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@4:8723c07d4c45, 2016-06-09 (annotated)

Committer:
Airium
Date:
Thu Jun 09 15:19:00 2016 +0000
Revision:
4:8723c07d4c45
Parent:
3:522d01930e6a 
Add offset calibration for specific use in HPF-on situation and therefore remove (bool) HPF_state and isHPFEn() and associated code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Airium 3:522d01930e6a 1 /* COMPACT USER INSTRUCTION OF LSM303DLHC
Airium 3:522d01930e6a 2
Airium 3:522d01930e6a 3 -- ACCELEROMETER PART
Airium 3:522d01930e6a 4 void GetAcc( float arr[3] ) // Get Acceleration Value
Airium 3:522d01930e6a 5 arr[3] is the xyz-axis acc data
Airium 3:522d01930e6a 6 // default range from -2048 to +2047 with step=1 (12bit high prec) or step=4 (10bit normal prec)
Airium 3:522d01930e6a 7 // and roughly 1000/g(+/-2g) 500/g(+/-4g) 200/g(+/-8g) 80/g(+/-16g) depend on your device and ACC_FS
Airium 3:522d01930e6a 8 // note your calibration setting will change the range
Airium 3:522d01930e6a 9 void ACtrl( enum cmd ) e.g. ACtrl(LSM303DLHC::LP_ON)
Airium 3:522d01930e6a 10 enum ACC_LPen {LP_OFF,LP_ON} // to ctrl acc power mode
Airium 3:522d01930e6a 11 enum ACC_ODR {PW_D,ADR1,ADR2,ADR3,ADR4,ADR5,ADR6,ADR7,ADR8,ADR9} // to ctrl acc data rate
Airium 3:522d01930e6a 12 enum ACC_AXIS {NONE,X,Y,XY,Z,XZ,YZ,XYZ} // to sel the acc data of axis you want
Airium 3:522d01930e6a 13 enum ACC_HPM {HPF_NORM_R,HPF_REF,HPF_NORM,HPF_AUTO} // to sel acc internal HPF model
Airium 3:522d01930e6a 14 enum ACC_HPCF {HPF_CF0,HPF_CF1,HPF_CF2,HPF_CF3} // to switch acc internal HPF cutoff freq
Airium 3:522d01930e6a 15 enum ACC_FDS {HPF_OFF,HPF_ON} // to switch on/off acc internal HPF for output
Airium 3:522d01930e6a 16 enum ACC_BDU {BDU_CONT,BDU_HOLD} // to sel acc data update mode
Airium 3:522d01930e6a 17 enum ACC_FS {G2,G4,G8,G16} // to sel acc full scale of data
Airium 3:522d01930e6a 18 enum ACC_HR {LOW_R,HIGH_R} // to sel acc output data precision
Airium 3:522d01930e6a 19 void ACal( float offset[3], float scale[3] ); // Acc Calibration Setting
Airium 3:522d01930e6a 20 // affect data of GetAcc() by output = scale * ( offset + original )
Airium 3:522d01930e6a 21 // but if internal HPF enable then output = scale * original
Airium 3:522d01930e6a 22 // note linear acc has no offset
Airium 3:522d01930e6a 23
Airium 3:522d01930e6a 24 -- MAGNETOMETER PART
Airium 3:522d01930e6a 25 void GetMag( float arr[3] ); // Get magnetic flux density
Airium 3:522d01930e6a 26 arr[3] is the xyz-axis mag data
Airium 3:522d01930e6a 27 // default range from -2048 to +2047 with step=1
Airium 3:522d01930e6a 28 // note your calibration setting will change the range
Airium 3:522d01930e6a 29 void MCtrl( enum cmd ) e.g. MCtrl(LSM303DLHC::MDR3);
Airium 3:522d01930e6a 30 enum MAG_DR {MDR0,MDR1,MDR2,MDR3,MDR4,MDR5,MDR6,MDR7} // to ctrl mag data rate
Airium 3:522d01930e6a 31 enum MAG_GN {GN1,GN2,GN3,GN4,GN5,GN6,GN7) // to ctrl mag full scale of data
Airium 3:522d01930e6a 32 enum MAG_MD {MD_CONT,MD_SING,MD_SLP,MD_SLP2};
Airium 3:522d01930e6a 33 void MCal(float offset[3], float scale[3]); // Mag Calibration
Airium 3:522d01930e6a 34 // affect data of GetMag() by output = scale * ( offset + original )
Airium 3:522d01930e6a 35
Airium 3:522d01930e6a 36 -- TEMPERATURE METER PART
Airium 3:522d01930e6a 37 void GetTemp( float arr[1] ); // Get temperature
Airium 3:522d01930e6a 38 arr[1] is the temperture
Airium 3:522d01930e6a 39 // default range from -2048 to +2047
Airium 3:522d01930e6a 40 void TCal( enum cmd )
Airium 3:522d01930e6a 41 enum TEMP_EN{TEMP_OFF,TEMP_ON}; // to switch on/off TEMP
Airium 3:522d01930e6a 42 void TempCal(float offset[1], float scale[1]); // Mag Calibration
Airium 3:522d01930e6a 43 //affect data of GetMag() by output = scale * ( offset + original )
Airium 3:522d01930e6a 44
Airium 3:522d01930e6a 45 -- DIRECT WRITE REG
Airium 3:522d01930e6a 46 void WriteReg(int sad, char d[2]); // Write value to reg
Airium 3:522d01930e6a 47 sad = ACC_ADDRESS or MAG_ADDRESS
Airium 3:522d01930e6a 48 d[0] = Register Address
Airium 3:522d01930e6a 49 d[1] = Register Value
Airium 3:522d01930e6a 50 CAUTION: THE FUNTION USES UNFRIENDLY ASSIGN
Airium 3:522d01930e6a 51 CAUTION: WRITING TO RESERVED REG MAY CAUSE PERMANENT DAMAGE
Airium 3:522d01930e6a 52 PLEASE FOLLOW DATASHEET RIGIDLY
Airium 3:522d01930e6a 53 */
Airium 3:522d01930e6a 54
Airium 3:522d01930e6a 55
Airium 0:7864abfabe2f 56 #ifndef LSM303DLHC_H
Airium 0:7864abfabe2f 57 #define LSM303DLHC_H
Airium 0:7864abfabe2f 58 #include "mbed.h"
Airium 3:522d01930e6a 59 #include "LSM303DLHC_REG.h"
Airium 0:7864abfabe2f 60
Airium 0:7864abfabe2f 61 class LSM303DLHC {
Airium 0:7864abfabe2f 62 public:
Airium 0:7864abfabe2f 63 //// PORT
Airium 0:7864abfabe2f 64 LSM303DLHC(PinName sda, PinName scl);
Airium 0:7864abfabe2f 65
Airium 0:7864abfabe2f 66 //// REG CTRL
Airium 0:7864abfabe2f 67 // modify the default in LSM303DLHC.cpp
Airium 0:7864abfabe2f 68
Airium 0:7864abfabe2f 69 //// CTRL_REG1_A (20h)
Airium 0:7864abfabe2f 70 // ACC Low Power Mode ON/OFF
Airium 0:7864abfabe2f 71 enum ACC_LPen { LP_OFF = 0, LP_ON = 1} ;
Airium 0:7864abfabe2f 72 void ACtrl(ACC_LPen cmd);
Airium 0:7864abfabe2f 73 // ACC Data Rate NOTE: ACC SWITCH IS HERE
Airium 3:522d01930e6a 74 enum ACC_ODR { PW_D = 0, ADR1 = 1, ADR2 = 2, ADR3 = 3, ADR4 = 4, ADR5 = 5, ADR6 = 6, ADR7 = 7, ADR8 = 8, ADR9 = 9};
Airium 3:522d01930e6a 75 // PW Down 1Hz 10Hz 25Hz 50Hz 100Hz 200Hz 400Hz 1620Hz@LP 1344Hz@NM/5376HZ@LP
Airium 0:7864abfabe2f 76 void ACtrl(ACC_ODR cmd);
Airium 1:e68ce5025dad 77 // ACC AXIS SEL
Airium 2:192a6c228644 78 enum ACC_AXIS { NONE = 0, X = 1, Y = 2, XY = 3, Z = 4, XZ = 5, YZ = 6, XYZ = 7 };
Airium 1:e68ce5025dad 79 void ACtrl(ACC_AXIS cmd);
Airium 0:7864abfabe2f 80
Airium 0:7864abfabe2f 81 //// CTRL_REG2_A (21h)
Airium 0:7864abfabe2f 82 // ACC HPF Mode
Airium 0:7864abfabe2f 83 enum ACC_HPM { HPF_NORM_R = 0, HPF_REF = 1, HPF_NORM = 2, HPF_AUTO = 3 };
Airium 0:7864abfabe2f 84 void ACtrl(ACC_HPM cmd);
Airium 0:7864abfabe2f 85 // ACC HPF Cutoff Freq
Airium 0:7864abfabe2f 86 enum ACC_HPCF { HPF_CF0 = 0, HPF_CF1 = 1, HPF_CF2 = 2, HPF_CF3 = 3};
Airium 0:7864abfabe2f 87 void ACtrl(ACC_HPCF cmd);
Airium 0:7864abfabe2f 88 // ACC HPF ON/OFF for output
Airium 0:7864abfabe2f 89 enum ACC_FDS { HPF_OFF = 0, HPF_ON = 1 };
Airium 0:7864abfabe2f 90 void ACtrl(ACC_FDS cmd);
Airium 0:7864abfabe2f 91
Airium 0:7864abfabe2f 92 //// CTRL_REG4_A (23h)
Airium 0:7864abfabe2f 93 // ACC Block Date Update Mode
Airium 0:7864abfabe2f 94 enum ACC_BDU { BDU_CONT = 0, BDU_HOLD = 1 };
Airium 0:7864abfabe2f 95 void ACtrl(ACC_BDU cmd);
Airium 0:7864abfabe2f 96 // ACC Output Full-Scale SEL
Airium 0:7864abfabe2f 97 enum ACC_FS {G2 = 0b00, G4 = 0b01, G8 = 0b10, G16= 0b11 };
Airium 0:7864abfabe2f 98 // +/-2g +/-4g +/-8g +/-16g
Airium 0:7864abfabe2f 99 void ACtrl(ACC_FS cmd);
Airium 0:7864abfabe2f 100 // ACC Output in High/Low Resolution (Precision SEL)
Airium 0:7864abfabe2f 101 enum ACC_HR { LOW_R = 0, HIGH_R = 1 };
Airium 0:7864abfabe2f 102 // 10bit 12bit
Airium 0:7864abfabe2f 103 void ACtrl(ACC_HR cmd);
Airium 0:7864abfabe2f 104
Airium 0:7864abfabe2f 105 //// CRA_REG_M (00h)
Airium 0:7864abfabe2f 106 // TEMP Sensor En NOTE: TEMP SWITCH IS HERE
Airium 0:7864abfabe2f 107 enum TEMP_EN { TEMP_OFF = 0, TEMP_ON = 1};
Airium 0:7864abfabe2f 108 void TCtrl(TEMP_EN cmd);
Airium 0:7864abfabe2f 109 // MAG Data Rate (Note: MAG_DR determines DRDY pin)
Airium 3:522d01930e6a 110 enum MAG_DR { MDR0 = 0, MDR1 = 1, MDR2 = 2, MDR3 = 3, MDR4 = 4, MDR5 = 5, MDR6 = 6, MDR7 = 7};
Airium 3:522d01930e6a 111 // 0.75Hz 1.5Hz 3Hz 7.5Hz 15Hz 30Hz 75Hz 220Hz
Airium 0:7864abfabe2f 112 void MCtrl(MAG_DR cmd); // MAG Date Rate
Airium 0:7864abfabe2f 113
Airium 0:7864abfabe2f 114 //// CRB_REG_M (01h)
Airium 0:7864abfabe2f 115 // MAG Gain (Range SEL)
Airium 3:522d01930e6a 116 enum MAG_GN { GN1 = 1, GN2 = 2, GN3 = 3, GN4 = 4, GN5 = 5, GN6 = 6, GN7 = 7};
Airium 3:522d01930e6a 117 // 1.3 1.9 2.5 4.0 4.7 5.6 8.1 (+/- Gauss)
Airium 0:7864abfabe2f 118 void MCtrl(MAG_GN cmd); // MAG Measure Range
Airium 0:7864abfabe2f 119
Airium 0:7864abfabe2f 120 //// MR_REG_M (02h)
Airium 0:7864abfabe2f 121 // MAG Mode NOTE: MAG SWITCH IS HERE
Airium 0:7864abfabe2f 122 enum MAG_MD { MD_CONT = 0, MD_SING = 1, MD_SLP = 2, MD_SLP2 = 3};
Airium 0:7864abfabe2f 123 // Continuous single-conv sleep-mode sleep-mode
Airium 0:7864abfabe2f 124 void MCtrl(MAG_MD cmd);
Airium 0:7864abfabe2f 125
Airium 0:7864abfabe2f 126 //// Change more regs
Airium 0:7864abfabe2f 127 void WriteReg(int sad, char d[2]); // Write value to reg
Airium 3:522d01930e6a 128 // sad = ACC_ADDRESS or MAG_ADDRESS
Airium 3:522d01930e6a 129 // d[0] = Register Address and d[1] = Register Value
Airium 3:522d01930e6a 130 // CAUTION: THE FUNTION USES UNFRIENDLY ASSIGN AND WRITING TO RESERVED REG MAY CAUSE PERMANENT DAMAGE
Airium 0:7864abfabe2f 131 // PLEASE FOLLOW DATASHEET RIGIDLY
Airium 0:7864abfabe2f 132
Airium 0:7864abfabe2f 133 //// Get Data
Airium 3:522d01930e6a 134 // please refer to the top: COMPACT USER INSTRUCTION
Airium 3:522d01930e6a 135 void GetAcc(float arr[3]); // Get acc
Airium 3:522d01930e6a 136 void GetMag(float arr[3]); // Get mag
Airium 3:522d01930e6a 137 void GetTemp(float arr[1]); // Get temp
Airium 0:7864abfabe2f 138
Airium 3:522d01930e6a 139 //// sensor reading calibration
Airium 3:522d01930e6a 140 // please refer to the top: COMPACT USER INSTRUCTION
Airium 3:522d01930e6a 141 void ACal(float offset[3], float scale[3]); // Acc Calibration
Airium 3:522d01930e6a 142 void MCal(float offset[3], float scale[3]); // Mag Calibration
Airium 3:522d01930e6a 143 void TCal(float offset[1], float scale[1]); // Mag Calibration
Airium 0:7864abfabe2f 144
Airium 4:8723c07d4c45 145
Airium 0:7864abfabe2f 146 //// Not implemented function
Airium 0:7864abfabe2f 147 bool isAccRdy(); // Check if acc has new data
Airium 0:7864abfabe2f 148 // one way is to use high freq ticker to check STATUS_REG_A (27h)
Airium 0:7864abfabe2f 149 // I2C@400kHz just enough to check Max Normal Mode Data Rate (1344Hz)
Airium 3:522d01930e6a 150 // or someone to teach me how to use CTRL_REG6_A THX THX THX (:
Airium 0:7864abfabe2f 151 bool isMagRdy(); // check if mag has new data
Airium 0:7864abfabe2f 152 // one way is to use InterruptIn to trigger from DRDY pin
Airium 0:7864abfabe2f 153 // DRDY pin freq defined by MAG_DR
Airium 0:7864abfabe2f 154
Airium 0:7864abfabe2f 155 private:
Airium 0:7864abfabe2f 156 I2C i2c;
Airium 3:522d01930e6a 157
Airium 0:7864abfabe2f 158 char data[6]; // used as main data exchange
Airium 0:7864abfabe2f 159
Airium 0:7864abfabe2f 160 // use offset to calibrate zero reading
Airium 0:7864abfabe2f 161 float acc_offset[3];
Airium 0:7864abfabe2f 162 float mag_offset[3];
Airium 0:7864abfabe2f 163 float temp_offset[1];
Airium 0:7864abfabe2f 164
Airium 0:7864abfabe2f 165 //use scale to adjust the range to required
Airium 0:7864abfabe2f 166 float acc_scale[3];
Airium 0:7864abfabe2f 167 float mag_scale[3];
Airium 0:7864abfabe2f 168 float temp_scale[1];
Airium 0:7864abfabe2f 169 };
Airium 0:7864abfabe2f 170
Airium 0:7864abfabe2f 171 #endif