imu01c
LSM303D.h
- Committer:
- HMFK03LST1
- Date:
- 2016-07-20
- Revision:
- 3:a55edecc96e2
- Parent:
- 2:4bfc36c368c2
File content as of revision 3:a55edecc96e2:
#include "mbed.h" #include "vector.h" #ifndef M_PI #define M_PI 3.14159265358979323846 #endif /** Tilt-compensated compass interface Library for the STMicro LSM303D 3-axis magnetometer, 3-axis acceleromter * * Based on * * Michael Shimniok http://bot-thoughts.com * * test program by tosihisa and * * Pololu sample library for LSM303DLH breakout by ryantm: * * Copyright (c) 2011 Pololu Corporation. For more information, see * * http://www.pololu.com/ * http://forum.pololu.com/ * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation * files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, * copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following * conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR * OTHER DEALINGS IN THE SOFTWARE. * * @code * #include "mbed.h" * #include "LSM303D.h" * * Serial debug(USBTX,USBRX); * LSM303D compass(p28, p27); * * int main() * { * * int count; * * debug.baud(115200); * debug.printf("LSM303D Test\x0d\x0a"); * * compass.setOffset(460, 610, -290); * compass.setScale(0.93, 0.92, 1.00); * * while(1) * { * compass.read(); * count++; * if (count%10==0) debug.printf("Heading: %5.1f\n\r Pitch: %4.1f\n\r",compass.hdg, compass.pitch ); * wait(0.050); * } * } * @endcode */ class LSM303D { public: //! ACC Raw readings with x,y and z axis vector acc_raw; //! MAG Raw readings with x,y and z axis vector mag_raw; //! ACC Filtert readings with x,y and z axis vector acc; //! MAG Normal readings with x,y and z axis vector mag; //! Heading float hdg; //! Pitch float pitch; //! MAG Minimal readings vector min; //! MAG Maximal readings vector max; //! MAG Min-Max estimated range vector spreed; /** Create a new interface for an LSM303D * * @param sda is the pin for the I2C SDA line * @param scl is the pin for the I2C SCL line */ LSM303D(PinName sda, PinName scl); /** sets the x, y, and z offset corrections for hard iron calibration * * Calibration details here: * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/ * * If you gather raw magnetometer data and find, for example, x is offset * by hard iron by -20 then pass +20 to this member function to correct * for hard iron. * * @param x is the offset correction for the x axis * @param y is the offset correction for the y axis * @param z is the offset correction for the z axis */ void setOffset(float x, float y, float z); /** sets the scale factor for the x, y, and z axes * * Calibratio details here: * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/ * * Sensitivity of the three axes is never perfectly identical and this * function can help to correct differences in sensitivity. You're * supplying a multipler such that x, y and z will be normalized to the * same max/min values */ void setScale(float x, float y, float z); /** read the raw accelerometer and compass values * calc Heading and Pitch */ void read(); /** Set Mag Limits */ void set_limits(int mode); /** sets the I2C bus frequency * * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000) */ void frequency(int hz); private: I2C _compass; float _offset_x; float _offset_y; float _offset_z; float _scale_x; float _scale_y; float _scale_z; long _filt_ax; long _filt_ay; long _filt_az; bool write_reg(int addr_i2c,int addr_reg, char v); bool read_reg(int addr_i2c,int addr_reg, char *v); void calc_pos(void); void set_vectors(void); };