SCIboard(TM): mbed base board data logger - Altimeter: MPL3115A2 - Accelerometer: LSM303DLHC - Gyro: L3G4200D - 4 High Current MOSFET switches
SCIboard_LSM303DLHC.cpp
00001 /* SCIboard(TM) LSM303DLHC.cpp 00002 Copyright (c) 2013 K. Andres 00003 00004 Permission is hereby granted, free of charge, to any person obtaining a copy 00005 of this software and associated documentation files (the "Software"), to deal 00006 in the Software without restriction, including without limitation the rights 00007 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 copies of the Software, and to permit persons to whom the Software is 00009 furnished to do so, subject to the following conditions: 00010 00011 The above copyright notice and this permission notice shall be included in 00012 all copies or substantial portions of the Software. 00013 00014 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 THE SOFTWARE. 00021 */ 00022 00023 #include "SCIboard_LSM303DLHC.h" 00024 00025 SCIboard_LSM303DLHC::SCIboard_LSM303DLHC(SCIboard_I2C *ptr_I2C) { 00026 pI2C = ptr_I2C; 00027 } 00028 00029 void SCIboard_LSM303DLHC::getDeviceID(unsigned char *id) { 00030 pI2C->readRegs(MAG_I2C_ADDR, MAGREG_IRA_REG, id, 3); 00031 } 00032 00033 // ACCELEROMETER ------------------------------------------------------ 00034 void SCIboard_LSM303DLHC::setAccMode(unsigned char AccFs, unsigned char AccRate) { 00035 unsigned char data[2] = {ACCREG_CTRL_REG1, 0}; 00036 float sf[] = {2, 4, 8, 16}; 00037 00038 accSF = 32768.0 / sf[AccFs]; 00039 accRate = AccRate; 00040 // printf("AccRate=%u AccFs=%u\r\n", AccRate, AccFs); 00041 00042 data[1] = 0x07; // Enable accels 00043 data[1] |= AccRate << 4; 00044 pI2C->writeRegs(ACC_I2C_ADDR, data, 2); 00045 00046 data[0] = ACCREG_CTRL_REG4; 00047 data[1] = AccFs << 4; 00048 // data[1] |= 0x80; // Block data update - BDU: 0=continuous 00049 pI2C->writeRegs(ACC_I2C_ADDR, data, 2); 00050 } 00051 00052 unsigned char SCIboard_LSM303DLHC::getAccStatus(void) { 00053 unsigned char data; 00054 pI2C->readRegs(ACC_I2C_ADDR, ACCREG_STATUS, &data, 1); 00055 return data; 00056 } 00057 00058 bool SCIboard_LSM303DLHC::bAccDataAvailable(void) { 00059 unsigned char data; 00060 pI2C->readRegs(ACC_I2C_ADDR, ACCREG_STATUS, &data, 1); 00061 if(data & STATUS_REG_ZYXDA) { 00062 return 1; 00063 } 00064 return 0; 00065 } 00066 00067 void SCIboard_LSM303DLHC::getAccData(float *fData) { 00068 unsigned char data[6]; 00069 00070 pI2C->readRegs(ACC_I2C_ADDR, ACCREG_OUT_X_L, data, 6); 00071 00072 fData[0] = float(short(data[1] << 8 | data[0])) / accSF; 00073 fData[1] = float(short(data[3] << 8 | data[2])) / accSF; 00074 fData[2] = float(short(data[5] << 8 | data[4])) / accSF; 00075 } 00076 00077 unsigned char SCIboard_LSM303DLHC::getInt1Src(void) { 00078 unsigned char data; 00079 pI2C->readRegs(ACC_I2C_ADDR, ACCREG_INT1_SOURCE, &data, 1); 00080 return data; 00081 } 00082 00083 void SCIboard_LSM303DLHC::writeCtrlReg(unsigned char reg, unsigned char value) { 00084 unsigned char data[2]; 00085 00086 if(reg>0 && reg<6) { 00087 data[0] = ACCREG_CTRL_REG1 - 1 + reg; 00088 data[1] = value; 00089 pI2C->writeRegs(ACC_I2C_ADDR, data, 2); 00090 } 00091 } 00092 00093 00094 // MAGNETOMETER ------------------------------------------------------ 00095 void SCIboard_LSM303DLHC::setMagMode(unsigned char MagFs, unsigned char MagRate) { 00096 unsigned char data[2] = {MAGREG_CRA_REG, 0}; 00097 float GN[][2] = { 1100, 980, 00098 855, 760, 00099 670, 600, 00100 450, 400, 00101 400, 355, 00102 330, 295, 00103 230, 205}; 00104 00105 magSF[0] = GN[MagFs-1][0]; 00106 magSF[1] = magSF[0]; 00107 magSF[2] = GN[MagFs-1][1]; 00108 // printf("MagRate=%u MagFs=%u\r\n", MagRate, MagFs); 00109 // printf("Mag SF= %.0f %.0f %.0f\r\n", magSF[0], magSF[1], magSF[2]); 00110 00111 magRate = MagRate; 00112 data[1] = MagRate << 2; 00113 // data[1] |= 0x80; // Temperature sensor enable 00114 pI2C->writeRegs(MAG_I2C_ADDR, data, 2); 00115 00116 data[0] = MAGREG_CRB_REG; 00117 data[1] = MagFs << 5; 00118 pI2C->writeRegs(MAG_I2C_ADDR, data, 2); 00119 00120 data[0] = MAGREG_MR_REG; 00121 data[1] = MAG_Continuous_Conv; 00122 pI2C->writeRegs(MAG_I2C_ADDR, data, 2); 00123 } 00124 00125 unsigned char SCIboard_LSM303DLHC::getMagStatus(void) { 00126 unsigned char data; 00127 pI2C->readRegs(MAG_I2C_ADDR, MAGREG_SR_REG, &data, 1); 00128 return data; 00129 } 00130 00131 bool SCIboard_LSM303DLHC::bMagDataAvailable(void) { 00132 unsigned char data; 00133 pI2C->readRegs(MAG_I2C_ADDR, MAGREG_SR_REG, &data, 1); 00134 if(data & MAG_DRDY) { 00135 return true; 00136 } 00137 return false; 00138 } 00139 00140 void SCIboard_LSM303DLHC::getMagData(float *fData) { 00141 char data[6]; 00142 00143 pI2C->readRegs(MAG_I2C_ADDR, MAGREG_OUT_X_H, (unsigned char*) data, 6); 00144 fData[0] = float(short(data[0] << 8 | data[1])) / 1100.0; 00145 fData[2] = float(short(data[2] << 8 | data[3])) / 980.0; 00146 fData[1] = float(short(data[4] << 8 | data[5])) / 1100.0; 00147 } 00148 00149 void SCIboard_LSM303DLHC::getMagData(char *cData) { 00150 unsigned char data[6]; 00151 00152 pI2C->readRegs(MAG_I2C_ADDR, MAGREG_OUT_X_H, data, 6); 00153 memmove(cData, data, 6); 00154 } 00155 00156 00157 float SCIboard_LSM303DLHC::getTemp(void) { 00158 char data[2]; 00159 00160 pI2C->readRegs(MAG_I2C_ADDR, MAGREG_TEMP_OUT_H, (unsigned char*) data, 2); 00161 return(float(short(data[0] << 8 | data[1]>>4))); 00162 } 00163 00164 void SCIboard_LSM303DLHC::getTemp(char *cData) { 00165 char data[2]; 00166 00167 pI2C->readRegs(MAG_I2C_ADDR, MAGREG_TEMP_OUT_H, (unsigned char*) data, 2); 00168 memmove(cData, data, 2); 00169 }
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