AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
LSM303.cpp@0:dc35364e2291, 2012-04-12 (annotated)
- Committer:
- krmreynolds
- Date:
- Thu Apr 12 13:47:23 2012 +0000
- Revision:
- 0:dc35364e2291
- Child:
- 1:3272ece36ce1
Added GNU Agreement
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
krmreynolds | 0:dc35364e2291 | 1 | /* mbed LSM303 Library version 0beta1 |
krmreynolds | 0:dc35364e2291 | 2 | * Copyright (c) 2012 bengo |
krmreynolds | 0:dc35364e2291 | 3 | * |
krmreynolds | 0:dc35364e2291 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
krmreynolds | 0:dc35364e2291 | 5 | * of this software and associated documentation files (the "Software"), to deal |
krmreynolds | 0:dc35364e2291 | 6 | * in the Software without restriction, including without limitation the rights |
krmreynolds | 0:dc35364e2291 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
krmreynolds | 0:dc35364e2291 | 8 | * copies of the Software, and to permit persons to whom the Software is |
krmreynolds | 0:dc35364e2291 | 9 | * furnished to do so, subject to the following conditions: |
krmreynolds | 0:dc35364e2291 | 10 | * |
krmreynolds | 0:dc35364e2291 | 11 | * The above copyright notice and this permission notice shall be included in |
krmreynolds | 0:dc35364e2291 | 12 | * all copies or substantial portions of the Software. |
krmreynolds | 0:dc35364e2291 | 13 | * |
krmreynolds | 0:dc35364e2291 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
krmreynolds | 0:dc35364e2291 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
krmreynolds | 0:dc35364e2291 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
krmreynolds | 0:dc35364e2291 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
krmreynolds | 0:dc35364e2291 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
krmreynolds | 0:dc35364e2291 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
krmreynolds | 0:dc35364e2291 | 20 | * THE SOFTWARE. |
krmreynolds | 0:dc35364e2291 | 21 | */ |
krmreynolds | 0:dc35364e2291 | 22 | |
krmreynolds | 0:dc35364e2291 | 23 | #include <LSM303.h> |
krmreynolds | 0:dc35364e2291 | 24 | #include <cmath> |
krmreynolds | 0:dc35364e2291 | 25 | |
krmreynolds | 0:dc35364e2291 | 26 | // LSM303 I2C addresses |
krmreynolds | 0:dc35364e2291 | 27 | const int LSM303::ACC_ADDRESS = 0x30; |
krmreynolds | 0:dc35364e2291 | 28 | const int LSM303::MAG_ADDRESS = 0x3c; |
krmreynolds | 0:dc35364e2291 | 29 | // LSM303 register addresses |
krmreynolds | 0:dc35364e2291 | 30 | const int LSM303::ACC_CTRL_REG1 = 0x20; |
krmreynolds | 0:dc35364e2291 | 31 | const int LSM303::ACC_CTRL_REG2 = 0x21; |
krmreynolds | 0:dc35364e2291 | 32 | const int LSM303::ACC_CTRL_REC3 = 0x22; |
krmreynolds | 0:dc35364e2291 | 33 | const int LSM303::ACC_CTRL_REG4 = 0x23; |
krmreynolds | 0:dc35364e2291 | 34 | const int LSM303::ACC_CTRL_REG5 = 0x24; |
krmreynolds | 0:dc35364e2291 | 35 | const int LSM303::ACC_HP_FILTER_RESET = 0x25; |
krmreynolds | 0:dc35364e2291 | 36 | const int LSM303::ACC_REFERENCE = 0x26; |
krmreynolds | 0:dc35364e2291 | 37 | const int LSM303::ACC_STATUS_REG = 0x27; |
krmreynolds | 0:dc35364e2291 | 38 | const int LSM303::ACC_OUT_X_L = 0x28; |
krmreynolds | 0:dc35364e2291 | 39 | const int LSM303::ACC_OUT_X_H = 0x29; |
krmreynolds | 0:dc35364e2291 | 40 | const int LSM303::ACC_OUT_Y_L = 0x2a; |
krmreynolds | 0:dc35364e2291 | 41 | const int LSM303::ACC_OUT_Y_H = 0x2b; |
krmreynolds | 0:dc35364e2291 | 42 | const int LSM303::ACC_OUT_Z_L = 0x2c; |
krmreynolds | 0:dc35364e2291 | 43 | const int LSM303::ACC_OUT_Z_H = 0x2d; |
krmreynolds | 0:dc35364e2291 | 44 | const int LSM303::ACC_INT1_CFG = 0x30; |
krmreynolds | 0:dc35364e2291 | 45 | const int LSM303::ACC_INT1_SOURCE = 0x31; |
krmreynolds | 0:dc35364e2291 | 46 | const int LSM303::ACC_INT1_THS = 0x32; |
krmreynolds | 0:dc35364e2291 | 47 | const int LSM303::ACC_INT1_DURATION = 0x33; |
krmreynolds | 0:dc35364e2291 | 48 | const int LSM303::ACC_INT2_CFG = 0x34; |
krmreynolds | 0:dc35364e2291 | 49 | const int LSM303::ACC_INT2_SOURCE = 0x35; |
krmreynolds | 0:dc35364e2291 | 50 | const int LSM303::ACC_INT2_THS = 0x36; |
krmreynolds | 0:dc35364e2291 | 51 | const int LSM303::ACC_INT2_DURATION = 0x37; |
krmreynolds | 0:dc35364e2291 | 52 | const int LSM303::MAG_CRA_REG = 0x00; |
krmreynolds | 0:dc35364e2291 | 53 | const int LSM303::MAG_CRB_REG = 0x01; |
krmreynolds | 0:dc35364e2291 | 54 | const int LSM303::MAG_MR_REG = 0x02; |
krmreynolds | 0:dc35364e2291 | 55 | const int LSM303::MAG_OUT_X_H = 0x03; |
krmreynolds | 0:dc35364e2291 | 56 | const int LSM303::MAG_OUT_X_L = 0x04; |
krmreynolds | 0:dc35364e2291 | 57 | const int LSM303::MAG_OUT_Y_H = 0x07; |
krmreynolds | 0:dc35364e2291 | 58 | const int LSM303::MAG_OUT_Y_L = 0x08; |
krmreynolds | 0:dc35364e2291 | 59 | const int LSM303::MAG_OUT_Z_H = 0x05; |
krmreynolds | 0:dc35364e2291 | 60 | const int LSM303::MAG_OUT_Z_L = 0x6; |
krmreynolds | 0:dc35364e2291 | 61 | const int LSM303::MAG_SR_REG = 0x9; |
krmreynolds | 0:dc35364e2291 | 62 | const int LSM303::MAG_IRA_REG = 0x0a; |
krmreynolds | 0:dc35364e2291 | 63 | const int LSM303::MAG_IRB_REG = 0x0b; |
krmreynolds | 0:dc35364e2291 | 64 | const int LSM303::MAG_IRC_REG = 0x0c; |
krmreynolds | 0:dc35364e2291 | 65 | const int LSM303::MAG_WHO_AM_I = 0x0f; |
krmreynolds | 0:dc35364e2291 | 66 | // |
krmreynolds | 0:dc35364e2291 | 67 | |
krmreynolds | 0:dc35364e2291 | 68 | // ------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 69 | LSM303::LSM303( PinName sda, PinName scl ) : _i2c( sda, scl ) { |
krmreynolds | 0:dc35364e2291 | 70 | // Get SA0 pin status |
krmreynolds | 0:dc35364e2291 | 71 | _bytes[0] = ACC_CTRL_REG1; |
krmreynolds | 0:dc35364e2291 | 72 | _i2c.write( ACC_ADDRESS, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 73 | int sa0low = _i2c.read( ACC_ADDRESS+1, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 74 | _bytes[0] = ACC_CTRL_REG1; |
krmreynolds | 0:dc35364e2291 | 75 | _i2c.write( ACC_ADDRESS+2, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 76 | int sa0hig = _i2c.read( ACC_ADDRESS+2+1, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 77 | if( sa0low == 0 && sa0hig != 0 ) { |
krmreynolds | 0:dc35364e2291 | 78 | _SA0Pad = 0x0; |
krmreynolds | 0:dc35364e2291 | 79 | } |
krmreynolds | 0:dc35364e2291 | 80 | else if( sa0low != 0 && sa0hig == 0 ) { |
krmreynolds | 0:dc35364e2291 | 81 | _SA0Pad = 0x2; |
krmreynolds | 0:dc35364e2291 | 82 | } |
krmreynolds | 0:dc35364e2291 | 83 | else { |
krmreynolds | 0:dc35364e2291 | 84 | _status = 1; |
krmreynolds | 0:dc35364e2291 | 85 | return; |
krmreynolds | 0:dc35364e2291 | 86 | } |
krmreynolds | 0:dc35364e2291 | 87 | // Check that you're talking with an LM303DLM device |
krmreynolds | 0:dc35364e2291 | 88 | _bytes[0] = MAG_WHO_AM_I; |
krmreynolds | 0:dc35364e2291 | 89 | _i2c.write( MAG_ADDRESS, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 90 | _status = _i2c.read( MAG_ADDRESS+1, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 91 | if( _bytes[0] == 0x3c ) { |
krmreynolds | 0:dc35364e2291 | 92 | _status = 0; |
krmreynolds | 0:dc35364e2291 | 93 | } |
krmreynolds | 0:dc35364e2291 | 94 | else { |
krmreynolds | 0:dc35364e2291 | 95 | _status = 1; |
krmreynolds | 0:dc35364e2291 | 96 | return; |
krmreynolds | 0:dc35364e2291 | 97 | } |
krmreynolds | 0:dc35364e2291 | 98 | // Enable normal mode... |
krmreynolds | 0:dc35364e2291 | 99 | // ... On accelerometer |
krmreynolds | 0:dc35364e2291 | 100 | this->accRegisterWrite( ACC_CTRL_REG1, 0x27 ); |
krmreynolds | 0:dc35364e2291 | 101 | if( _status != 0 ) { |
krmreynolds | 0:dc35364e2291 | 102 | return; |
krmreynolds | 0:dc35364e2291 | 103 | } |
krmreynolds | 0:dc35364e2291 | 104 | // ... And on magnetometer |
krmreynolds | 0:dc35364e2291 | 105 | this->magRegisterWrite( MAG_MR_REG, 0x00 ); |
krmreynolds | 0:dc35364e2291 | 106 | } |
krmreynolds | 0:dc35364e2291 | 107 | LSM303::LSM303( void ) : _i2c( p9, p10 ) {} |
krmreynolds | 0:dc35364e2291 | 108 | // ------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 109 | int LSM303::accRegisterRead( int reg ) { |
krmreynolds | 0:dc35364e2291 | 110 | _bytes[0] = reg & 0xff; |
krmreynolds | 0:dc35364e2291 | 111 | _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 112 | if( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 113 | _status = _i2c.read( ACC_ADDRESS + _SA0Pad + 1, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 114 | return( _bytes[0] ); |
krmreynolds | 0:dc35364e2291 | 115 | } |
krmreynolds | 0:dc35364e2291 | 116 | return( 0 ); |
krmreynolds | 0:dc35364e2291 | 117 | } |
krmreynolds | 0:dc35364e2291 | 118 | |
krmreynolds | 0:dc35364e2291 | 119 | // ------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 120 | void LSM303::accRegisterWrite( int reg, char data ) { |
krmreynolds | 0:dc35364e2291 | 121 | _bytes[0] = reg & 0xff; |
krmreynolds | 0:dc35364e2291 | 122 | _bytes[1] = data & 0xff; |
krmreynolds | 0:dc35364e2291 | 123 | _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 2 ); |
krmreynolds | 0:dc35364e2291 | 124 | } |
krmreynolds | 0:dc35364e2291 | 125 | |
krmreynolds | 0:dc35364e2291 | 126 | // ------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 127 | int LSM303::magRegisterRead( int reg ) { |
krmreynolds | 0:dc35364e2291 | 128 | _bytes[0] = reg & 0xff; |
krmreynolds | 0:dc35364e2291 | 129 | _status = _i2c.write( MAG_ADDRESS, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 130 | if( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 131 | _status = _i2c.read( MAG_ADDRESS + 1, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 132 | return( _bytes[0] ); |
krmreynolds | 0:dc35364e2291 | 133 | } |
krmreynolds | 0:dc35364e2291 | 134 | return( 0 ); |
krmreynolds | 0:dc35364e2291 | 135 | } |
krmreynolds | 0:dc35364e2291 | 136 | |
krmreynolds | 0:dc35364e2291 | 137 | // ------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 138 | void LSM303::magRegisterWrite( int reg, char data ) { |
krmreynolds | 0:dc35364e2291 | 139 | _bytes[0] = reg & 0xff; |
krmreynolds | 0:dc35364e2291 | 140 | _bytes[1] = data & 0xff; |
krmreynolds | 0:dc35364e2291 | 141 | _status = _i2c.write( MAG_ADDRESS, _bytes, 2 ); |
krmreynolds | 0:dc35364e2291 | 142 | } |
krmreynolds | 0:dc35364e2291 | 143 | |
krmreynolds | 0:dc35364e2291 | 144 | |
krmreynolds | 0:dc35364e2291 | 145 | // ------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 146 | std::vector<short> LSM303::accRead( void ) { |
krmreynolds | 0:dc35364e2291 | 147 | std::vector<short> acc( 3, 0 ); |
krmreynolds | 0:dc35364e2291 | 148 | _bytes[0] = ACC_OUT_X_L | (1<<7); |
krmreynolds | 0:dc35364e2291 | 149 | _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 150 | if( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 151 | _status = _i2c.read( ACC_ADDRESS + _SA0Pad + 1, _bytes, 6 ); |
krmreynolds | 0:dc35364e2291 | 152 | if( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 153 | for( int i=0; i<3; i++ ) { |
krmreynolds | 0:dc35364e2291 | 154 | acc[i] = ( short( _bytes[2*i] ) | short(_bytes[2*i+1]) << 8 ); |
krmreynolds | 0:dc35364e2291 | 155 | } |
krmreynolds | 0:dc35364e2291 | 156 | } |
krmreynolds | 0:dc35364e2291 | 157 | } |
krmreynolds | 0:dc35364e2291 | 158 | return( acc ); |
krmreynolds | 0:dc35364e2291 | 159 | } |
krmreynolds | 0:dc35364e2291 | 160 | |
krmreynolds | 0:dc35364e2291 | 161 | // ------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 162 | std::vector<float> LSM303::acceleration( void ) { |
krmreynolds | 0:dc35364e2291 | 163 | |
krmreynolds | 0:dc35364e2291 | 164 | const float cal[3][2] = { { 16291.5, -16245.4 }, { 16819.0, -16253.0 }, { 16994.8, -15525.6 } }; |
krmreynolds | 0:dc35364e2291 | 165 | |
krmreynolds | 0:dc35364e2291 | 166 | std::vector<float> acc( 3, 0 ); |
krmreynolds | 0:dc35364e2291 | 167 | int fs = ( this->accRegisterRead( ACC_CTRL_REG4 ) >> 4 ) & 0x3; |
krmreynolds | 0:dc35364e2291 | 168 | std::vector<short> a = this->accRead(); |
krmreynolds | 0:dc35364e2291 | 169 | if( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 170 | for( int i=0; i<3; i++ ) { |
krmreynolds | 0:dc35364e2291 | 171 | acc[i] = acc[i] * ( (cal[i][0] - cal[i][1]) / 32768. ) + (cal[i][0]+cal[i][1])/2.; |
krmreynolds | 0:dc35364e2291 | 172 | acc[i] = float( a[i] ) * pow(2.,(fs+1)) / 32768.; |
krmreynolds | 0:dc35364e2291 | 173 | } |
krmreynolds | 0:dc35364e2291 | 174 | } |
krmreynolds | 0:dc35364e2291 | 175 | return( acc ); |
krmreynolds | 0:dc35364e2291 | 176 | } |
krmreynolds | 0:dc35364e2291 | 177 | |
krmreynolds | 0:dc35364e2291 | 178 | // ------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 179 | std::vector<short> LSM303::magRead( void ) { |
krmreynolds | 0:dc35364e2291 | 180 | std::vector<short> mag( 3, 0 ); |
krmreynolds | 0:dc35364e2291 | 181 | _bytes[0] = MAG_OUT_X_H; |
krmreynolds | 0:dc35364e2291 | 182 | _status = _i2c.write( MAG_ADDRESS, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 183 | if( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 184 | _status = _i2c.read( MAG_ADDRESS + 1, _bytes, 6 ); |
krmreynolds | 0:dc35364e2291 | 185 | if( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 186 | mag[0] = (short)( _bytes[0] << 8 ) | (short)( _bytes[1] ); |
krmreynolds | 0:dc35364e2291 | 187 | mag[1] = (short)( _bytes[4] << 8 ) | (short)( _bytes[5] ); |
krmreynolds | 0:dc35364e2291 | 188 | mag[2] = (short)( _bytes[2] << 8 ) | (short)( _bytes[3] ); |
krmreynolds | 0:dc35364e2291 | 189 | } |
krmreynolds | 0:dc35364e2291 | 190 | } |
krmreynolds | 0:dc35364e2291 | 191 | return( mag ); |
krmreynolds | 0:dc35364e2291 | 192 | } |
krmreynolds | 0:dc35364e2291 | 193 | |
krmreynolds | 0:dc35364e2291 | 194 | // ------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 195 | std::vector<float> LSM303::magneticField( void ) { |
krmreynolds | 0:dc35364e2291 | 196 | |
krmreynolds | 0:dc35364e2291 | 197 | float gainxy[] = { 1100., 855., 670., 450., 400., 330., 230. }; |
krmreynolds | 0:dc35364e2291 | 198 | float gainz[] = { 980., 760., 600., 400., 355., 295., 205. }; |
krmreynolds | 0:dc35364e2291 | 199 | |
krmreynolds | 0:dc35364e2291 | 200 | std::vector<float> mag( 3, 0 ); |
krmreynolds | 0:dc35364e2291 | 201 | int gn = ( this->magRegisterRead( MAG_CRB_REG ) >> 5 ) & 0x7; |
krmreynolds | 0:dc35364e2291 | 202 | std::vector<short> m = this->magRead(); |
krmreynolds | 0:dc35364e2291 | 203 | if( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 204 | mag[0] = float( m[0] ) / gainxy[gn-1]; |
krmreynolds | 0:dc35364e2291 | 205 | mag[1] = float( m[1] ) / gainxy[gn-1]; |
krmreynolds | 0:dc35364e2291 | 206 | mag[2] = float( m[2] ) / gainz[gn-1]; |
krmreynolds | 0:dc35364e2291 | 207 | } |
krmreynolds | 0:dc35364e2291 | 208 | return( mag ); |
krmreynolds | 0:dc35364e2291 | 209 | } |