Diff: LSM303.h

Revision:

0:4d358fbeab6e

Child:

2:1052b1b97cc2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303.h	Thu Oct 10 06:57:53 2013 +0000
@@ -0,0 +1,144 @@
+#ifndef LSM303_h
+#define LSM303_h
+#include "mbed.h"
+/* LSM303DLM Example Code base on LSM303DLH example code by Jim Lindblom SparkFun Electronics
+
+   date: 9/6/11
+   license: Creative commons share-alike v3.0
+
+   Modified by:Frankie.Chu
+
+   Summary:
+   Show how to calculate level and tilt-compensated heading using
+   the snazzy LSM303DLH 3-axis magnetometer/3-axis accelerometer.
+
+   Firmware:
+   You can set the accelerometer's full-scale range by setting
+   the SCALE constant to either 2, 4, or 8. This value is used
+   in the initLSM303() function. For the most part, all other
+   registers in the LSM303 will be at their default value.
+
+   Use the LSM303_write() and LSM303_read() functions to write
+   to and read from the LSM303's internal registers.
+
+   Use getLSM303_accel() and getLSM303_mag() to get the acceleration
+   and magneto values from the LSM303. You'll need to pass each of
+   those functions an array, where the data will be stored upon
+   return from the void.
+
+   getHeading() calculates a heading assuming the sensor is level.
+   A float between 0 and 360 is returned. You need to pass it a
+   array with magneto values.
+
+   getTiltHeading() calculates a tilt-compensated heading.
+   A float between 0 and 360 degrees is returned. You need
+   to pass this function both a magneto and acceleration array.
+
+   Headings are calculated as specified in AN3192:
+   http://www.sparkfun.com/datasheets/Sensors/Magneto/Tilt%20Compensated%20Compass.pdf
+
+   Hardware:
+   I'm using SparkFun's LSM303 breakout. Only power and the two
+   I2C lines are connected:
+   LSM303 Breakout ---------- Arduino
+         Vin                   5V
+         GND                   GND
+         SDA                   A4
+         SCL                   A5
+*/
+
+
+
+#define ACCELE_SCALE 2  // accelerometer full-scale, should be 2, 4, or 8
+
+/* LSM303 Address definitions */
+#define LSM303_MAG  0x3C  // assuming SA0 grounded
+#define LSM303_ACC  0x30  // assuming SA0 grounded
+
+#define X 0
+#define Y 1
+#define Z 2
+
+/* LSM303 Register definitions */
+#define CTRL_REG1_A 0x20
+#define CTRL_REG2_A 0x21
+#define CTRL_REG3_A 0x22
+#define CTRL_REG4_A 0x23
+#define CTRL_REG5_A 0x24
+#define HP_FILTER_RESET_A 0x25
+#define REFERENCE_A 0x26
+#define STATUS_REG_A 0x27
+#define OUT_X_L_A 0x28
+#define OUT_X_H_A 0x29
+#define OUT_Y_L_A 0x2A
+#define OUT_Y_H_A 0x2B
+#define OUT_Z_L_A 0x2C
+#define OUT_Z_H_A 0x2D
+#define INT1_CFG_A 0x30
+#define INT1_SOURCE_A 0x31
+#define INT1_THS_A 0x32
+#define INT1_DURATION_A 0x33
+#define CRA_REG_M 0x00
+#define CRB_REG_M 0x01//refer to the Table 58 of the datasheet of LSM303DLM
+#define MAG_SCALE_1_3 0x20//full-scale is +/-1.3Gauss
+#define MAG_SCALE_1_9 0x40//+/-1.9Gauss
+#define MAG_SCALE_2_5 0x60//+/-2.5Gauss
+#define MAG_SCALE_4_0 0x80//+/-4.0Gauss
+#define MAG_SCALE_4_7 0xa0//+/-4.7Gauss
+#define MAG_SCALE_5_6 0xc0//+/-5.6Gauss
+#define MAG_SCALE_8_1 0xe0//+/-8.1Gauss
+#define MR_REG_M 0x02
+#define OUT_X_H_M 0x03
+#define OUT_X_L_M 0x04
+#define OUT_Y_H_M 0x07
+#define OUT_Y_L_M 0x08
+#define OUT_Z_H_M 0x05
+#define OUT_Z_L_M 0x06
+#define SR_REG_M 0x09
+#define IRA_REG_M 0x0A
+#define IRB_REG_M 0x0B
+#define IRC_REG_M 0x0C
+#define LSM303_WHO_AM_I_M        0x0F // DLM only
+
+#define PI                    3.14159265
+
+class LSM303
+{// I am  LSM303DLM
+public:
+    typedef struct Plane {
+        float x, y, z;
+    } Plane;
+    
+    Plane a; // accelerometer readings
+    Plane m; // magnetometer readings
+    Plane m_max; // maximum magnetometer values, used for calibration
+    Plane m_min; // minimum magnetometer values, used for calibration
+    float pitch;
+    float roll;
+    int setup();
+    
+    void getLSM303_mag();
+    int getLSM303_accel();
+    int LSM303_read(int address);
+    int LSM303_write(int data, int address);
+    
+    int testAcc();
+    int testMag();
+    
+    float getTiltHeading();
+    
+    // Plane functions
+    static void vector_cross(const Plane *a, const Plane *b, Plane *out);
+    static float vector_dot(const Plane *a,const Plane *b);
+    static void vector_normalize(Plane *a);
+
+
+private:
+ 
+    int _i2c_address;
+
+    int initLSM303(int fs); // accelerometer full-scale, should be 2, 4, or 8
+};
+
+#endif
+