Diff: LSM303.h

Revision:

1:3272ece36ce1

Parent:

0:dc35364e2291

--- a/LSM303.h	Thu Apr 12 13:47:23 2012 +0000
+++ b/LSM303.h	Mon Apr 23 14:31:08 2012 +0000
@@ -1,144 +1,144 @@
-/* mbed LSM303 Library version 0beta1
- * Copyright (c) 2012 bengo
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
 #ifndef LSM303_h
 #define LSM303_h
 
 #include "mbed.h"
-#include <vector>
+
+// device types
+
+#define LSM303DLH_DEVICE   0
+#define LSM303DLM_DEVICE   1
+#define LSM303DLHC_DEVICE  2
+#define LSM303_DEVICE_AUTO 3
+
+// SA0_A states
+
+#define LSM303_SA0_A_LOW  0
+#define LSM303_SA0_A_HIGH 1
+#define LSM303_SA0_A_AUTO 2
+
+// register addresses
+
+#define LSM303_CTRL_REG1_A       0x20
+#define LSM303_CTRL_REG2_A       0x21
+#define LSM303_CTRL_REG3_A       0x22
+#define LSM303_CTRL_REG4_A       0x23
+#define LSM303_CTRL_REG5_A       0x24
+#define LSM303_CTRL_REG6_A       0x25 // DLHC only
+#define LSM303_HP_FILTER_RESET_A 0x25 // DLH, DLM only
+#define LSM303_REFERENCE_A       0x26
+#define LSM303_STATUS_REG_A      0x27
+
+#define LSM303_OUT_X_L_A         0x28
+#define LSM303_OUT_X_H_A         0x29
+#define LSM303_OUT_Y_L_A         0x2A
+#define LSM303_OUT_Y_H_A         0x2B
+#define LSM303_OUT_Z_L_A         0x2C
+#define LSM303_OUT_Z_H_A         0x2D
+
+#define LSM303_FIFO_CTRL_REG_A   0x2E // DLHC only
+#define LSM303_FIFO_SRC_REG_A    0x2F // DLHC only
+
+#define LSM303_INT1_CFG_A        0x30
+#define LSM303_INT1_SRC_A        0x31
+#define LSM303_INT1_THS_A        0x32
+#define LSM303_INT1_DURATION_A   0x33
+#define LSM303_INT2_CFG_A        0x34
+#define LSM303_INT2_SRC_A        0x35
+#define LSM303_INT2_THS_A        0x36
+#define LSM303_INT2_DURATION_A   0x37
+
+#define LSM303_CLICK_CFG_A       0x38 // DLHC only
+#define LSM303_CLICK_SRC_A       0x39 // DLHC only
+#define LSM303_CLICK_THS_A       0x3A // DLHC only
+#define LSM303_TIME_LIMIT_A      0x3B // DLHC only
+#define LSM303_TIME_LATENCY_A    0x3C // DLHC only
+#define LSM303_TIME_WINDOW_A     0x3D // DLHC only
+
+#define LSM303_CRA_REG_M         0x00
+#define LSM303_CRB_REG_M         0x01
+#define LSM303_MR_REG_M          0x02
+
+#define LSM303_OUT_X_H_M         0x03
+#define LSM303_OUT_X_L_M         0x04
+#define LSM303_OUT_Y_H_M         -1   // The addresses of the Y and Z magnetometer output registers 
+#define LSM303_OUT_Y_L_M         -2   // are reversed on the DLM and DLHC relative to the DLH.
+#define LSM303_OUT_Z_H_M         -3   // These four defines have dummy values so the library can 
+#define LSM303_OUT_Z_L_M         -4   // determine the correct address based on the device type.
+
+#define LSM303_SR_REG_M          0x09
+#define LSM303_IRA_REG_M         0x0A
+#define LSM303_IRB_REG_M         0x0B
+#define LSM303_IRC_REG_M         0x0C
+
+#define LSM303_WHO_AM_I_M        0x0F // DLM only
+
+#define LSM303_TEMP_OUT_H_M      0x31 // DLHC only
+#define LSM303_TEMP_OUT_L_M      0x32 // DLHC only
+
+#define LSM303DLH_OUT_Y_H_M      0x05
+#define LSM303DLH_OUT_Y_L_M      0x06
+#define LSM303DLH_OUT_Z_H_M      0x07
+#define LSM303DLH_OUT_Z_L_M      0x08
+
+#define LSM303DLM_OUT_Z_H_M      0x05
+#define LSM303DLM_OUT_Z_L_M      0x06
+#define LSM303DLM_OUT_Y_H_M      0x07
+#define LSM303DLM_OUT_Y_L_M      0x08
+
+#define LSM303DLHC_OUT_Z_H_M     0x05
+#define LSM303DLHC_OUT_Z_L_M     0x06
+#define LSM303DLHC_OUT_Y_H_M     0x07
+#define LSM303DLHC_OUT_Y_L_M     0x08
+
+#define MAG_ADDRESS            0x3C
+#define ACC_ADDRESS_SA0_A_LOW  0x30
+#define ACC_ADDRESS_SA0_A_HIGH 0x32
+
+#define M_PI                    3.14159265
+
+typedef unsigned char byte;
 
 class LSM303 {
-
 public:
-
-    /**
-     * Create an LSM303 object connected to the specified I2C pins
-     * @param sda I2C SDA pin
-     * @param scl I2C SCL pin
-     */
-    LSM303( PinName sda, PinName scl );
-    LSM303( void );
-
-    /**
-     * Return status code of prevoius function call
-     */
-    inline int getStatus( void ) {
-        return( _status );
-    }
-
-    /**
-     * Read specified accelerometer register content
-     * @param reg register address
-     */
-    int accRegisterRead( int reg );
+    typedef struct Plane {
+        float x, y, z;
+    } Plane;
+    
+    I2C i2c;
+    
+    Plane a; // accelerometer readings
+    Plane m; // magnetometer readings
+    Plane m_max; // maximum magnetometer values, used for calibration
+    Plane m_min; // minimum magnetometer values, used for calibration
 
-    /**
-     * Write to specified accelerometer register
-     * @param reg register address
-     * @parma data data to be written
-     */
-    void accRegisterWrite( int reg, char data );
+    LSM303(PinName, PinName);
 
-    /**
-     * Read specified magnetometer register content
-     * @param reg register address
-     */
-    int magRegisterRead( int reg );
-
-    /**
-     * Write to specified magnetometer register
-     * @param reg register address
-     * @parma data data to be written
-     */
-    void magRegisterWrite( int reg, char data );
-
-    /**
-     * Read accelerometer vector
-     */
-    std::vector<short> accRead( void );
+    void init(byte device = LSM303_DEVICE_AUTO, byte sa0_a = LSM303_SA0_A_AUTO);
 
-    /**
-    * Read acceleration
-    */
-    std::vector<float> acceleration( void );
+    void enableDefault(void);
 
-    /**
-     * Read magnetometer vector
-     */
-    std::vector<short> magRead( void );
-
-    /**
-     * Read magnetic field vector
-     */
-    std::vector<float> magneticField( void );
+    void writeAccReg(byte reg, byte value);
+    int readAccReg(byte reg);
+    void writeMagReg(byte reg, byte value);
+    int readMagReg(int reg);
 
-    // Device registers addresses
-    static const int ACC_CTRL_REG1;
-    static const int ACC_CTRL_REG2;
-    static const int ACC_CTRL_REC3;
-    static const int ACC_CTRL_REG4;
-    static const int ACC_CTRL_REG5;
-    static const int ACC_HP_FILTER_RESET;
-    static const int ACC_REFERENCE;
-    static const int ACC_STATUS_REG;
-    static const int ACC_OUT_X_L;
-    static const int ACC_OUT_X_H;
-    static const int ACC_OUT_Y_L;
-    static const int ACC_OUT_Y_H;
-    static const int ACC_OUT_Z_L;
-    static const int ACC_OUT_Z_H;
-    static const int ACC_INT1_CFG;
-    static const int ACC_INT1_SOURCE;
-    static const int ACC_INT1_THS;
-    static const int ACC_INT1_DURATION;
-    static const int ACC_INT2_CFG;
-    static const int ACC_INT2_SOURCE;
-    static const int ACC_INT2_THS;
-    static const int ACC_INT2_DURATION;
-    static const int MAG_CRA_REG;
-    static const int MAG_CRB_REG;
-    static const int MAG_MR_REG;
-    static const int MAG_OUT_X_H;
-    static const int MAG_OUT_X_L;
-    static const int MAG_OUT_Y_H;
-    static const int MAG_OUT_Y_L;
-    static const int MAG_OUT_Z_H;
-    static const int MAG_OUT_Z_L;
-    static const int MAG_SR_REG;
-    static const int MAG_IRA_REG;
-    static const int MAG_IRB_REG;
-    static const int MAG_IRC_REG;
-    static const int MAG_WHO_AM_I;
+    void readAcc(void);
+    void readMag(void);
+    void read(void);
+
+    int heading(void);
+    int heading(Plane from);
+
+    // Plane functions
+    static void vector_cross(const Plane *a, const Plane *b, Plane *out);
+    static float vector_dot(const Plane *a,const Plane *b);
+    static void vector_normalize(Plane *a);
 
 private:
+    byte _device; // chip type (DLH, DLM, or DLHC)
+    byte acc_address;
 
-    int _status;
-    I2C _i2c;
-    int _SA0Pad;
-    char _bytes[7];
-
-    static const int ACC_ADDRESS;
-    static const int MAG_ADDRESS;
-
+    byte detectSA0_A(void);
 };
 
-#endif // LSM303_h
\ No newline at end of file
+#endif
\ No newline at end of file