Diff: LSM303DLHC.cpp

Revision:

7:ddd9717cdb71

Parent:

6:fcf7e9b8ce21

--- a/LSM303DLHC.cpp	Tue Nov 12 18:30:37 2013 +0000
+++ b/LSM303DLHC.cpp	Sun Nov 17 17:58:43 2013 +0000
@@ -1,37 +1,4 @@
-/** LSM303DLHC Interface Library
- *
- * base on code by Michael Shimniok http://bot-thoughts.com
- *
- *  and on test program by @tosihisa and 
- *
- *  and on Pololu sample library for LSM303DLHC breakout by ryantm:
- *
- * Copyright (c) 2011 Pololu Corporation. For more information, see
- *
- * http://www.pololu.com/
- * http://forum.pololu.com/
- *
- * 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.
- */
+
 #include "mbed.h"
 #include "LSM303DLHC.h"
 
@@ -39,22 +6,6 @@
 const int addr_acc = 0x32;
 const int addr_mag = 0x3c;
 
-enum REG_ADDRS {
-    /* --- Mag --- */
-    CRA_REG_M   = 0x00,
-    CRB_REG_M   = 0x01,
-    MR_REG_M    = 0x02,
-    OUT_X_M     = 0x03,
-    OUT_Y_M     = 0x05,
-    OUT_Z_M     = 0x07,
-    /* --- Acc --- */
-    CTRL_REG1_A = 0x20,
-    CTRL_REG4_A = 0x23,
-    OUT_X_A     = 0x28,
-    OUT_Y_A     = 0x2A,
-    OUT_Z_A     = 0x2C,
-};
-
 bool LSM303DLHC::write_reg(int addr_i2c,int addr_reg, char v)
 {
     char data[2] = {addr_reg, v}; 
@@ -107,25 +58,44 @@
 }
 
 
-bool LSM303DLHC::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) {
-    char acc[6], mag[6];
+bool LSM303DLHC::readcomp(float *mx, float *my, float *mz) 
+{
+    char mag[6];
     char temp;
+     
+    if (recv(addr_mag, OUT_X_M, mag, 6)) 
+    {   
+          for(int i=0; i<6; i+=2)
+        {
+            temp = mag[i];
+            mag[i] = mag[i+1];                      //la boucle inverse les valeurs du table
+            mag[i+1] = temp;
+        }
+
+    
+        *mx = *((short*)(mag));///1100.0;
+        *mz = *((short*)(mag+2));///980.0;   //ATTENTION: le z vient avant le y, c'est normal!!!!!
+        *my = *((short*)(mag+4));///1100.0;
+        
  
-    if (recv(addr_acc, OUT_X_A, acc, 6) && recv(addr_mag, OUT_X_M, mag, 6)) {
-        *ax = *((short*)(acc))/8192.0;  //32768/4=8192
-        *ay = *((short*)(acc+2))/8192.0;
-        *az = *((short*)(acc+4))/8192.0;
+        return true;
+    }
+ 
+    return false;
+}
+bool LSM303DLHC::readacc(float *ax, float *ay, float *az) 
+{
+    char acc[6];
+     
+    if (recv(addr_acc, OUT_X_A, acc, 6)) 
+    {
+        *ax = *((short*)(acc)) >>4;///8192.0;  //32768/4=8192
+        *ay = *((short*)(acc+2)) >>4;///8192.0;
+        *az = *((short*)(acc+4)) >>4;///8192.0;
         //full scale magnetic readings are from -2048 to 2047
         //gain is x,y =1100; z = 980 LSB/gauss
-        for(int i=0; i<6; i+=2)
-        {
-            temp = mag[i];
-            mag[i] = mag[i+1];
-            mag[i+1] = temp;
-        }
-        *mx = *((short*)(mag))/1100.0;
-        *my = *((short*)(mag+2))/1100.0;
-        *mz = *((short*)(mag+4))/980.0;
+        
+          
  
         return true;
     }
@@ -133,7 +103,6 @@
     return false;
 }
 
-
 bool LSM303DLHC::recv(char sad, char sub, char *buf, int length) {
     if (length > 1) sub |= 0x80;