Jonathan Goret / LSM303DLH

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Dependents:   Nucleo_gyro_magno

LSM303DLH.h@0:38cd86f4249d, 2015-04-13 (annotated)

Committer:
johnylafleur
Date:
Mon Apr 13 16:05:08 2015 +0000
Revision:
0:38cd86f4249d
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnylafleur 0:38cd86f4249d 1 #include "mbed.h"
johnylafleur 0:38cd86f4249d 2 #include "vector.h"
johnylafleur 0:38cd86f4249d 3
johnylafleur 0:38cd86f4249d 4 #ifndef M_PI
johnylafleur 0:38cd86f4249d 5 #define M_PI 3.14159265358979323846
johnylafleur 0:38cd86f4249d 6 #endif
johnylafleur 0:38cd86f4249d 7
johnylafleur 0:38cd86f4249d 8 /** Tilt-compensated compass interface Library for the STMicro LSM303DLH 3-axis magnetometer, 3-axis acceleromter
johnylafleur 0:38cd86f4249d 9 *
johnylafleur 0:38cd86f4249d 10 * Michael Shimniok http://bot-thoughts.com
johnylafleur 0:38cd86f4249d 11 *
johnylafleur 0:38cd86f4249d 12 * Based on test program by @tosihisa and
johnylafleur 0:38cd86f4249d 13 *
johnylafleur 0:38cd86f4249d 14 * Pololu sample library for LSM303DLH breakout by ryantm:
johnylafleur 0:38cd86f4249d 15 *
johnylafleur 0:38cd86f4249d 16 * Copyright (c) 2011 Pololu Corporation. For more information, see
johnylafleur 0:38cd86f4249d 17 *
johnylafleur 0:38cd86f4249d 18 * http://www.pololu.com/
johnylafleur 0:38cd86f4249d 19 * http://forum.pololu.com/
johnylafleur 0:38cd86f4249d 20 *
johnylafleur 0:38cd86f4249d 21 * Permission is hereby granted, free of charge, to any person
johnylafleur 0:38cd86f4249d 22 * obtaining a copy of this software and associated documentation
johnylafleur 0:38cd86f4249d 23 * files (the "Software"), to deal in the Software without
johnylafleur 0:38cd86f4249d 24 * restriction, including without limitation the rights to use,
johnylafleur 0:38cd86f4249d 25 * copy, modify, merge, publish, distribute, sublicense, and/or sell
johnylafleur 0:38cd86f4249d 26 * copies of the Software, and to permit persons to whom the
johnylafleur 0:38cd86f4249d 27 * Software is furnished to do so, subject to the following
johnylafleur 0:38cd86f4249d 28 * conditions:
johnylafleur 0:38cd86f4249d 29 *
johnylafleur 0:38cd86f4249d 30 * The above copyright notice and this permission notice shall be
johnylafleur 0:38cd86f4249d 31 * included in all copies or substantial portions of the Software.
johnylafleur 0:38cd86f4249d 32 *
johnylafleur 0:38cd86f4249d 33 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
johnylafleur 0:38cd86f4249d 34 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
johnylafleur 0:38cd86f4249d 35 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
johnylafleur 0:38cd86f4249d 36 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
johnylafleur 0:38cd86f4249d 37 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
johnylafleur 0:38cd86f4249d 38 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
johnylafleur 0:38cd86f4249d 39 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
johnylafleur 0:38cd86f4249d 40 * OTHER DEALINGS IN THE SOFTWARE.
johnylafleur 0:38cd86f4249d 41 *
johnylafleur 0:38cd86f4249d 42 * @code
johnylafleur 0:38cd86f4249d 43 * #include "mbed.h"
johnylafleur 0:38cd86f4249d 44 * #include "LSM303DLH.h"
johnylafleur 0:38cd86f4249d 45 *
johnylafleur 0:38cd86f4249d 46 * Serial debug(USBTX,USBRX);
johnylafleur 0:38cd86f4249d 47 * LSM303DLH compass(p28, p27);
johnylafleur 0:38cd86f4249d 48 *
johnylafleur 0:38cd86f4249d 49 * int main() {
johnylafleur 0:38cd86f4249d 50 * float hdg;
johnylafleur 0:38cd86f4249d 51 * debug.format(8,Serial::None,1);
johnylafleur 0:38cd86f4249d 52 * debug.baud(115200);
johnylafleur 0:38cd86f4249d 53 * debug.printf("LSM303DLH Test\x0d\x0a");
johnylafleur 0:38cd86f4249d 54 * compass.setOffset(29.50, -0.50, 4.00); // example calibration
johnylafleur 0:38cd86f4249d 55 * compass.setScale(1.00, 1.03, 1.21); // example calibration
johnylafleur 0:38cd86f4249d 56 * while(1) {
johnylafleur 0:38cd86f4249d 57 * hdg = compass.heading();
johnylafleur 0:38cd86f4249d 58 * debug.printf("Heading: %.2f\n", hdg);
johnylafleur 0:38cd86f4249d 59 * wait(0.1);
johnylafleur 0:38cd86f4249d 60 * }
johnylafleur 0:38cd86f4249d 61 * }
johnylafleur 0:38cd86f4249d 62 * @endcode
johnylafleur 0:38cd86f4249d 63 */
johnylafleur 0:38cd86f4249d 64 class LSM303DLH {
johnylafleur 0:38cd86f4249d 65 public:
johnylafleur 0:38cd86f4249d 66 /** Create a new interface for an LSM303DLH
johnylafleur 0:38cd86f4249d 67 *
johnylafleur 0:38cd86f4249d 68 * @param sda is the pin for the I2C SDA line
johnylafleur 0:38cd86f4249d 69 * @param scl is the pin for the I2C SCL line
johnylafleur 0:38cd86f4249d 70 */
johnylafleur 0:38cd86f4249d 71 LSM303DLH(PinName sda, PinName scl);
johnylafleur 0:38cd86f4249d 72
johnylafleur 0:38cd86f4249d 73 /** sets the x, y, and z offset corrections for hard iron calibration
johnylafleur 0:38cd86f4249d 74 *
johnylafleur 0:38cd86f4249d 75 * Calibration details here:
johnylafleur 0:38cd86f4249d 76 * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
johnylafleur 0:38cd86f4249d 77 *
johnylafleur 0:38cd86f4249d 78 * If you gather raw magnetometer data and find, for example, x is offset
johnylafleur 0:38cd86f4249d 79 * by hard iron by -20 then pass +20 to this member function to correct
johnylafleur 0:38cd86f4249d 80 * for hard iron.
johnylafleur 0:38cd86f4249d 81 *
johnylafleur 0:38cd86f4249d 82 * @param x is the offset correction for the x axis
johnylafleur 0:38cd86f4249d 83 * @param y is the offset correction for the y axis
johnylafleur 0:38cd86f4249d 84 * @param z is the offset correction for the z axis
johnylafleur 0:38cd86f4249d 85 */
johnylafleur 0:38cd86f4249d 86 void setOffset(float x, float y, float z);
johnylafleur 0:38cd86f4249d 87
johnylafleur 0:38cd86f4249d 88 /** sets the scale factor for the x, y, and z axes
johnylafleur 0:38cd86f4249d 89 *
johnylafleur 0:38cd86f4249d 90 * Calibratio details here:
johnylafleur 0:38cd86f4249d 91 * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
johnylafleur 0:38cd86f4249d 92 *
johnylafleur 0:38cd86f4249d 93 * Sensitivity of the three axes is never perfectly identical and this
johnylafleur 0:38cd86f4249d 94 * function can help to correct differences in sensitivity. You're
johnylafleur 0:38cd86f4249d 95 * supplying a multipler such that x, y and z will be normalized to the
johnylafleur 0:38cd86f4249d 96 * same max/min values
johnylafleur 0:38cd86f4249d 97 */
johnylafleur 0:38cd86f4249d 98 void setScale(float x, float y, float z);
johnylafleur 0:38cd86f4249d 99
johnylafleur 0:38cd86f4249d 100 /** read the raw accelerometer and compass values
johnylafleur 0:38cd86f4249d 101 *
johnylafleur 0:38cd86f4249d 102 * @param a is the accelerometer 3d vector, written by the function
johnylafleur 0:38cd86f4249d 103 * @param m is the magnetometer 3d vector, written by the function
johnylafleur 0:38cd86f4249d 104 */
johnylafleur 0:38cd86f4249d 105 void read(vector &a, vector &m);
johnylafleur 0:38cd86f4249d 106
johnylafleur 0:38cd86f4249d 107 /** returns the magnetic heading with respect to the y axis
johnylafleur 0:38cd86f4249d 108 *
johnylafleur 0:38cd86f4249d 109 */
johnylafleur 0:38cd86f4249d 110 float heading(void);
johnylafleur 0:38cd86f4249d 111
johnylafleur 0:38cd86f4249d 112 /** returns the heading with respect to the specified vector
johnylafleur 0:38cd86f4249d 113 *
johnylafleur 0:38cd86f4249d 114 */
johnylafleur 0:38cd86f4249d 115 float heading(vector from);
johnylafleur 0:38cd86f4249d 116
johnylafleur 0:38cd86f4249d 117 /** sets the I2C bus frequency
johnylafleur 0:38cd86f4249d 118 *
johnylafleur 0:38cd86f4249d 119 * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000)
johnylafleur 0:38cd86f4249d 120 */
johnylafleur 0:38cd86f4249d 121 void frequency(int hz);
johnylafleur 0:38cd86f4249d 122
johnylafleur 0:38cd86f4249d 123 private:
johnylafleur 0:38cd86f4249d 124 I2C _compass;
johnylafleur 0:38cd86f4249d 125 float _offset_x;
johnylafleur 0:38cd86f4249d 126 float _offset_y;
johnylafleur 0:38cd86f4249d 127 float _offset_z;
johnylafleur 0:38cd86f4249d 128 float _scale_x;
johnylafleur 0:38cd86f4249d 129 float _scale_y;
johnylafleur 0:38cd86f4249d 130 float _scale_z;
johnylafleur 0:38cd86f4249d 131 long _filt_ax;
johnylafleur 0:38cd86f4249d 132 long _filt_ay;
johnylafleur 0:38cd86f4249d 133 long _filt_az;
johnylafleur 0:38cd86f4249d 134
johnylafleur 0:38cd86f4249d 135 bool write_reg(int addr_i2c,int addr_reg, char v);
johnylafleur 0:38cd86f4249d 136 bool read_reg(int addr_i2c,int addr_reg, char *v);
johnylafleur 0:38cd86f4249d 137 bool read_reg_short(int addr_i2c,int addr_reg, short *v);
johnylafleur 0:38cd86f4249d 138 };