Diff: LSM303D.cpp

Revision:

0:5b930e09bd6e

Child:

1:f93f4bc7a889

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303D.cpp	Wed Feb 03 20:57:01 2016 +0000
@@ -0,0 +1,132 @@
+/** LSM303D Interface Library
+ *
+ * base on code by Michael Shimniok http://bot-thoughts.com
+ *
+ *  and on test program by @tosihisa and 
+ *
+ *  and on Pololu sample library for LSM303D breakout by ryantm:
+ *
+ *  ported by Brian Claus
+ *
+ * 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"
+
+
+const int addr_acc_mag = 0x3A;
+
+enum REG_ADDRS {
+    /* --- Mag --- */
+    OUT_X_M     = 0x08,
+    OUT_Y_M     = 0x0A,
+    OUT_Z_M     = 0x0C,
+    /* --- Acc --- */
+    OUT_X_A     = 0x28,
+    OUT_Y_A     = 0x2A,
+    OUT_Z_A     = 0x2C,
+    //
+    CTRL0       = 0x1F;
+    CTRL1       = 0x20;
+    CTRL2       = 0x21;
+    CTRL3       = 0x22;
+    CTRL4       = 0x23;
+    CTRL5       = 0x24;
+    CTRL6       = 0x25;
+    CTRL7       = 0x26;
+};
+
+bool LSM303D::write_reg(int addr_i2c,int addr_reg, char v)
+{
+    char data[2] = {addr_reg, v}; 
+    return LSM303D::_LSM303.write(addr_i2c, data, 2) == 0;
+}
+
+bool LSM303D::read_reg(int addr_i2c,int addr_reg, char *v)
+{
+    char data = addr_reg; 
+    bool result = false;
+    
+    __disable_irq();
+    if ((_LSM303.write(addr_i2c, &data, 1) == 0) && (_LSM303.read(addr_i2c, &data, 1) == 0)){
+        *v = data;
+        result = true;
+    }
+    __enable_irq();
+    return result;
+}
+
+LSM303D::LSM303D(PinName sda, PinName scl):
+    _LSM303(sda, scl)
+{
+    char reg_v;
+    _LSM303.frequency(200000);
+        
+    reg_v = 0;
+    
+    //acc
+    reg_v |= 0x57;          /* 50 Hz X/Y/Z axis enable. */
+    write_reg(addr_acc_mag,CTRL1,reg_v);
+
+    /* -- mag --- */
+    reg_v = 0;
+    reg_v |= 0x78;     //M_RES = 11 (high resolution mode); M_ODR = 100 (50 Hz ODR)
+    write_reg(addr_acc_mag,CTRL5,reg_v);
+
+ 
+
+    reg_v = 0;    
+    reg_v |= 0x00;   //continuous mag
+    write_reg(addr_mag,CTRL7,reg_v);
+}
+
+
+bool LSM303D::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) {
+    char acc[6], mag[6];
+ 
+    if (recv(addr_acc_mag, OUT_X_A, acc, 6) && recv(addr_acc_mag, OUT_X_M, mag, 6)) {
+        *ax = float(short(acc[1] << 8 | acc[0]))/8192;  //32768/4=8192
+        *ay =  float(short(acc[3] << 8 | acc[2]))/8192;
+        *az =  float(short(acc[5] << 8 | acc[4]))/8192;
+        //full scale magnetic readings are from -2048 to 2047
+        //gain is x,y =1100; z = 980 LSB/gauss
+        *mx = float(short(mag[0] << 8 | mag[1]))/1100;
+        *mz = float(short(mag[2] << 8 | mag[3]))/980;
+        *my = float(short(mag[4] << 8 | mag[5]))/1100;
+ 
+        return true;
+    }
+ 
+    return false;
+}
+
+
+bool LSM303D::recv(char sad, char sub, char *buf, int length) {
+    if (length > 1) sub |= 0x80;
+ 
+    return _LSM303.write(sad, &sub, 1, true) == 0 && _LSM303.read(sad, buf, length) == 0;
+}