Diff: COMPONENTS/lsm303d_component.hpp

Revision:

26:271d2d510f6c

Child:

31:2b8b98f3feed

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/COMPONENTS/lsm303d_component.hpp	Tue Sep 18 19:41:38 2018 +0000
@@ -0,0 +1,206 @@
+/*
+ * lsm303d_component.hpp
+ *
+ *  Created on: 18 sept. 2018
+ *      Author: hoel
+ */
+
+#ifndef COMPONENTS_LSM303D_COMPONENT_HPP_
+#define COMPONENTS_LSM303D_COMPONENT_HPP_
+
+#include <iostream>
+#include <cstdlib>
+#include "mbed.h"
+#include "Context.h"
+#include "Service.hpp"
+#include "Component.hpp"
+
+using namespace std;
+using namespace misnet;
+
+#define MAG_ADDRESS  0x3C
+#define ACC_ADDRESS  0x32
+
+#define CTRL_REG1_A       0x20
+#define CTRL_REG2_A       0x21
+#define CTRL_REG3_A       0x22
+#define CTRL_REG4_A       0x23
+#define CTRL_REG5_A       0x24
+#define CTRL_REG6_A       0x25 // DLHC only
+#define REFERENCE_A       0x26
+#define STATUS_REG_A      0x27
+
+#define OUT_X_L_A         0x28
+#define OUT_X_H_A         0x29
+#define OUT_Y_L_A         0x2A
+#define OUT_Y_H_A         0x2B
+#define OUT_Z_L_A         0x2C
+#define OUT_Z_H_A         0x2D
+
+#define INT1_CFG_A        0x30
+#define INT1_SRC_A        0x31
+#define INT1_THS_A        0x32
+#define INT1_DURATION_A   0x33
+#define INT2_CFG_A        0x34
+#define INT2_SRC_A        0x35
+#define INT2_THS_A        0x36
+#define INT2_DURATION_A   0x37
+
+#define CRA_REG_M         0x00
+#define CRB_REG_M         0x01
+#define MR_REG_M          0x02
+
+#define OUT_X_H_M         0x03
+#define OUT_X_L_M         0x04
+#define OUT_Y_H_M         0x07
+#define OUT_Y_L_M         0x08
+#define OUT_Z_H_M         0x05
+#define OUT_Z_L_M         0x06
+
+#define SR_REG_M          0x09
+#define IRA_REG_M         0x0A
+#define IRB_REG_M         0x0B
+#define IRC_REG_M         0x0C
+
+class LSM303DLHC_component : public Component{
+
+	public:
+	LSM303DLHC_component(COMPONENT_ID id, vector<Service*>& services, PinName sda, PinName scl):
+		_device(sda, scl)
+	{
+		this->setServices(services);
+		this->setId(id);
+		_device.frequency(400000);
+	}
+	~LSM303DLHC_component();
+	void init(){
+		// init mag
+		// continuous conversion mode
+		_data[0] = MR_REG_M;
+		_data[1] = 0x00;
+		_device.write(MAG_ADDRESS, _data, 2);
+		// data rate 75hz
+		_data[0] = CRA_REG_M;
+		_data[1] = 0x18; // 0b00011000
+		_device.write(MAG_ADDRESS, _data, 2);
+		// init acc
+		// data rate 100hz
+		_data[0] = CTRL_REG1_A;
+		_data[1] = 0x2F; // 0b00101111
+		_device.write(ACC_ADDRESS, _data, 2);
+	}
+
+	private:
+	void setScale(float x, float y, float z){
+		scale[0] = x;
+		scale[1] = y;
+		scale[2] = z;
+	}
+	void setOffset(float x, float y, float z){
+		offset[0] = x;
+		offset[1] = y;
+		offset[2] = z;
+	}
+
+    I2C _device;
+    char _data[6];
+    int offset[3], scale[3];
+
+    class LSM303DLHC_accelerometer : public Service{
+
+		public:
+		LSM303DLHC_accelerometer(
+				DEVICE_TYPE type,
+				MISNET_CODE misnet_code,
+				STATE state,
+				ACCESS_TYPE access_type,
+				REQUEST_MODE request_mode,
+				UP_MODE up_mode,
+				ACCESS_PIN access_pins[6],
+				uint32_t subsample_rate,
+				ACTION action,
+				OUTPUT_MODE output_mode,
+				string comment,
+				LSM303DLHC_component* parent
+				)
+		{
+			this->parent = parent;
+			this->setDeviceType(type);
+			this->setMisnetCode(misnet_code);
+			this->setState(state);
+			this->setAccessType(access_type);
+			this->setRequestMode(request_mode);
+			this->setUpMode(up_mode);
+			this->setAction(action);
+			this->setOutputMode(output_mode);
+			this->setComment(comment);
+			this->setSubsampleRate(subsample_rate);
+		}
+		virtual ~LSM303DLHC_accelerometer() {}
+		int* readValue(void) {
+			int a[3];
+			parent->_data[0] = OUT_X_L_A | (1<<7);
+			parent->_device.write(ACC_ADDRESS, _data, 1);
+			parent->_device.read(ACC_ADDRESS, _data, 6);
+
+			// 12-bit values
+			a[0] = (short)(parent->_data[1]<<8 | parent->_data[0]) >> 4;
+			a[1] = (short)(parent->_data[3]<<8 | parent->_data[2]) >> 4;
+			a[2] = (short)(parent->_data[5]<<8 | parent->_data[4]) >> 4;
+			return a;
+		}
+
+		private:
+		LSM303DLHC_component *parent;
+    };
+
+    class LSM303DLHC_megnetometer : public Service{
+
+		public:
+		LSM303DLHC_megnetometer(
+				DEVICE_TYPE type,
+				MISNET_CODE misnet_code,
+				STATE state,
+				ACCESS_TYPE access_type,
+				REQUEST_MODE request_mode,
+				UP_MODE up_mode,
+				ACCESS_PIN access_pins[6],
+				uint32_t subsample_rate,
+				ACTION action,
+				OUTPUT_MODE output_mode,
+				string comment,
+				LSM303DLHC_component* parent
+				)
+		{
+			this->parent = parent;
+			this->setDeviceType(type);
+			this->setMisnetCode(misnet_code);
+			this->setState(state);
+			this->setAccessType(access_type);
+			this->setRequestMode(request_mode);
+			this->setUpMode(up_mode);
+			this->setAction(action);
+			this->setOutputMode(output_mode);
+			this->setComment(comment);
+			this->setSubsampleRate(subsample_rate);
+		}
+		virtual ~LSM303DLHC_megnetometer() {}
+		int* readValue(void) {
+			int a[3];
+			parent->_data[0] = OUT_X_H_M;
+			parent->_device.write(MAG_ADDRESS, parent->_data, 1);
+			parent->_device.read(MAG_ADDRESS, parent->_data, 6);
+
+			a[0] = (short) (parent->_data[0]<<8 | parent->_data[1]); // X
+			a[1] = (short) (parent->_data[4]<<8 | parent->_data[5]); // Y
+			a[2] = (short) (parent->_data[2]<<8 | parent->_data[3]); // Z
+			return a;
+		}
+
+		private:
+		LSM303DLHC_component *parent;
+    };
+};
+
+#endif /* COMPONENTS_LSM303D_COMPONENT_HPP_ */
+