Revision 0:ffed7ef0b248, committed 2016-04-09

Comitter:

julioefajardo

Date:

Sat Apr 09 04:26:50 2016 +0000

Commit message:

Adafruit 9DOF - LSM303DLHC Driver

Changed in this revision

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;
+}
\ No newline at end of file

diff -r 000000000000 -r ffed7ef0b248 LSM303DLHC.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303DLHC.h	Sat Apr 09 04:26:50 2016 +0000
@@ -0,0 +1,139 @@
+#ifndef __LSM303DLHC_H
+#define __LSM303DLHC_H
+ 
+#include "mbed.h"
+ 
+// register addresses
+ 
+#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 CTRL_REG6_A       0x25 // DLHC only
+#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_SRC_A        0x31
+#define INT1_THS_A        0x32
+#define INT1_DURATION_A   0x33
+#define INT2_CFG_A        0x34
+#define INT2_SRC_A        0x35
+#define INT2_THS_A        0x36
+#define INT2_DURATION_A   0x37
+ 
+#define CRA_REG_M         0x00
+#define CRB_REG_M         0x01
+#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
+   
+/** Tilt-compensated compass interface Library for the STMicro LSM303DLm 3-axis magnetometer, 3-axis acceleromter
+ * @author Michael Shimniok http://www.bot-thoughts.com/
+ *
+ * This is an early revision; I've not yet implemented heading calculation and the interface differs from my
+ * earlier LSM303DLH; I hope to make this library drop in compatible at some point in the future.
+ * setScale() and setOffset() have no effect at this time.
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "LSM303DLM.h"
+ *
+ * LSM303DLM compass(p28, p27);
+ * ...
+ * int a[3], m[3];
+ * ...
+ * compass.readAcc(a);
+ * compass.readMag(m);
+ *
+ * @endcode
+ */
+class LSM303DLHC {
+ 
+    public:
+        /** Create a new interface for an LSM303DLM
+         *
+         * @param sda is the pin for the I2C SDA line
+         * @param scl is the pin for the I2C SCL line
+         */
+        LSM303DLHC(PinName sda, PinName scl);
+ 
+        /** 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 init();
+        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 calibrated accelerometer and magnetometer 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(int a[3], int m[3]);
+        
+        /** read the calibrated accelerometer values
+         *
+         * @param a is the accelerometer 3d vector, written by the function
+         */
+        void readAcc(int a[3]);
+ 
+        /** read the calibrated magnetometer values
+         *
+         * @param m is the magnetometer 3d vector, written by the function
+         */
+        void readMag(int m[3]);
+ 
+        /** sets the I2C bus frequency
+         *
+         * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000)
+         */
+        void frequency(int hz);
+     
+    private:
+        I2C _device;
+        char _data[6];
+        int offset[3];
+        int scale[3];
+};
+ 
+#endif
\ No newline at end of file