Diff: LSM303D.h

Revision:

0:f186dd92c836

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+++ b/LSM303D.h	Tue Aug 26 13:20:01 2014 +0000
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+/** LSM303D Interface Library
+ *
+ * Written by Eric Coyle
+ *
+ * Based on Michael Shimniok's LSM303DLH library which is based on
+ * test program by @tosihisa and 
+ * Pololu sample library for LSM303DLH 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.
+ */
+#ifndef MBED_LSM303D_H
+#define MBED_LSM303D_H
+ 
+#include "mbed.h"
+#include "vector.h"
+ 
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+#define FILTER_SHIFT 6      // used in filtering acceleromter readings
+
+#define XAXIS 0x00
+#define YAXIS 0x01
+#define ZAXIS 0x02
+
+ 
+class LSM303D {
+public:
+    LSM303D(SPI &spi, PinName CS);
+    int whoami();
+    
+    //Initializes all accelerometer and magnetometer
+    //Sets values to defaults
+    int initialize();
+    
+    //Returns raw 16-bit magnetometer values for a given axis
+    int magnitometer(int axis);
+    
+    //Returns raw 16-bit magnetometer values for a given axis
+    int accelerometer(int axis);
+    
+    /** sets the x, y, and z offset corrections for hard iron calibration
+     * 
+     * Calibration details here:
+     *  http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
+     *
+     * If you gather raw magnetometer data and find, for example, x is offset
+     * by hard iron by -20 then pass +20 to this member function to correct
+     * for hard iron.
+     *
+     * @param x is the offset correction for the x axis
+     * @param y is the offset correction for the y axis
+     * @param z is the offset correction for the z axis
+    */
+    void setOffset(float x, float y, float z);
+        
+    /** sets the scale factor for the x, y, and z axes
+     *
+     * Calibratio details here:
+     *  http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
+     *
+     * Sensitivity of the three axes is never perfectly identical and this
+     * function can help to correct differences in sensitivity.  You're
+     * supplying a multipler such that x, y and z will be normalized to the
+     * same max/min values
+    */
+    void setScale(float x, float y, float z);
+    
+    /** read the raw accelerometer and compass values
+     *
+     *@param a is the accelerometer 3d vector, written by the function
+     *@param m is the magnetometer 3d vector, written by the function
+    **/
+    void read(vector &a, vector &m);
+    
+    
+    //returns the magnetic heading with respect to the y axis
+    float heading(void);
+        
+    // returns the heading with respect to the specified vector
+    float heading(vector from);
+    
+    union _data {
+      short int raw;
+      char b[2];
+    } compass;
+    
+private:  
+    DigitalOut cs;
+    SPI &mspi;
+    float _offset_x;
+    float _offset_y;
+    float _offset_z;
+    float _scale_x;
+    float _scale_y;
+    float _scale_z;
+    long _filt_ax;
+    long _filt_ay;
+    long _filt_az;
+};
+ 
+#endif
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