Diff: LSM303DLHC.cpp

Revision:

3:4d9465e7e10e

Child:

5:ee458711d467

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303DLHC.cpp	Wed Feb 20 23:52:53 2013 +0000
@@ -0,0 +1,134 @@
+/** LSM303DLHC 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 LSM303DLHC 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 "LSM303DLHC.h"
+
+
+const int addr_acc = 0x32;
+const int addr_mag = 0x3c;
+
+enum REG_ADDRS {
+    /* --- Mag --- */
+    CRA_REG_M   = 0x00,
+    CRB_REG_M   = 0x01,
+    MR_REG_M    = 0x02,
+    OUT_X_M     = 0x03,
+    OUT_Y_M     = 0x05,
+    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,
+};
+
+bool LSM303DLHC::write_reg(int addr_i2c,int addr_reg, char v)
+{
+    char data[2] = {addr_reg, v}; 
+    return LSM303DLHC::_LSM303.write(addr_i2c, data, 2) == 0;
+}
+
+bool LSM303DLHC::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;
+}
+
+
+LSM303DLHC::LSM303DLHC(PinName sda, PinName scl):
+    _LSM303(sda, scl)
+{
+    char reg_v;
+    _LSM303.frequency(100000);
+        
+    reg_v = 0;
+    
+    reg_v |= 0x27;          /* X/Y/Z axis enable. */
+    write_reg(addr_acc,CTRL_REG1_A,reg_v);
+
+    reg_v = 0;
+   // reg_v |= 0x01 << 6;     /* 1: data MSB @ lower address */
+    reg_v = 0x01 << 4;     /* +/- 4g */
+    write_reg(addr_acc,CTRL_REG4_A,reg_v);
+
+    /* -- mag --- */
+    reg_v = 0;
+    reg_v |= 0x04 << 2;     /* Minimum data output rate = 15Hz */
+    write_reg(addr_mag,CRA_REG_M,reg_v);
+
+    reg_v = 0;
+    reg_v |= 0x01 << 5;     /* +-1.3Gauss */
+    //reg_v |= 0x07 << 5;     /* +-8.1Gauss */
+    write_reg(addr_mag,CRB_REG_M,reg_v);
+
+    reg_v = 0;              /* Continuous-conversion mode */
+    write_reg(addr_mag,MR_REG_M,reg_v);
+}
+
+
+bool LSM303DLHC::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) {
+    char acc[6], mag[6];
+ 
+    if (recv(addr_acc, OUT_X_A, acc, 6) && recv(addr_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 LSM303DLHC::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;
+}