Alexandre Salconi-Denis / LSM303DLH

My attempt to made a more useful lib. You can get the accelerator and magnetometer.

Fork of LSM303DLH by Michael Shimniok

LSM303DLH.h@7:275a0a69cff5, 2017-08-06 (annotated)

Committer:
salco
Date:
Sun Aug 06 23:42:07 2017 +0000
Revision:
7:275a0a69cff5
Parent:
6:86cf2afe3e52 
Finished the correction

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 1:48d83c63d1d9 1 #include "mbed.h"
shimniok 1:48d83c63d1d9 2 #include "vector.h"
shimniok 1:48d83c63d1d9 3
salco 5:48722ae56546 4 #include "LSM303DLH_RegisterDef.h"
salco 5:48722ae56546 5
shimniok 1:48d83c63d1d9 6 #ifndef M_PI
shimniok 1:48d83c63d1d9 7 #define M_PI 3.14159265358979323846
shimniok 1:48d83c63d1d9 8 #endif
shimniok 1:48d83c63d1d9 9
shimniok 1:48d83c63d1d9 10 /** Tilt-compensated compass interface Library for the STMicro LSM303DLH 3-axis magnetometer, 3-axis acceleromter
shimniok 0:de767f4959ef 11 *
salco 7:275a0a69cff5 12 * This file is subject to the terms and conditions of the GNU Lesser
salco 7:275a0a69cff5 13 * General Public License v2.1. See the file LICENSE in the top level
salco 7:275a0a69cff5 14 * directory for more details.
shimniok 0:de767f4959ef 15 *
salco 7:275a0a69cff5 16 *
salco 7:275a0a69cff5 17 *
salco 7:275a0a69cff5 18 * Base on the @see doccumentation https://cdn-shop.adafruit.com/datasheets/LSM303DLHC.PDF
shimniok 0:de767f4959ef 19 * @code
shimniok 0:de767f4959ef 20 * #include "mbed.h"
shimniok 0:de767f4959ef 21 * #include "LSM303DLH.h"
shimniok 0:de767f4959ef 22 *
shimniok 0:de767f4959ef 23 * Serial debug(USBTX,USBRX);
shimniok 0:de767f4959ef 24 * LSM303DLH compass(p28, p27);
shimniok 0:de767f4959ef 25 *
shimniok 0:de767f4959ef 26 * int main() {
shimniok 0:de767f4959ef 27 * float hdg;
shimniok 0:de767f4959ef 28 * debug.format(8,Serial::None,1);
shimniok 0:de767f4959ef 29 * debug.baud(115200);
shimniok 0:de767f4959ef 30 * debug.printf("LSM303DLH Test\x0d\x0a");
shimniok 0:de767f4959ef 31 * compass.setOffset(29.50, -0.50, 4.00); // example calibration
shimniok 0:de767f4959ef 32 * compass.setScale(1.00, 1.03, 1.21); // example calibration
shimniok 0:de767f4959ef 33 * while(1) {
shimniok 0:de767f4959ef 34 * hdg = compass.heading();
shimniok 0:de767f4959ef 35 * debug.printf("Heading: %.2f\n", hdg);
shimniok 0:de767f4959ef 36 * wait(0.1);
shimniok 0:de767f4959ef 37 * }
shimniok 0:de767f4959ef 38 * }
salco 7:275a0a69cff5 39 * @endcode
salco 7:275a0a69cff5 40 *
salco 7:275a0a69cff5 41 * @author Salco <JeSuisSalco@gmail.com>
shimniok 0:de767f4959ef 42 */
salco 4:4f2ed3f8726c 43
salco 6:86cf2afe3e52 44 /** enable for MSB @ lower address */
salco 6:86cf2afe3e52 45 //#define LSM303_LITLE_ENDIAN
salco 6:86cf2afe3e52 46
shimniok 0:de767f4959ef 47 class LSM303DLH {
shimniok 0:de767f4959ef 48 public:
shimniok 0:de767f4959ef 49 /** Create a new interface for an LSM303DLH
shimniok 0:de767f4959ef 50 *
shimniok 0:de767f4959ef 51 * @param sda is the pin for the I2C SDA line
shimniok 0:de767f4959ef 52 * @param scl is the pin for the I2C SCL line
shimniok 0:de767f4959ef 53 */
shimniok 0:de767f4959ef 54 LSM303DLH(PinName sda, PinName scl);
salco 5:48722ae56546 55 /** Create a new interface for an LSM303DLH
salco 5:48722ae56546 56 *
salco 5:48722ae56546 57 * @param ptrI2C is a pointer from existing I2C
salco 5:48722ae56546 58 */
salco 3:9b4ff901b5c9 59 LSM303DLH(I2C* ptrI2C);
salco 6:86cf2afe3e52 60 /** Destructor of the class
salco 6:86cf2afe3e52 61 */
salco 6:86cf2afe3e52 62 ~LSM303DLH();
shimniok 0:de767f4959ef 63 /** sets the x, y, and z offset corrections for hard iron calibration
shimniok 0:de767f4959ef 64 *
shimniok 0:de767f4959ef 65 * Calibration details here:
shimniok 0:de767f4959ef 66 * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
shimniok 0:de767f4959ef 67 *
shimniok 0:de767f4959ef 68 * If you gather raw magnetometer data and find, for example, x is offset
shimniok 0:de767f4959ef 69 * by hard iron by -20 then pass +20 to this member function to correct
shimniok 0:de767f4959ef 70 * for hard iron.
shimniok 0:de767f4959ef 71 *
shimniok 0:de767f4959ef 72 * @param x is the offset correction for the x axis
shimniok 0:de767f4959ef 73 * @param y is the offset correction for the y axis
shimniok 0:de767f4959ef 74 * @param z is the offset correction for the z axis
shimniok 0:de767f4959ef 75 */
shimniok 0:de767f4959ef 76 void setOffset(float x, float y, float z);
shimniok 0:de767f4959ef 77
shimniok 0:de767f4959ef 78 /** sets the scale factor for the x, y, and z axes
shimniok 0:de767f4959ef 79 *
shimniok 0:de767f4959ef 80 * Calibratio details here:
shimniok 0:de767f4959ef 81 * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
shimniok 0:de767f4959ef 82 *
shimniok 0:de767f4959ef 83 * Sensitivity of the three axes is never perfectly identical and this
shimniok 0:de767f4959ef 84 * function can help to correct differences in sensitivity. You're
shimniok 0:de767f4959ef 85 * supplying a multipler such that x, y and z will be normalized to the
shimniok 0:de767f4959ef 86 * same max/min values
shimniok 0:de767f4959ef 87 */
shimniok 0:de767f4959ef 88 void setScale(float x, float y, float z);
shimniok 0:de767f4959ef 89
shimniok 0:de767f4959ef 90 /** read the raw accelerometer and compass values
shimniok 0:de767f4959ef 91 *
shimniok 0:de767f4959ef 92 * @param a is the accelerometer 3d vector, written by the function
shimniok 0:de767f4959ef 93 * @param m is the magnetometer 3d vector, written by the function
shimniok 0:de767f4959ef 94 */
salco 3:9b4ff901b5c9 95 bool read(vector &a, vector &m);
salco 6:86cf2afe3e52 96 /** read the raw accelerometer values
salco 6:86cf2afe3e52 97 *
salco 6:86cf2afe3e52 98 * @param a is the accelerometer 3d vector, written by the function
salco 6:86cf2afe3e52 99 */
salco 6:86cf2afe3e52 100 bool read_acc_raw(vector *a);
salco 6:86cf2afe3e52 101 /** read the raw compass values
salco 6:86cf2afe3e52 102 *
salco 6:86cf2afe3e52 103 * @param m is the magnetometer 3d vector, written by the function
salco 6:86cf2afe3e52 104 */
salco 6:86cf2afe3e52 105 bool read_mag_raw(vector *m);
shimniok 0:de767f4959ef 106
shimniok 0:de767f4959ef 107 /** returns the magnetic heading with respect to the y axis
shimniok 0:de767f4959ef 108 *
shimniok 0:de767f4959ef 109 */
shimniok 0:de767f4959ef 110 float heading(void);
shimniok 0:de767f4959ef 111
shimniok 0:de767f4959ef 112 /** returns the heading with respect to the specified vector
shimniok 0:de767f4959ef 113 *
shimniok 0:de767f4959ef 114 */
shimniok 0:de767f4959ef 115 float heading(vector from);
shimniok 0:de767f4959ef 116
shimniok 2:aea5caec809c 117 /** sets the I2C bus frequency
shimniok 2:aea5caec809c 118 *
shimniok 2:aea5caec809c 119 * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000)
shimniok 2:aea5caec809c 120 */
shimniok 2:aea5caec809c 121 void frequency(int hz);
salco 5:48722ae56546 122
salco 5:48722ae56546 123 private:
salco 6:86cf2afe3e52 124 enum DEV_ADDRS {
salco 6:86cf2afe3e52 125 /* --- Mag --- */
salco 6:86cf2afe3e52 126 addr_mag = 0x3c,
salco 6:86cf2afe3e52 127 /* --- Acc --- */
salco 6:86cf2afe3e52 128 addr_acc = 0x32,//0x30;
salco 6:86cf2afe3e52 129 };
salco 6:86cf2afe3e52 130
salco 5:48722ae56546 131 enum REG_ADDRS {
salco 5:48722ae56546 132 /* --- Mag --- */
salco 5:48722ae56546 133 CRA_REG_M = 0x00,
salco 5:48722ae56546 134 CRB_REG_M = 0x01,
salco 5:48722ae56546 135 MR_REG_M = 0x02,
salco 5:48722ae56546 136 OUT_X_M = 0x03,
salco 5:48722ae56546 137 OUT_Y_M = 0x05,
salco 5:48722ae56546 138 OUT_Z_M = 0x07,
salco 5:48722ae56546 139 SR_REG_M = 0x09,
salco 5:48722ae56546 140 /* --- Acc --- */
salco 5:48722ae56546 141 CTRL_REG1_A = 0x20,
salco 5:48722ae56546 142 CTRL_REG4_A = 0x23,
salco 5:48722ae56546 143 STATUS_REG_A= 0x27,
salco 5:48722ae56546 144 OUT_X_A = 0x28,
salco 5:48722ae56546 145 OUT_Y_A = 0x2A,
salco 5:48722ae56546 146 OUT_Z_A = 0x2C,
salco 4:4f2ed3f8726c 147 };
salco 4:4f2ed3f8726c 148
salco 3:9b4ff901b5c9 149 I2C* m_ptr_I2C;//_compass;
shimniok 0:de767f4959ef 150 float _offset_x;
shimniok 0:de767f4959ef 151 float _offset_y;
shimniok 0:de767f4959ef 152 float _offset_z;
shimniok 0:de767f4959ef 153 float _scale_x;
shimniok 0:de767f4959ef 154 float _scale_y;
shimniok 0:de767f4959ef 155 float _scale_z;
shimniok 1:48d83c63d1d9 156 long _filt_ax;
shimniok 1:48d83c63d1d9 157 long _filt_ay;
shimniok 1:48d83c63d1d9 158 long _filt_az;
salco 6:86cf2afe3e52 159 int8_t m_FS;
salco 6:86cf2afe3e52 160 int8_t m_GN;
salco 6:86cf2afe3e52 161 bool m_have_createdI2C;
salco 3:9b4ff901b5c9 162 void init(void) ;
salco 5:48722ae56546 163
salco 5:48722ae56546 164 bool write_reg(int addr_i2c,int addr_reg, uint8_t v);
shimniok 0:de767f4959ef 165 bool write_reg(int addr_i2c,int addr_reg, char v);
salco 5:48722ae56546 166
salco 5:48722ae56546 167 bool read_reg(int addr_i2c,int addr_reg, uint8_t *v);
shimniok 0:de767f4959ef 168 bool read_reg(int addr_i2c,int addr_reg, char *v);
salco 5:48722ae56546 169
shimniok 0:de767f4959ef 170 bool read_reg_short(int addr_i2c,int addr_reg, short *v);
salco 6:86cf2afe3e52 171 bool read_reg_short(DEV_ADDRS addr_i2c,REG_ADDRS addr_reg, OUT_XYZ_t *dataRead);
salco 5:48722ae56546 172
salco 5:48722ae56546 173 int8_t get_FullScall_selection(void);
salco 6:86cf2afe3e52 174 float get_acc_value_in_g(OUT_XYZ_t* dataOut);
shimniok 0:de767f4959ef 175 };