxX = 0;
00224     int16_t magMaxY = 0;
00225     int16_t magMaxZ = 0;
00226     
00227     char rda = '\0';
00228     char ret;
00229     
00230     char cmd[2];
00231     cmd[0] = LSM303_REG_MAG_STATUS_REG_M;
00232     
00233     i2c->write(LSM303_ADR_MAG, cmd, 1);
00234     i2c->read(LSM303_ADR_MAG, &rda, 1);
00235     if (rda)
00236     {
00237         cmd[0] = LSM303_REG_MAG_OUTX_L_REG_M;
00238         i2c->write(LSM303_ADR_MAG, cmd, 1);
00239         i2c->read(LSM303_ADR_MAG, &buf[0], 1);
00240         
00241         cmd[0] = LSM303_REG_MAG_OUTX_H_REG_M;
00242         i2c->write(LSM303_ADR_MAG, cmd, 1);
00243         i2c->read(LSM303_ADR_MAG, &buf[1], 1);
00244         
00245         cmd[0] = LSM303_REG_MAG_OUTY_L_REG_M;
00246         i2c->write(LSM303_ADR_MAG, cmd, 1);
00247         i2c->read(LSM303_ADR_MAG, &buf[2], 1);
00248         
00249         cmd[0] = LSM303_REG_MAG_OUTY_H_REG_M;
00250         i2c->write(LSM303_ADR_MAG, cmd, 1);
00251         i2c->read(LSM303_ADR_MAG, &buf[3], 1);
00252         
00253         cmd[0] = LSM303_REG_MAG_OUTZ_L_REG_M;
00254         i2c->write(LSM303_ADR_MAG, cmd, 1);
00255         i2c->read(LSM303_ADR_MAG, &buf[4], 1);
00256         
00257         cmd[0] = LSM303_REG_MAG_OUTZ_H_REG_M;
00258         i2c->write(LSM303_ADR_MAG, cmd, 1);
00259         i2c->read(LSM303_ADR_MAG, &buf[5], 1);
00260         
00261         myMagX = (buf[0] | (buf[1] << 8));
00262         myMagY = (buf[2] | (buf[3] << 8));
00263         myMagZ = (buf[4] | (buf[5] << 8));
00264         if (myMagX < magMinX)
00265             magMinX = myMagX;
00266         if (myMagY < magMinY)
00267             magMinY = myMagY;
00268         if (myMagZ < magMinZ)
00269             magMinZ = myMagZ;
00270         if (myMagX > magMaxX)
00271             magMaxX = myMagX;
00272         if (myMagY > magMaxY)
00273             magMaxY = myMagY;
00274         if (myMagZ > magMaxZ)
00275             magMaxZ = myMagZ;
00276             
00277         cmd[0] = LSM303_REG_MAG_INT_SOURCE_REG_M;
00278         i2c->write(LSM303_ADR_MAG, cmd, 1);
00279         i2c->read(LSM303_ADR_MAG, &ret, 1);
00280         
00281         if (ret & 0x01 && magEvent == 0 && ret & 0xFC)
00282         {
00283 //            magSFire++;
00284 //            magEvent = 1;
00285 //            magSHIRQ++;
00286         }
00287         else if (!(ret & 0x01) && magEvent == 1 && !(ret & 0xFC))
00288         {
00289 //            magSFire++;
00290 //            magEvent = 0;
00291 //            magSLIRQ++;
00292         }
00293 //        printf("M|%02X|%02X %02X %02X %02X %02X %02X|%*d,%*d,%*d|%*d,%*d,%*d|%*d,%*d,%*d|%02X|%02X/%02X %02X/%02X\r\n", rda, buf[0], buf[1], buf[2], buf[3], buf[4], buf[5], 6, myMagX, 6, myMagY, 6, myMagZ, 6, magMinX, 6, magMinY, 6, magMinZ, 6, magMaxX, 6, magMaxY, 6, magMaxZ, ret, magSHIRQ, magSLIRQ, magSFire, magHFire);
00294     }
00295 }
00296 */
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