Diff: LSM303DLHC.cpp

Revision:

0:ffed7ef0b248

diff -r 000000000000 -r ffed7ef0b248 LSM303DLHC.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303DLHC.cpp	Sat Apr 09 04:26:50 2016 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "LSM303DLHC.h"
+#include "stdio.h"
+
+#define MAG_ADDRESS  0x3C
+#define ACC_ADDRESS  0x32
+  
+ 
+LSM303DLHC::LSM303DLHC(PinName sda, PinName scl): _device(sda, scl)
+{
+    _device.frequency(400000);
+//    init();
+}
+ 
+void LSM303DLHC::init()
+{
+    // init mag
+    // continuous conversion mode
+    _data[0] = MR_REG_M;
+    _data[1] = 0x00;
+    _device.write(MAG_ADDRESS, _data, 2);
+    // data rate 75hz
+    _data[0] = CRA_REG_M;
+    _data[1] = 0x18; // 0b00011000
+    _device.write(MAG_ADDRESS, _data, 2);
+    // init acc
+    // data rate 100hz 
+    _data[0] = CTRL_REG1_A;
+    _data[1] = 0x2F; // 0b00101111
+    _device.write(ACC_ADDRESS, _data, 2);
+}
+ 
+void LSM303DLHC::read(int a[3], int m[3])
+{
+    readAcc(a);
+    readMag(m);   
+}
+ 
+void LSM303DLHC::readAcc(int a[3])
+{
+    _data[0] = OUT_X_L_A | (1<<7);
+    _device.write(ACC_ADDRESS, _data, 1);
+    _device.read(ACC_ADDRESS, _data, 6);
+ 
+    // 12-bit values
+    a[0] = (short)(_data[1]<<8 | _data[0]) >> 4;
+    a[1] = (short)(_data[3]<<8 | _data[2]) >> 4;
+    a[2] = (short)(_data[5]<<8 | _data[4]) >> 4;
+}
+ 
+void LSM303DLHC::readMag(int m[3])
+{
+    _data[0] = OUT_X_H_M;
+    _device.write(MAG_ADDRESS, _data, 1);
+    _device.read(MAG_ADDRESS, _data, 6);
+    
+    m[0] = (short) (_data[0]<<8 | _data[1]); // X
+    m[1] = (short) (_data[4]<<8 | _data[5]); // Y
+    m[2] = (short) (_data[2]<<8 | _data[3]); // Z
+ }
+ 
+void LSM303DLHC::setScale(float x, float y, float z)
+{
+    scale[0] = x;
+    scale[1] = y;
+    scale[2] = z;
+}
+ 
+void LSM303DLHC::setOffset(float x, float y, float z)
+{
+    offset[0] = x;
+    offset[1] = y;
+    offset[2] = z;
+}
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