LSM303DLH Test Program for get angle.
Dependencies: L3GD20 LSM303DLHC SDFileSystemLatch mbed nrf51_rtc
Fork of LSM303DLHTest by
Diff: main.cpp
- Revision:
- 2:39cdefe3c9f2
- Parent:
- 1:14b97953bd2f
- Child:
- 3:f3796683b4c9
diff -r 14b97953bd2f -r 39cdefe3c9f2 main.cpp --- a/main.cpp Sun Nov 28 14:38:44 2010 +0000 +++ b/main.cpp Tue Nov 30 14:42:07 2010 +0000 @@ -26,6 +26,7 @@ OUT_Z_M = 0x07, /* --- Acc --- */ CTRL_REG1_A = 0x20, + CTRL_REG4_A = 0x23, OUT_X_A = 0x28, OUT_Y_A = 0x2A, OUT_Z_A = 0x2C, @@ -47,16 +48,11 @@ return false; } -bool read_reg_short(int addr_i2c,int addr_reg, short *v,int hi) +bool read_reg_short(int addr_i2c,int addr_reg, short *v) { char *pv = (char *)v; - if(hi){ - read_reg(addr_i2c,addr_reg+0,pv+1); - return read_reg(addr_i2c,addr_reg+1,pv+0); - } else { - read_reg(addr_i2c,addr_reg+0,pv+0); - return read_reg(addr_i2c,addr_reg+1,pv+1); - } + read_reg(addr_i2c,addr_reg+0,pv+1); + return read_reg(addr_i2c,addr_reg+1,pv+0); } int main() { @@ -70,6 +66,7 @@ debug.baud(115200); debug.printf("LSM303DLH Test\x0d\x0a"); + /* --- acc --- */ reg_v = 0; result = read_reg(addr_acc,CTRL_REG1_A,®_v); debug.printf("(%s) CTRL_REG1_A=[0x%02X]\x0d\x0a",(result) ? "OK" : "NG",reg_v); @@ -87,23 +84,30 @@ debug.printf("(%s) CTRL_REG1_A=[0x%02X]\x0d\x0a",(result) ? "OK" : "NG",reg_v); reg_v = 0; + reg_v |= 0x01 << 6; /* 1: data MSB @ lower address */ + reg_v |= 0x01 << 4; /* +/- 4g */ + result = write_reg(addr_acc,CTRL_REG4_A,reg_v); + + /* -- mag --- */ + reg_v = 0; reg_v |= 0x04 << 2; /* Minimum data output rate = 15Hz */ result = write_reg(addr_mag,CRA_REG_M,reg_v); reg_v = 0; - reg_v |= 0x01 << 5; /* +-1.3Gauss */ + //reg_v |= 0x01 << 5; /* +-1.3Gauss */ + reg_v |= 0x07 << 5; /* +-8.1Gauss */ result = write_reg(addr_mag,CRB_REG_M,reg_v); reg_v = 0; /* Continuous-conversion mode */ result = write_reg(addr_mag,MR_REG_M,reg_v); while(1) { - read_reg_short(addr_acc,OUT_X_A,&a_x,0); - read_reg_short(addr_acc,OUT_Y_A,&a_y,0); - read_reg_short(addr_acc,OUT_Z_A,&a_z,0); - read_reg_short(addr_mag,OUT_X_M,&m_x,1); - read_reg_short(addr_mag,OUT_Y_M,&m_y,1); - read_reg_short(addr_mag,OUT_Z_M,&m_z,1); + read_reg_short(addr_acc,OUT_X_A,&a_x); + read_reg_short(addr_acc,OUT_Y_A,&a_y); + read_reg_short(addr_acc,OUT_Z_A,&a_z); + read_reg_short(addr_mag,OUT_X_M,&m_x); + read_reg_short(addr_mag,OUT_Y_M,&m_y); + read_reg_short(addr_mag,OUT_Z_M,&m_z); m_deg = (atan2((double)(m_x),(double)(m_y)) * 180) / M_PI; if(m_deg < 0){ m_deg = m_deg * -1.0;