Benigno Gobbo / minimu9

Pololu Minimu-9 library

LSM303.cpp@0:6ee4ef99c382, 2012-02-21 (annotated)

Committer:
bengo
Date:
Tue Feb 21 13:34:27 2012 +0000
Revision:
0:6ee4ef99c382
first release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bengo 0:6ee4ef99c382 1 /* mbed LSM303 Library version 0beta1
bengo 0:6ee4ef99c382 2 * Copyright (c) 2012 bengo
bengo 0:6ee4ef99c382 3 *
bengo 0:6ee4ef99c382 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
bengo 0:6ee4ef99c382 5 * of this software and associated documentation files (the "Software"), to deal
bengo 0:6ee4ef99c382 6 * in the Software without restriction, including without limitation the rights
bengo 0:6ee4ef99c382 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
bengo 0:6ee4ef99c382 8 * copies of the Software, and to permit persons to whom the Software is
bengo 0:6ee4ef99c382 9 * furnished to do so, subject to the following conditions:
bengo 0:6ee4ef99c382 10 *
bengo 0:6ee4ef99c382 11 * The above copyright notice and this permission notice shall be included in
bengo 0:6ee4ef99c382 12 * all copies or substantial portions of the Software.
bengo 0:6ee4ef99c382 13 *
bengo 0:6ee4ef99c382 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
bengo 0:6ee4ef99c382 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
bengo 0:6ee4ef99c382 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
bengo 0:6ee4ef99c382 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
bengo 0:6ee4ef99c382 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
bengo 0:6ee4ef99c382 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
bengo 0:6ee4ef99c382 20 * THE SOFTWARE.
bengo 0:6ee4ef99c382 21 */
bengo 0:6ee4ef99c382 22
bengo 0:6ee4ef99c382 23 #include <LSM303.h>
bengo 0:6ee4ef99c382 24 #include <cmath>
bengo 0:6ee4ef99c382 25
bengo 0:6ee4ef99c382 26 // LSM303 I2C addresses
bengo 0:6ee4ef99c382 27 const int LSM303::ACC_ADDRESS = 0x30;
bengo 0:6ee4ef99c382 28 const int LSM303::MAG_ADDRESS = 0x3c;
bengo 0:6ee4ef99c382 29 // LSM303 register addresses
bengo 0:6ee4ef99c382 30 const int LSM303::ACC_CTRL_REG1 = 0x20;
bengo 0:6ee4ef99c382 31 const int LSM303::ACC_CTRL_REG2 = 0x21;
bengo 0:6ee4ef99c382 32 const int LSM303::ACC_CTRL_REC3 = 0x22;
bengo 0:6ee4ef99c382 33 const int LSM303::ACC_CTRL_REG4 = 0x23;
bengo 0:6ee4ef99c382 34 const int LSM303::ACC_CTRL_REG5 = 0x24;
bengo 0:6ee4ef99c382 35 const int LSM303::ACC_HP_FILTER_RESET = 0x25;
bengo 0:6ee4ef99c382 36 const int LSM303::ACC_REFERENCE = 0x26;
bengo 0:6ee4ef99c382 37 const int LSM303::ACC_STATUS_REG = 0x27;
bengo 0:6ee4ef99c382 38 const int LSM303::ACC_OUT_X_L = 0x28;
bengo 0:6ee4ef99c382 39 const int LSM303::ACC_OUT_X_H = 0x29;
bengo 0:6ee4ef99c382 40 const int LSM303::ACC_OUT_Y_L = 0x2a;
bengo 0:6ee4ef99c382 41 const int LSM303::ACC_OUT_Y_H = 0x2b;
bengo 0:6ee4ef99c382 42 const int LSM303::ACC_OUT_Z_L = 0x2c;
bengo 0:6ee4ef99c382 43 const int LSM303::ACC_OUT_Z_H = 0x2d;
bengo 0:6ee4ef99c382 44 const int LSM303::ACC_INT1_CFG = 0x30;
bengo 0:6ee4ef99c382 45 const int LSM303::ACC_INT1_SOURCE = 0x31;
bengo 0:6ee4ef99c382 46 const int LSM303::ACC_INT1_THS = 0x32;
bengo 0:6ee4ef99c382 47 const int LSM303::ACC_INT1_DURATION = 0x33;
bengo 0:6ee4ef99c382 48 const int LSM303::ACC_INT2_CFG = 0x34;
bengo 0:6ee4ef99c382 49 const int LSM303::ACC_INT2_SOURCE = 0x35;
bengo 0:6ee4ef99c382 50 const int LSM303::ACC_INT2_THS = 0x36;
bengo 0:6ee4ef99c382 51 const int LSM303::ACC_INT2_DURATION = 0x37;
bengo 0:6ee4ef99c382 52 const int LSM303::MAG_CRA_REG = 0x00;
bengo 0:6ee4ef99c382 53 const int LSM303::MAG_CRB_REG = 0x01;
bengo 0:6ee4ef99c382 54 const int LSM303::MAG_MR_REG = 0x02;
bengo 0:6ee4ef99c382 55 const int LSM303::MAG_OUT_X_H = 0x03;
bengo 0:6ee4ef99c382 56 const int LSM303::MAG_OUT_X_L = 0x04;
bengo 0:6ee4ef99c382 57 const int LSM303::MAG_OUT_Y_H = 0x07;
bengo 0:6ee4ef99c382 58 const int LSM303::MAG_OUT_Y_L = 0x08;
bengo 0:6ee4ef99c382 59 const int LSM303::MAG_OUT_Z_H = 0x05;
bengo 0:6ee4ef99c382 60 const int LSM303::MAG_OUT_Z_L = 0x6;
bengo 0:6ee4ef99c382 61 const int LSM303::MAG_SR_REG = 0x9;
bengo 0:6ee4ef99c382 62 const int LSM303::MAG_IRA_REG = 0xa;
bengo 0:6ee4ef99c382 63 const int LSM303::MAG_IRB_REG = 0xb;
bengo 0:6ee4ef99c382 64 const int LSM303::MAG_IRC_REG = 0xc;
bengo 0:6ee4ef99c382 65 const int LSM303::MAG_WHO_AM_I = 0xf;
bengo 0:6ee4ef99c382 66 //
bengo 0:6ee4ef99c382 67
bengo 0:6ee4ef99c382 68 // -------------------------------------------
bengo 0:6ee4ef99c382 69 LSM303::LSM303( PinName sda, PinName scl ) : _i2c( sda, scl ) {
bengo 0:6ee4ef99c382 70 // Get SA0 pin status
bengo 0:6ee4ef99c382 71 _bytes[0] = ACC_CTRL_REG1;
bengo 0:6ee4ef99c382 72 _i2c.write( ACC_ADDRESS, _bytes, 1 );
bengo 0:6ee4ef99c382 73 int sa0low = _i2c.read( ACC_ADDRESS+1, _bytes, 1 );
bengo 0:6ee4ef99c382 74 _bytes[0] = ACC_CTRL_REG1;
bengo 0:6ee4ef99c382 75 _i2c.write( ACC_ADDRESS+2, _bytes, 1 );
bengo 0:6ee4ef99c382 76 int sa0hig = _i2c.read( ACC_ADDRESS+2+1, _bytes, 1 );
bengo 0:6ee4ef99c382 77 if( sa0low == 0 && sa0hig != 0 ) {
bengo 0:6ee4ef99c382 78 _SA0Pad = 0x0;
bengo 0:6ee4ef99c382 79 }
bengo 0:6ee4ef99c382 80 else if( sa0low != 0 && sa0hig == 0 ) {
bengo 0:6ee4ef99c382 81 _SA0Pad = 0x2;
bengo 0:6ee4ef99c382 82 }
bengo 0:6ee4ef99c382 83 else {
bengo 0:6ee4ef99c382 84 _status = 1;
bengo 0:6ee4ef99c382 85 return;
bengo 0:6ee4ef99c382 86 }
bengo 0:6ee4ef99c382 87 // Check that you're talking with an LM303DLM device
bengo 0:6ee4ef99c382 88 _bytes[0] = MAG_WHO_AM_I;
bengo 0:6ee4ef99c382 89 _i2c.write( MAG_ADDRESS, _bytes, 1 );
bengo 0:6ee4ef99c382 90 _status = _i2c.read( MAG_ADDRESS+1, _bytes, 1 );
bengo 0:6ee4ef99c382 91 if( _bytes[0] == 0x3c ) {
bengo 0:6ee4ef99c382 92 _status = 0;
bengo 0:6ee4ef99c382 93 }
bengo 0:6ee4ef99c382 94 else {
bengo 0:6ee4ef99c382 95 _status = 1;
bengo 0:6ee4ef99c382 96 return;
bengo 0:6ee4ef99c382 97 }
bengo 0:6ee4ef99c382 98 // Enable normal mode...
bengo 0:6ee4ef99c382 99 // ... On accelerometer
bengo 0:6ee4ef99c382 100 this->accRegisterWrite( ACC_CTRL_REG1, 0x27 );
bengo 0:6ee4ef99c382 101 if( _status != 0 ) {
bengo 0:6ee4ef99c382 102 return;
bengo 0:6ee4ef99c382 103 }
bengo 0:6ee4ef99c382 104 // ... And on magnetometer
bengo 0:6ee4ef99c382 105 this->magRegisterWrite( MAG_MR_REG, 0x00 );
bengo 0:6ee4ef99c382 106 }
bengo 0:6ee4ef99c382 107
bengo 0:6ee4ef99c382 108 // -------------------------------------------
bengo 0:6ee4ef99c382 109 int LSM303::accRegisterRead( int reg ) {
bengo 0:6ee4ef99c382 110 _bytes[0] = reg & 0xff;
bengo 0:6ee4ef99c382 111 _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 1 );
bengo 0:6ee4ef99c382 112 if( _status == 0 ) {
bengo 0:6ee4ef99c382 113 _status = _i2c.read( ACC_ADDRESS + _SA0Pad + 1, _bytes, 1 );
bengo 0:6ee4ef99c382 114 return( _bytes[0] );
bengo 0:6ee4ef99c382 115 }
bengo 0:6ee4ef99c382 116 return( 0 );
bengo 0:6ee4ef99c382 117 }
bengo 0:6ee4ef99c382 118
bengo 0:6ee4ef99c382 119 // -------------------------------------------
bengo 0:6ee4ef99c382 120 void LSM303::accRegisterWrite( int reg, char data ) {
bengo 0:6ee4ef99c382 121 _bytes[0] = reg & 0xff;
bengo 0:6ee4ef99c382 122 _bytes[1] = data & 0xff;
bengo 0:6ee4ef99c382 123 _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 2 );
bengo 0:6ee4ef99c382 124 }
bengo 0:6ee4ef99c382 125
bengo 0:6ee4ef99c382 126 // -------------------------------------------
bengo 0:6ee4ef99c382 127 int LSM303::magRegisterRead( int reg ) {
bengo 0:6ee4ef99c382 128 _bytes[0] = reg & 0xff;
bengo 0:6ee4ef99c382 129 _status = _i2c.write( MAG_ADDRESS, _bytes, 1 );
bengo 0:6ee4ef99c382 130 if( _status == 0 ) {
bengo 0:6ee4ef99c382 131 _status = _i2c.read( MAG_ADDRESS + 1, _bytes, 1 );
bengo 0:6ee4ef99c382 132 return( _bytes[0] );
bengo 0:6ee4ef99c382 133 }
bengo 0:6ee4ef99c382 134 return( 0 );
bengo 0:6ee4ef99c382 135 }
bengo 0:6ee4ef99c382 136
bengo 0:6ee4ef99c382 137 // -------------------------------------------
bengo 0:6ee4ef99c382 138 void LSM303::magRegisterWrite( int reg, char data ) {
bengo 0:6ee4ef99c382 139 _bytes[0] = reg & 0xff;
bengo 0:6ee4ef99c382 140 _bytes[1] = data & 0xff;
bengo 0:6ee4ef99c382 141 _status = _i2c.write( MAG_ADDRESS, _bytes, 2 );
bengo 0:6ee4ef99c382 142 }
bengo 0:6ee4ef99c382 143
bengo 0:6ee4ef99c382 144
bengo 0:6ee4ef99c382 145 // -------------------------------------------
bengo 0:6ee4ef99c382 146 std::vector<short> LSM303::accRead( void ) {
bengo 0:6ee4ef99c382 147 std::vector<short> acc( 3, 0 );
bengo 0:6ee4ef99c382 148 _bytes[0] = ACC_OUT_X_L | (1<<7);
bengo 0:6ee4ef99c382 149 _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 1 );
bengo 0:6ee4ef99c382 150 if( _status == 0 ) {
bengo 0:6ee4ef99c382 151 _status = _i2c.read( ACC_ADDRESS + _SA0Pad + 1, _bytes, 6 );
bengo 0:6ee4ef99c382 152 if( _status == 0 ) {
bengo 0:6ee4ef99c382 153 for( int i=0; i<3; i++ ) {
bengo 0:6ee4ef99c382 154 acc[i] = ( short( _bytes[2*i] ) | short(_bytes[2*i+1]) << 8 );
bengo 0:6ee4ef99c382 155 }
bengo 0:6ee4ef99c382 156 }
bengo 0:6ee4ef99c382 157 }
bengo 0:6ee4ef99c382 158 return( acc );
bengo 0:6ee4ef99c382 159 }
bengo 0:6ee4ef99c382 160
bengo 0:6ee4ef99c382 161 // -------------------------------------------
bengo 0:6ee4ef99c382 162 std::vector<float> LSM303::acceleration( void ) {
bengo 0:6ee4ef99c382 163
bengo 0:6ee4ef99c382 164 const float cal[3][2] = { { 16291.5, -16245.4 }, { 16819.0, -16253.0 }, { 16994.8, -15525.6 } };
bengo 0:6ee4ef99c382 165
bengo 0:6ee4ef99c382 166 std::vector<float> acc( 3, 0 );
bengo 0:6ee4ef99c382 167 int fs = ( this->accRegisterRead( ACC_CTRL_REG4 ) >> 4 ) & 0x3;
bengo 0:6ee4ef99c382 168 std::vector<short> a = this->accRead();
bengo 0:6ee4ef99c382 169 if( _status == 0 ) {
bengo 0:6ee4ef99c382 170 for( int i=0; i<3; i++ ) {
bengo 0:6ee4ef99c382 171 acc[i] = acc[i] * ( (cal[i][0] - cal[i][1]) / 32768. ) + (cal[i][0]+cal[i][1])/2.;
bengo 0:6ee4ef99c382 172 acc[i] = float( a[i] ) * pow(2.,(fs+1)) / 32768.;
bengo 0:6ee4ef99c382 173 }
bengo 0:6ee4ef99c382 174 }
bengo 0:6ee4ef99c382 175 return( acc );
bengo 0:6ee4ef99c382 176 }
bengo 0:6ee4ef99c382 177
bengo 0:6ee4ef99c382 178 // -------------------------------------------
bengo 0:6ee4ef99c382 179 std::vector<short> LSM303::magRead( void ) {
bengo 0:6ee4ef99c382 180 std::vector<short> mag( 3, 0 );
bengo 0:6ee4ef99c382 181 _bytes[0] = MAG_OUT_X_H;
bengo 0:6ee4ef99c382 182 _status = _i2c.write( MAG_ADDRESS, _bytes, 1 );
bengo 0:6ee4ef99c382 183 if( _status == 0 ) {
bengo 0:6ee4ef99c382 184 _status = _i2c.read( MAG_ADDRESS + 1, _bytes, 6 );
bengo 0:6ee4ef99c382 185 if( _status == 0 ) {
bengo 0:6ee4ef99c382 186 mag[0] = short( _bytes[0] << 8 ) | short( _bytes[1] );
bengo 0:6ee4ef99c382 187 mag[1] = short( _bytes[4] << 8 ) | short( _bytes[5] );
bengo 0:6ee4ef99c382 188 mag[2] = short( _bytes[2] << 8 ) | short( _bytes[3] );
bengo 0:6ee4ef99c382 189 }
bengo 0:6ee4ef99c382 190 }
bengo 0:6ee4ef99c382 191 return( mag );
bengo 0:6ee4ef99c382 192 }
bengo 0:6ee4ef99c382 193
bengo 0:6ee4ef99c382 194 // -------------------------------------------
bengo 0:6ee4ef99c382 195 std::vector<float> LSM303::magneticField( void ) {
bengo 0:6ee4ef99c382 196
bengo 0:6ee4ef99c382 197 float gainxy[] = { 1100., 855., 670., 450., 400., 330., 230. };
bengo 0:6ee4ef99c382 198 float gainz[] = { 980., 760., 600., 400., 355., 295., 205. };
bengo 0:6ee4ef99c382 199
bengo 0:6ee4ef99c382 200 std::vector<float> mag( 3, 0 );
bengo 0:6ee4ef99c382 201 int gn = ( this->magRegisterRead( MAG_CRB_REG ) >> 5 ) & 0x7;
bengo 0:6ee4ef99c382 202 std::vector<short> m = this->magRead();
bengo 0:6ee4ef99c382 203 if( _status == 0 ) {
bengo 0:6ee4ef99c382 204 mag[0] = float( m[0] ) / gainxy[gn-1];
bengo 0:6ee4ef99c382 205 mag[1] = float( m[1] ) / gainxy[gn-1];
bengo 0:6ee4ef99c382 206 mag[2] = float( m[2] ) / gainz[gn-1];
bengo 0:6ee4ef99c382 207 }
bengo 0:6ee4ef99c382 208 return( mag );
bengo 0:6ee4ef99c382 209 }