X SZ / Mbed 2 deprecated module_LSM303DLHC

LSM303DLHC Full Driver: Readings For Acc, Mag and Temp; Class Method for frequently-used 13 sensor parameters; Class Method to direct modify registers; Support Calibration (offset+scale);

Dependencies:   mbed

LSM303DLHC.h@2:192a6c228644, 2016-06-07 (annotated)

Committer:
Airium
Date:
Tue Jun 07 06:25:44 2016 +0000
Revision:
2:192a6c228644
Parent:
1:e68ce5025dad
Child:
3:522d01930e6a
err.. fix bug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Airium 0:7864abfabe2f 1 #ifndef LSM303DLHC_H
Airium 0:7864abfabe2f 2 #define LSM303DLHC_H
Airium 0:7864abfabe2f 3 #include "mbed.h"
Airium 0:7864abfabe2f 4 // ACC SAD
Airium 0:7864abfabe2f 5 #define ACC_ADDRESS 0x32
Airium 0:7864abfabe2f 6 // ACC CTRL SUB
Airium 0:7864abfabe2f 7 #define CTRL_REG1_A 0x20 //RW ODR(4) LPen Zen Yen Xen
Airium 0:7864abfabe2f 8 #define CTRL_REG2_A 0x21 //RW HPM(2) HPCF(2) FDS HPCLICK HPIS2 HPIS1
Airium 0:7864abfabe2f 9 #define CTRL_REG3_A 0x22 //RW I1_CLICK I1_AOI1 I1_AOI2 I1_DRDY1 I1_DRDY2 I1_WTM I1_OVERRUN -
Airium 0:7864abfabe2f 10 #define CTRL_REG4_A 0x23 //RW BDU BLE FS1 FS0 HR 0(2) SIM
Airium 0:7864abfabe2f 11 #define CTRL_REG5_A 0x24 //RW BOOT FIFO_EN - - LIR_INT1 D4D_INT1 LIR_INT2 D4D_INT2
Airium 0:7864abfabe2f 12 #define CTRL_REG6_A 0x25 //RW I2_CLICKen I2_INT1 I2_INT2 BOOT_I1 P2_ACT - H_LACTIVE -
Airium 0:7864abfabe2f 13 #define REFERENCE_A 0x26 //RW Ref7 Ref6 Ref5 Ref4 Ref3 Ref2 Ref1 Ref0
Airium 0:7864abfabe2f 14 #define STATUS_REG_A 0x27 //R ZYXOR ZOR YOR XOR ZYXDA ZDA YDA XDA
Airium 0:7864abfabe2f 15 // ACC OUT SUB
Airium 0:7864abfabe2f 16 #define OUT_X_L_A 0x28 //R MSB(8)
Airium 0:7864abfabe2f 17 #define OUT_X_H_A 0x29 //R LSB(4) 0(4)
Airium 0:7864abfabe2f 18 #define OUT_Y_L_A 0x2A //R ditto
Airium 0:7864abfabe2f 19 #define OUT_Y_H_A 0x2B //R ditto
Airium 0:7864abfabe2f 20 #define OUT_Z_L_A 0x2C //R ditto
Airium 0:7864abfabe2f 21 #define OUT_Z_H_A 0x2D //R ditto
Airium 0:7864abfabe2f 22 // ACC INT SUB
Airium 0:7864abfabe2f 23 #define INT1_CFG_A 0x30
Airium 0:7864abfabe2f 24 #define INT1_SRC_A 0x31
Airium 0:7864abfabe2f 25 #define INT1_THS_A 0x32
Airium 0:7864abfabe2f 26 #define INT1_DURATION_A 0x33
Airium 0:7864abfabe2f 27 #define INT2_CFG_A 0x34
Airium 0:7864abfabe2f 28 #define INT2_SRC_A 0x35
Airium 0:7864abfabe2f 29 #define INT2_THS_A 0x36
Airium 0:7864abfabe2f 30 #define INT2_DURATION_A 0x37
Airium 0:7864abfabe2f 31 // ACC CLICK SUB
Airium 0:7864abfabe2f 32 #define CLICK_CFG_A 0x38
Airium 0:7864abfabe2f 33 #define CLICK_SRC_A 0x39
Airium 0:7864abfabe2f 34 #define CLICK_THS_A 0x3A
Airium 0:7864abfabe2f 35 #define TIME_LIMIT_A 0x3B
Airium 0:7864abfabe2f 36 #define TIME_LATENCY_A 0x3C
Airium 0:7864abfabe2f 37 #define TIME_WINDOW_A 0x3D
Airium 0:7864abfabe2f 38
Airium 0:7864abfabe2f 39 // MAG SAD
Airium 0:7864abfabe2f 40 #define MAG_ADDRESS 0x3C
Airium 0:7864abfabe2f 41 // MAG CTRL SUB
Airium 0:7864abfabe2f 42 #define CRA_REG_M 0x00 //RW TEMP_EN 0(2) DR(3) 0(2)
Airium 0:7864abfabe2f 43 #define CRB_REG_M 0x01 //RW GN(3) 0(5)
Airium 0:7864abfabe2f 44 #define MR_REG_M 0x02 //RW 0(6) MD(2)
Airium 0:7864abfabe2f 45 // MAG OUT SUB
Airium 0:7864abfabe2f 46 #define OUT_X_H_M 0x03 //R LSB(8)
Airium 0:7864abfabe2f 47 #define OUT_X_L_M 0x04 //R 0(4) MSB(4)
Airium 0:7864abfabe2f 48 #define OUT_Z_H_M 0x05 //R ditto
Airium 0:7864abfabe2f 49 #define OUT_Z_L_M 0x06 //R ditto
Airium 0:7864abfabe2f 50 #define OUT_Y_H_M 0x07 //R ditto
Airium 0:7864abfabe2f 51 #define OUT_Y_L_M 0x08 //R ditto
Airium 0:7864abfabe2f 52 #define SR_REG_M 0x09 //R -(6) LOCK DRDY
Airium 0:7864abfabe2f 53 #define IRA_REG_M 0x0A //R
Airium 0:7864abfabe2f 54 #define IRB_REG_M 0x0B //R
Airium 0:7864abfabe2f 55 #define IRC_REG_M 0x0C //R
Airium 0:7864abfabe2f 56 // Temprature OUT SUB
Airium 0:7864abfabe2f 57 #define TEMP_OUT_H_M 0x31 //R MSB(8)
Airium 0:7864abfabe2f 58 #define TEMP_OUT_L_M 0x32 //R LSB(4) 0(4)
Airium 0:7864abfabe2f 59
Airium 0:7864abfabe2f 60 class LSM303DLHC {
Airium 0:7864abfabe2f 61 public:
Airium 0:7864abfabe2f 62 //// PORT
Airium 0:7864abfabe2f 63 LSM303DLHC(PinName sda, PinName scl);
Airium 0:7864abfabe2f 64
Airium 0:7864abfabe2f 65 //// REG CTRL
Airium 0:7864abfabe2f 66 // modify the default in LSM303DLHC.cpp
Airium 0:7864abfabe2f 67
Airium 0:7864abfabe2f 68 //// CTRL_REG1_A (20h)
Airium 0:7864abfabe2f 69 // ACC Low Power Mode ON/OFF
Airium 0:7864abfabe2f 70 enum ACC_LPen { LP_OFF = 0, LP_ON = 1} ;
Airium 0:7864abfabe2f 71 void ACtrl(ACC_LPen cmd);
Airium 0:7864abfabe2f 72 // ACC Data Rate NOTE: ACC SWITCH IS HERE
Airium 0:7864abfabe2f 73 enum ACC_ODR { PW_D = 0, ODR1 = 1, ODR2 = 2, ODR3 = 3, ODR4 = 4,
Airium 0:7864abfabe2f 74 // PW Down 1Hz 10Hz 25Hz 50Hz
Airium 0:7864abfabe2f 75 ODR5 = 5, ODR6 = 6, ODR7 = 7, ODR8 = 8, ODR9 = 9};
Airium 0:7864abfabe2f 76 // 100Hz 200Hz 400Hz 1620Hz@LP 1344Hz@NM/5376HZ@LP
Airium 0:7864abfabe2f 77 void ACtrl(ACC_ODR cmd);
Airium 1:e68ce5025dad 78 // ACC AXIS SEL
Airium 2:192a6c228644 79 enum ACC_AXIS { NONE = 0, X = 1, Y = 2, XY = 3, Z = 4, XZ = 5, YZ = 6, XYZ = 7 };
Airium 1:e68ce5025dad 80 void ACtrl(ACC_AXIS cmd);
Airium 0:7864abfabe2f 81
Airium 0:7864abfabe2f 82 //// CTRL_REG2_A (21h)
Airium 0:7864abfabe2f 83 // ACC HPF Mode
Airium 0:7864abfabe2f 84 enum ACC_HPM { HPF_NORM_R = 0, HPF_REF = 1, HPF_NORM = 2, HPF_AUTO = 3 };
Airium 0:7864abfabe2f 85 void ACtrl(ACC_HPM cmd);
Airium 0:7864abfabe2f 86 // ACC HPF Cutoff Freq
Airium 0:7864abfabe2f 87 enum ACC_HPCF { HPF_CF0 = 0, HPF_CF1 = 1, HPF_CF2 = 2, HPF_CF3 = 3};
Airium 0:7864abfabe2f 88 void ACtrl(ACC_HPCF cmd);
Airium 0:7864abfabe2f 89 // ACC HPF ON/OFF for output
Airium 0:7864abfabe2f 90 enum ACC_FDS { HPF_OFF = 0, HPF_ON = 1 };
Airium 0:7864abfabe2f 91 void ACtrl(ACC_FDS cmd);
Airium 0:7864abfabe2f 92
Airium 0:7864abfabe2f 93 //// CTRL_REG4_A (23h)
Airium 0:7864abfabe2f 94 // ACC Block Date Update Mode
Airium 0:7864abfabe2f 95 enum ACC_BDU { BDU_CONT = 0, BDU_HOLD = 1 };
Airium 0:7864abfabe2f 96 void ACtrl(ACC_BDU cmd);
Airium 0:7864abfabe2f 97 // ACC Output Full-Scale SEL
Airium 0:7864abfabe2f 98 enum ACC_FS {G2 = 0b00, G4 = 0b01, G8 = 0b10, G16= 0b11 };
Airium 0:7864abfabe2f 99 // +/-2g +/-4g +/-8g +/-16g
Airium 0:7864abfabe2f 100 void ACtrl(ACC_FS cmd);
Airium 0:7864abfabe2f 101 // ACC Output in High/Low Resolution (Precision SEL)
Airium 0:7864abfabe2f 102 enum ACC_HR { LOW_R = 0, HIGH_R = 1 };
Airium 0:7864abfabe2f 103 // 10bit 12bit
Airium 0:7864abfabe2f 104 void ACtrl(ACC_HR cmd);
Airium 0:7864abfabe2f 105
Airium 0:7864abfabe2f 106 //// CRA_REG_M (00h)
Airium 0:7864abfabe2f 107 // TEMP Sensor En NOTE: TEMP SWITCH IS HERE
Airium 0:7864abfabe2f 108 enum TEMP_EN { TEMP_OFF = 0, TEMP_ON = 1};
Airium 0:7864abfabe2f 109 void TCtrl(TEMP_EN cmd);
Airium 0:7864abfabe2f 110 // MAG Data Rate (Note: MAG_DR determines DRDY pin)
Airium 0:7864abfabe2f 111 enum MAG_DR { DR0 = 0, DR1 = 1, DR2 = 2, DR3 = 3,
Airium 0:7864abfabe2f 112 // 0.75Hz 1.5Hz 3Hz 7.5Hz
Airium 0:7864abfabe2f 113 DR4 = 4, DR5 = 5, DR6 = 6, DR7 = 7};
Airium 0:7864abfabe2f 114 // 15Hz 30Hz 75Hz 220Hz
Airium 0:7864abfabe2f 115 void MCtrl(MAG_DR cmd); // MAG Date Rate
Airium 0:7864abfabe2f 116
Airium 0:7864abfabe2f 117 //// CRB_REG_M (01h)
Airium 0:7864abfabe2f 118 // MAG Gain (Range SEL)
Airium 0:7864abfabe2f 119 enum MAG_GN { GN1 = 1, GN2 = 2, GN3 = 3, GN4 = 4,
Airium 0:7864abfabe2f 120 // 1.3 1.9 2.5 4.0 (+/- Gauss)
Airium 0:7864abfabe2f 121 GN5 = 5, GN6 = 6, GN7 = 7};
Airium 0:7864abfabe2f 122 // 4.7 5.6 8.1 (+/- Gauss)
Airium 0:7864abfabe2f 123 void MCtrl(MAG_GN cmd); // MAG Measure Range
Airium 0:7864abfabe2f 124
Airium 0:7864abfabe2f 125 //// MR_REG_M (02h)
Airium 0:7864abfabe2f 126 // MAG Mode NOTE: MAG SWITCH IS HERE
Airium 0:7864abfabe2f 127 enum MAG_MD { MD_CONT = 0, MD_SING = 1, MD_SLP = 2, MD_SLP2 = 3};
Airium 0:7864abfabe2f 128 // Continuous single-conv sleep-mode sleep-mode
Airium 0:7864abfabe2f 129 void MCtrl(MAG_MD cmd);
Airium 0:7864abfabe2f 130
Airium 0:7864abfabe2f 131 //// Change more regs
Airium 0:7864abfabe2f 132 void WriteReg(int sad, char d[2]); // Write value to reg
Airium 0:7864abfabe2f 133 // CAUTION: THE FUNTION USES UNFRIENDLY ASSIGN
Airium 0:7864abfabe2f 134 // CAUTION: WRITING TO RESERVED REG MAY CAUSE PERMANENT DAMAGE
Airium 0:7864abfabe2f 135 // PLEASE FOLLOW DATASHEET RIGIDLY
Airium 0:7864abfabe2f 136 // sad = ACC_ADDRESS or MAG_ADDRESS
Airium 0:7864abfabe2f 137 // d[0] = Register Address
Airium 0:7864abfabe2f 138 // d[1] = Register Value
Airium 0:7864abfabe2f 139
Airium 0:7864abfabe2f 140 //// Get Data
Airium 0:7864abfabe2f 141 void GetAcc(float arr[3]); // Get acceleration using current HPF setting
Airium 0:7864abfabe2f 142 // range -2048 ~ +2047
Airium 0:7864abfabe2f 143 void GetMag(float arr[3]); // Get magnetic flux density
Airium 0:7864abfabe2f 144 // range -2048 to 2047
Airium 0:7864abfabe2f 145 void GetTemp(float arr[1]); // Get temperature
Airium 0:7864abfabe2f 146 // range -2048 to 2047
Airium 0:7864abfabe2f 147
Airium 0:7864abfabe2f 148 //// sensor reading calibration
Airium 0:7864abfabe2f 149 void AccCal(float offset[3], float scale[3]); // Acc Calibration
Airium 0:7864abfabe2f 150 // affect the reading by output = scale * ( offset + original )
Airium 0:7864abfabe2f 151 // but if internal HPF enable then output = scale * original
Airium 0:7864abfabe2f 152 void MagCal(float offset[3], float scale[3]); // Mag Calibration
Airium 0:7864abfabe2f 153 // affect the reading by output = scale * ( offset + original )
Airium 0:7864abfabe2f 154 void TempCal(float offset[1], float scale[1]); // Mag Calibration
Airium 0:7864abfabe2f 155 // affect the reading by output = scale * ( offset + original )
Airium 0:7864abfabe2f 156
Airium 0:7864abfabe2f 157 //// Other functions
Airium 0:7864abfabe2f 158 bool isHPFEn(); // report HPF ON/OFF state for output
Airium 0:7864abfabe2f 159 // return HPF_state
Airium 0:7864abfabe2f 160
Airium 0:7864abfabe2f 161 //// Not implemented function
Airium 0:7864abfabe2f 162 bool isAccRdy(); // Check if acc has new data
Airium 0:7864abfabe2f 163 // one way is to use high freq ticker to check STATUS_REG_A (27h)
Airium 0:7864abfabe2f 164 // I2C@400kHz just enough to check Max Normal Mode Data Rate (1344Hz)
Airium 0:7864abfabe2f 165 bool isMagRdy(); // check if mag has new data
Airium 0:7864abfabe2f 166 // one way is to use InterruptIn to trigger from DRDY pin
Airium 0:7864abfabe2f 167 // DRDY pin freq defined by MAG_DR
Airium 0:7864abfabe2f 168
Airium 0:7864abfabe2f 169 private:
Airium 0:7864abfabe2f 170 I2C i2c;
Airium 0:7864abfabe2f 171 char data[6]; // used as main data exchange
Airium 0:7864abfabe2f 172 bool HPF_state; // state of internal HPF
Airium 0:7864abfabe2f 173
Airium 0:7864abfabe2f 174 // use offset to calibrate zero reading
Airium 0:7864abfabe2f 175 float acc_offset[3];
Airium 0:7864abfabe2f 176 float mag_offset[3];
Airium 0:7864abfabe2f 177 float temp_offset[1];
Airium 0:7864abfabe2f 178
Airium 0:7864abfabe2f 179 //use scale to adjust the range to required
Airium 0:7864abfabe2f 180 float acc_scale[3];
Airium 0:7864abfabe2f 181 float mag_scale[3];
Airium 0:7864abfabe2f 182 float temp_scale[1];
Airium 0:7864abfabe2f 183 };
Airium 0:7864abfabe2f 184
Airium 0:7864abfabe2f 185 #endif