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LSM303D Class Reference
Public Member Functions | Data Fields

LSM303D Class Reference

Tilt-compensated compass interface Library for the STMicro LSM303D 3-axis magnetometer, 3-axis acceleromter. More...

#include <LSM303D.h>

Public Member Functions

 LSM303D (PinName sda, PinName scl)
 Create a new interface for an LSM303D.
void setOffset (float x, float y, float z)
 sets the x, y, and z offset corrections for hard iron calibration
void setScale (float x, float y, float z)
 sets the scale factor for the x, y, and z axes
void read ()
 read the raw accelerometer and compass values calc Heading and Pitch
void set_limits (int mode)
 Set Mag Limits.
void frequency (int hz)
 sets the I2C bus frequency

Data Fields

vector acc_raw
 ACC Raw readings with x,y and z axis.
vector mag_raw
 MAG Raw readings with x,y and z axis.
vector acc
 ACC Filtert readings with x,y and z axis.
vector mag
 MAG Normal readings with x,y and z axis.
float hdg
 Heading.
float pitch
 Pitch.
vector min
 MAG Minimal readings.
vector max
 MAG Maximal readings.
vector spreed
 MAG Min-Max estimated range.

Detailed Description

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.

 #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);
    }
 }

Definition at line 72 of file LSM303D.h.

Constructor & Destructor Documentation

LSM303D ( PinName  sda,
PinName  scl 
)

Create a new interface for an LSM303D.

Parameters:
sdais the pin for the I2C SDA line
sclis the pin for the I2C SCL line

Definition at line 88 of file LSM303D.cpp.

Member Function Documentation

void frequency ( int  hz )

sets the I2C bus frequency

Parameters:
frequencyis the I2C bus/clock frequency, either standard (100000) or fast (400000)

Definition at line 280 of file LSM303D.cpp.

void read (  )

read the raw accelerometer and compass values calc Heading and Pitch

Definition at line 186 of file LSM303D.cpp.

void set_limits ( int  mode )

Set Mag Limits.

Definition at line 254 of file LSM303D.cpp.

void setOffset ( float  x,
float  y,
float  z 
)

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.

Parameters:
xis the offset correction for the x axis
yis the offset correction for the y axis
zis the offset correction for the z axis

Definition at line 147 of file LSM303D.cpp.

void setScale ( 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

Definition at line 154 of file LSM303D.cpp.

Field Documentation

vector acc

ACC Filtert readings with x,y and z axis.

Definition at line 81 of file LSM303D.h.

vector acc_raw

ACC Raw readings with x,y and z axis.

Definition at line 75 of file LSM303D.h.

float hdg

Heading.

Definition at line 87 of file LSM303D.h.

vector mag

MAG Normal readings with x,y and z axis.

Definition at line 84 of file LSM303D.h.

vector mag_raw

MAG Raw readings with x,y and z axis.

Definition at line 78 of file LSM303D.h.

vector max

MAG Maximal readings.

Definition at line 96 of file LSM303D.h.

vector min

MAG Minimal readings.

Definition at line 93 of file LSM303D.h.

float pitch

Pitch.

Definition at line 90 of file LSM303D.h.

vector spreed

MAG Min-Max estimated range.

Definition at line 99 of file LSM303D.h.

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