Julio Fajardo / LSM303DLHC

Adafruit 9DOF - LSM303DLHC

Dependents:   Galileo_HoverBoardRider accelerometerTest

LSM303DLHC.h@0:ffed7ef0b248, 2016-04-09 (annotated)

Committer:
julioefajardo
Date:
Sat Apr 09 04:26:50 2016 +0000
Revision:
0:ffed7ef0b248
Adafruit 9DOF - LSM303DLHC Driver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
julioefajardo 0:ffed7ef0b248 1 #ifndef __LSM303DLHC_H
julioefajardo 0:ffed7ef0b248 2 #define __LSM303DLHC_H
julioefajardo 0:ffed7ef0b248 3
julioefajardo 0:ffed7ef0b248 4 #include "mbed.h"
julioefajardo 0:ffed7ef0b248 5
julioefajardo 0:ffed7ef0b248 6 // register addresses
julioefajardo 0:ffed7ef0b248 7
julioefajardo 0:ffed7ef0b248 8 #define CTRL_REG1_A 0x20
julioefajardo 0:ffed7ef0b248 9 #define CTRL_REG2_A 0x21
julioefajardo 0:ffed7ef0b248 10 #define CTRL_REG3_A 0x22
julioefajardo 0:ffed7ef0b248 11 #define CTRL_REG4_A 0x23
julioefajardo 0:ffed7ef0b248 12 #define CTRL_REG5_A 0x24
julioefajardo 0:ffed7ef0b248 13 #define CTRL_REG6_A 0x25 // DLHC only
julioefajardo 0:ffed7ef0b248 14 #define REFERENCE_A 0x26
julioefajardo 0:ffed7ef0b248 15 #define STATUS_REG_A 0x27
julioefajardo 0:ffed7ef0b248 16
julioefajardo 0:ffed7ef0b248 17 #define OUT_X_L_A 0x28
julioefajardo 0:ffed7ef0b248 18 #define OUT_X_H_A 0x29
julioefajardo 0:ffed7ef0b248 19 #define OUT_Y_L_A 0x2A
julioefajardo 0:ffed7ef0b248 20 #define OUT_Y_H_A 0x2B
julioefajardo 0:ffed7ef0b248 21 #define OUT_Z_L_A 0x2C
julioefajardo 0:ffed7ef0b248 22 #define OUT_Z_H_A 0x2D
julioefajardo 0:ffed7ef0b248 23
julioefajardo 0:ffed7ef0b248 24 #define INT1_CFG_A 0x30
julioefajardo 0:ffed7ef0b248 25 #define INT1_SRC_A 0x31
julioefajardo 0:ffed7ef0b248 26 #define INT1_THS_A 0x32
julioefajardo 0:ffed7ef0b248 27 #define INT1_DURATION_A 0x33
julioefajardo 0:ffed7ef0b248 28 #define INT2_CFG_A 0x34
julioefajardo 0:ffed7ef0b248 29 #define INT2_SRC_A 0x35
julioefajardo 0:ffed7ef0b248 30 #define INT2_THS_A 0x36
julioefajardo 0:ffed7ef0b248 31 #define INT2_DURATION_A 0x37
julioefajardo 0:ffed7ef0b248 32
julioefajardo 0:ffed7ef0b248 33 #define CRA_REG_M 0x00
julioefajardo 0:ffed7ef0b248 34 #define CRB_REG_M 0x01
julioefajardo 0:ffed7ef0b248 35 #define MR_REG_M 0x02
julioefajardo 0:ffed7ef0b248 36
julioefajardo 0:ffed7ef0b248 37 #define OUT_X_H_M 0x03
julioefajardo 0:ffed7ef0b248 38 #define OUT_X_L_M 0x04
julioefajardo 0:ffed7ef0b248 39 #define OUT_Y_H_M 0x07
julioefajardo 0:ffed7ef0b248 40 #define OUT_Y_L_M 0x08
julioefajardo 0:ffed7ef0b248 41 #define OUT_Z_H_M 0x05
julioefajardo 0:ffed7ef0b248 42 #define OUT_Z_L_M 0x06
julioefajardo 0:ffed7ef0b248 43
julioefajardo 0:ffed7ef0b248 44 #define SR_REG_M 0x09
julioefajardo 0:ffed7ef0b248 45 #define IRA_REG_M 0x0A
julioefajardo 0:ffed7ef0b248 46 #define IRB_REG_M 0x0B
julioefajardo 0:ffed7ef0b248 47 #define IRC_REG_M 0x0C
julioefajardo 0:ffed7ef0b248 48
julioefajardo 0:ffed7ef0b248 49 /** Tilt-compensated compass interface Library for the STMicro LSM303DLm 3-axis magnetometer, 3-axis acceleromter
julioefajardo 0:ffed7ef0b248 50 * @author Michael Shimniok http://www.bot-thoughts.com/
julioefajardo 0:ffed7ef0b248 51 *
julioefajardo 0:ffed7ef0b248 52 * This is an early revision; I've not yet implemented heading calculation and the interface differs from my
julioefajardo 0:ffed7ef0b248 53 * earlier LSM303DLH; I hope to make this library drop in compatible at some point in the future.
julioefajardo 0:ffed7ef0b248 54 * setScale() and setOffset() have no effect at this time.
julioefajardo 0:ffed7ef0b248 55 *
julioefajardo 0:ffed7ef0b248 56 * @code
julioefajardo 0:ffed7ef0b248 57 * #include "mbed.h"
julioefajardo 0:ffed7ef0b248 58 * #include "LSM303DLM.h"
julioefajardo 0:ffed7ef0b248 59 *
julioefajardo 0:ffed7ef0b248 60 * LSM303DLM compass(p28, p27);
julioefajardo 0:ffed7ef0b248 61 * ...
julioefajardo 0:ffed7ef0b248 62 * int a[3], m[3];
julioefajardo 0:ffed7ef0b248 63 * ...
julioefajardo 0:ffed7ef0b248 64 * compass.readAcc(a);
julioefajardo 0:ffed7ef0b248 65 * compass.readMag(m);
julioefajardo 0:ffed7ef0b248 66 *
julioefajardo 0:ffed7ef0b248 67 * @endcode
julioefajardo 0:ffed7ef0b248 68 */
julioefajardo 0:ffed7ef0b248 69 class LSM303DLHC {
julioefajardo 0:ffed7ef0b248 70
julioefajardo 0:ffed7ef0b248 71 public:
julioefajardo 0:ffed7ef0b248 72 /** Create a new interface for an LSM303DLM
julioefajardo 0:ffed7ef0b248 73 *
julioefajardo 0:ffed7ef0b248 74 * @param sda is the pin for the I2C SDA line
julioefajardo 0:ffed7ef0b248 75 * @param scl is the pin for the I2C SCL line
julioefajardo 0:ffed7ef0b248 76 */
julioefajardo 0:ffed7ef0b248 77 LSM303DLHC(PinName sda, PinName scl);
julioefajardo 0:ffed7ef0b248 78
julioefajardo 0:ffed7ef0b248 79 /** sets the x, y, and z offset corrections for hard iron calibration
julioefajardo 0:ffed7ef0b248 80 *
julioefajardo 0:ffed7ef0b248 81 * Calibration details here:
julioefajardo 0:ffed7ef0b248 82 * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
julioefajardo 0:ffed7ef0b248 83 *
julioefajardo 0:ffed7ef0b248 84 * If you gather raw magnetometer data and find, for example, x is offset
julioefajardo 0:ffed7ef0b248 85 * by hard iron by -20 then pass +20 to this member function to correct
julioefajardo 0:ffed7ef0b248 86 * for hard iron.
julioefajardo 0:ffed7ef0b248 87 *
julioefajardo 0:ffed7ef0b248 88 * @param x is the offset correction for the x axis
julioefajardo 0:ffed7ef0b248 89 * @param y is the offset correction for the y axis
julioefajardo 0:ffed7ef0b248 90 * @param z is the offset correction for the z axis
julioefajardo 0:ffed7ef0b248 91 */
julioefajardo 0:ffed7ef0b248 92 void init();
julioefajardo 0:ffed7ef0b248 93 void setOffset(float x, float y, float z);
julioefajardo 0:ffed7ef0b248 94
julioefajardo 0:ffed7ef0b248 95 /** sets the scale factor for the x, y, and z axes
julioefajardo 0:ffed7ef0b248 96 *
julioefajardo 0:ffed7ef0b248 97 * Calibratio details here:
julioefajardo 0:ffed7ef0b248 98 * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
julioefajardo 0:ffed7ef0b248 99 *
julioefajardo 0:ffed7ef0b248 100 * Sensitivity of the three axes is never perfectly identical and this
julioefajardo 0:ffed7ef0b248 101 * function can help to correct differences in sensitivity. You're
julioefajardo 0:ffed7ef0b248 102 * supplying a multipler such that x, y and z will be normalized to the
julioefajardo 0:ffed7ef0b248 103 * same max/min values
julioefajardo 0:ffed7ef0b248 104 */
julioefajardo 0:ffed7ef0b248 105 void setScale(float x, float y, float z);
julioefajardo 0:ffed7ef0b248 106
julioefajardo 0:ffed7ef0b248 107 /** read the calibrated accelerometer and magnetometer values
julioefajardo 0:ffed7ef0b248 108 *
julioefajardo 0:ffed7ef0b248 109 * @param a is the accelerometer 3d vector, written by the function
julioefajardo 0:ffed7ef0b248 110 * @param m is the magnetometer 3d vector, written by the function
julioefajardo 0:ffed7ef0b248 111 */
julioefajardo 0:ffed7ef0b248 112 void read(int a[3], int m[3]);
julioefajardo 0:ffed7ef0b248 113
julioefajardo 0:ffed7ef0b248 114 /** read the calibrated accelerometer values
julioefajardo 0:ffed7ef0b248 115 *
julioefajardo 0:ffed7ef0b248 116 * @param a is the accelerometer 3d vector, written by the function
julioefajardo 0:ffed7ef0b248 117 */
julioefajardo 0:ffed7ef0b248 118 void readAcc(int a[3]);
julioefajardo 0:ffed7ef0b248 119
julioefajardo 0:ffed7ef0b248 120 /** read the calibrated magnetometer values
julioefajardo 0:ffed7ef0b248 121 *
julioefajardo 0:ffed7ef0b248 122 * @param m is the magnetometer 3d vector, written by the function
julioefajardo 0:ffed7ef0b248 123 */
julioefajardo 0:ffed7ef0b248 124 void readMag(int m[3]);
julioefajardo 0:ffed7ef0b248 125
julioefajardo 0:ffed7ef0b248 126 /** sets the I2C bus frequency
julioefajardo 0:ffed7ef0b248 127 *
julioefajardo 0:ffed7ef0b248 128 * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000)
julioefajardo 0:ffed7ef0b248 129 */
julioefajardo 0:ffed7ef0b248 130 void frequency(int hz);
julioefajardo 0:ffed7ef0b248 131
julioefajardo 0:ffed7ef0b248 132 private:
julioefajardo 0:ffed7ef0b248 133 I2C _device;
julioefajardo 0:ffed7ef0b248 134 char _data[6];
julioefajardo 0:ffed7ef0b248 135 int offset[3];
julioefajardo 0:ffed7ef0b248 136 int scale[3];
julioefajardo 0:ffed7ef0b248 137 };
julioefajardo 0:ffed7ef0b248 138
julioefajardo 0:ffed7ef0b248 139 #endif