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.cpp@4:4f2ed3f8726c, 2017-08-06 (annotated)

Committer:
salco
Date:
Sun Aug 06 03:19:17 2017 +0000
Revision:
4:4f2ed3f8726c
Parent:
3:9b4ff901b5c9
Child:
5:48722ae56546
the fuck doxygen!;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:de767f4959ef 1 /** LSM303DLH Interface Library
shimniok 0:de767f4959ef 2 *
shimniok 0:de767f4959ef 3 * Michael Shimniok http://bot-thoughts.com
shimniok 0:de767f4959ef 4 *
shimniok 0:de767f4959ef 5 * Based on test program by @tosihisa and
shimniok 0:de767f4959ef 6 *
shimniok 0:de767f4959ef 7 * Pololu sample library for LSM303DLH breakout by ryantm:
shimniok 0:de767f4959ef 8 *
shimniok 0:de767f4959ef 9 * Copyright (c) 2011 Pololu Corporation. For more information, see
shimniok 0:de767f4959ef 10 *
shimniok 0:de767f4959ef 11 * http://www.pololu.com/
shimniok 0:de767f4959ef 12 * http://forum.pololu.com/
shimniok 0:de767f4959ef 13 *
shimniok 0:de767f4959ef 14 * Permission is hereby granted, free of charge, to any person
shimniok 0:de767f4959ef 15 * obtaining a copy of this software and associated documentation
shimniok 0:de767f4959ef 16 * files (the "Software"), to deal in the Software without
shimniok 0:de767f4959ef 17 * restriction, including without limitation the rights to use,
shimniok 0:de767f4959ef 18 * copy, modify, merge, publish, distribute, sublicense, and/or sell
shimniok 0:de767f4959ef 19 * copies of the Software, and to permit persons to whom the
shimniok 0:de767f4959ef 20 * Software is furnished to do so, subject to the following
shimniok 0:de767f4959ef 21 * conditions:
shimniok 0:de767f4959ef 22 *
shimniok 0:de767f4959ef 23 * The above copyright notice and this permission notice shall be
shimniok 0:de767f4959ef 24 * included in all copies or substantial portions of the Software.
shimniok 0:de767f4959ef 25 *
shimniok 0:de767f4959ef 26 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
shimniok 0:de767f4959ef 27 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
shimniok 0:de767f4959ef 28 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
shimniok 0:de767f4959ef 29 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
shimniok 0:de767f4959ef 30 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
shimniok 0:de767f4959ef 31 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
shimniok 0:de767f4959ef 32 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
shimniok 0:de767f4959ef 33 * OTHER DEALINGS IN THE SOFTWARE.
shimniok 0:de767f4959ef 34 */
shimniok 0:de767f4959ef 35 #include "mbed.h"
shimniok 0:de767f4959ef 36 #include "LSM303DLH.h"
shimniok 0:de767f4959ef 37
shimniok 0:de767f4959ef 38 #ifndef M_PI
shimniok 0:de767f4959ef 39 #define M_PI 3.14159265358979323846
shimniok 0:de767f4959ef 40 #endif
shimniok 0:de767f4959ef 41
shimniok 1:48d83c63d1d9 42 #define FILTER_SHIFT 6 // used in filtering acceleromter readings
shimniok 1:48d83c63d1d9 43
salco 3:9b4ff901b5c9 44 const int addr_acc = 0x32;//0x30;
shimniok 0:de767f4959ef 45 const int addr_mag = 0x3c;
shimniok 0:de767f4959ef 46
shimniok 0:de767f4959ef 47 enum REG_ADDRS {
shimniok 0:de767f4959ef 48 /* --- Mag --- */
shimniok 0:de767f4959ef 49 CRA_REG_M = 0x00,
shimniok 0:de767f4959ef 50 CRB_REG_M = 0x01,
shimniok 0:de767f4959ef 51 MR_REG_M = 0x02,
shimniok 0:de767f4959ef 52 OUT_X_M = 0x03,
shimniok 0:de767f4959ef 53 OUT_Y_M = 0x05,
shimniok 0:de767f4959ef 54 OUT_Z_M = 0x07,
shimniok 0:de767f4959ef 55 /* --- Acc --- */
shimniok 0:de767f4959ef 56 CTRL_REG1_A = 0x20,
shimniok 0:de767f4959ef 57 CTRL_REG4_A = 0x23,
salco 3:9b4ff901b5c9 58 STATUS_REG_A= 0x27,
shimniok 0:de767f4959ef 59 OUT_X_A = 0x28,
shimniok 0:de767f4959ef 60 OUT_Y_A = 0x2A,
shimniok 0:de767f4959ef 61 OUT_Z_A = 0x2C,
shimniok 0:de767f4959ef 62 };
shimniok 0:de767f4959ef 63
shimniok 0:de767f4959ef 64 bool LSM303DLH::write_reg(int addr_i2c,int addr_reg, char v)
shimniok 0:de767f4959ef 65 {
salco 3:9b4ff901b5c9 66 bool result=false;
salco 3:9b4ff901b5c9 67 char data[2] = {addr_reg, v};
salco 3:9b4ff901b5c9 68 //__disable_irq();
salco 3:9b4ff901b5c9 69 result = m_ptr_I2C->write(addr_i2c, data, 2) == 0;
salco 3:9b4ff901b5c9 70 if(result == false) debug("Unable to Write \n");
salco 3:9b4ff901b5c9 71
salco 3:9b4ff901b5c9 72 //__enable_irq();
salco 3:9b4ff901b5c9 73 return result;
shimniok 0:de767f4959ef 74 }
shimniok 0:de767f4959ef 75
shimniok 0:de767f4959ef 76 bool LSM303DLH::read_reg(int addr_i2c,int addr_reg, char *v)
shimniok 0:de767f4959ef 77 {
shimniok 0:de767f4959ef 78 char data = addr_reg;
shimniok 2:aea5caec809c 79 bool result = false;
shimniok 2:aea5caec809c 80
salco 3:9b4ff901b5c9 81 //__disable_irq();
salco 3:9b4ff901b5c9 82 if(m_ptr_I2C->write(addr_i2c, &data, 1) == 0)
salco 3:9b4ff901b5c9 83 {
salco 3:9b4ff901b5c9 84 if (m_ptr_I2C->read(addr_i2c, &data, 1) == 0)
salco 3:9b4ff901b5c9 85 {
salco 3:9b4ff901b5c9 86 *v = data;
salco 3:9b4ff901b5c9 87 result = true;
salco 3:9b4ff901b5c9 88 }
salco 3:9b4ff901b5c9 89 else
salco 3:9b4ff901b5c9 90 {
salco 3:9b4ff901b5c9 91 debug("Unable to Read \n");
salco 3:9b4ff901b5c9 92 }
shimniok 0:de767f4959ef 93 }
salco 3:9b4ff901b5c9 94 else
salco 3:9b4ff901b5c9 95 {
salco 3:9b4ff901b5c9 96 debug("Unable to Write \n");
salco 3:9b4ff901b5c9 97 }
salco 3:9b4ff901b5c9 98 //__enable_irq();
shimniok 2:aea5caec809c 99 return result;
shimniok 0:de767f4959ef 100 }
shimniok 0:de767f4959ef 101
shimniok 0:de767f4959ef 102 bool LSM303DLH::read_reg_short(int addr_i2c,int addr_reg, short *v)
shimniok 0:de767f4959ef 103 {
salco 3:9b4ff901b5c9 104
shimniok 0:de767f4959ef 105 char *pv = (char *)v;
shimniok 2:aea5caec809c 106 bool result;
shimniok 2:aea5caec809c 107
shimniok 2:aea5caec809c 108 result = read_reg(addr_i2c,addr_reg+0,pv+1);
shimniok 2:aea5caec809c 109 result &= read_reg(addr_i2c,addr_reg+1,pv+0);
shimniok 2:aea5caec809c 110
salco 3:9b4ff901b5c9 111
shimniok 2:aea5caec809c 112 return result;
shimniok 0:de767f4959ef 113 }
shimniok 0:de767f4959ef 114
salco 3:9b4ff901b5c9 115 LSM303DLH::LSM303DLH(PinName sda, PinName scl)
salco 3:9b4ff901b5c9 116 {
salco 3:9b4ff901b5c9 117 m_ptr_I2C = new I2C(sda, scl);
salco 3:9b4ff901b5c9 118 init();
salco 3:9b4ff901b5c9 119 }
salco 3:9b4ff901b5c9 120 LSM303DLH::LSM303DLH(I2C* ptrI2C)
salco 3:9b4ff901b5c9 121 {
salco 3:9b4ff901b5c9 122 m_ptr_I2C = ptrI2C;
salco 3:9b4ff901b5c9 123 //debug( "ptr pass %d, ptr here %d \n",(int)ptrI2C,(int)m_ptr_I2C);
salco 3:9b4ff901b5c9 124 this->init();
salco 3:9b4ff901b5c9 125 }
salco 3:9b4ff901b5c9 126
salco 3:9b4ff901b5c9 127 void LSM303DLH::init(void)
shimniok 0:de767f4959ef 128 {
shimniok 0:de767f4959ef 129 char reg_v;
salco 3:9b4ff901b5c9 130
salco 3:9b4ff901b5c9 131 debug("In INIT \n");
salco 3:9b4ff901b5c9 132 _offset_x = 0;
salco 3:9b4ff901b5c9 133 _offset_y = 0;
salco 3:9b4ff901b5c9 134 _offset_z = 0;
salco 3:9b4ff901b5c9 135 _scale_x = 0;
salco 3:9b4ff901b5c9 136 _scale_y = 0;
salco 3:9b4ff901b5c9 137 _scale_z = 0;
salco 3:9b4ff901b5c9 138 _filt_ax = 0;
salco 3:9b4ff901b5c9 139 _filt_ay = 0;
salco 3:9b4ff901b5c9 140 _filt_az = 6000;
salco 3:9b4ff901b5c9 141
salco 3:9b4ff901b5c9 142
salco 3:9b4ff901b5c9 143 m_ptr_I2C->frequency(100000);
salco 3:9b4ff901b5c9 144
salco 4:4f2ed3f8726c 145 ((Ctrl_Reg1_A_t*)&reg_v)->byte = 0;
salco 4:4f2ed3f8726c 146 ((Ctrl_Reg1_A_t*)&reg_v)->ODR |= 0b0010; /* Normal mode */
salco 4:4f2ed3f8726c 147 ((Ctrl_Reg1_A_t*)&reg_v)->Xen |= 1; /* X/Y/Z axis enable. */
salco 4:4f2ed3f8726c 148 ((Ctrl_Reg1_A_t*)&reg_v)->Yen |= 1;
salco 4:4f2ed3f8726c 149 ((Ctrl_Reg1_A_t*)&reg_v)->Zen |= 1;
shimniok 0:de767f4959ef 150 write_reg(addr_acc,CTRL_REG1_A,reg_v);
salco 4:4f2ed3f8726c 151 //not sure if we need to read the register
salco 4:4f2ed3f8726c 152 //reg_v = 0;
salco 4:4f2ed3f8726c 153 //read_reg(addr_acc,CTRL_REG1_A,&reg_v);
shimniok 0:de767f4959ef 154
shimniok 0:de767f4959ef 155 reg_v = 0;
salco 3:9b4ff901b5c9 156 reg_v |= 0x01 << 7; //full read
salco 4:4f2ed3f8726c 157 //reg_v |= 0x01 << 3; //hi res
salco 3:9b4ff901b5c9 158 //reg_v |= 0x01 << 6; /* 1: data MSB @ lower address */
shimniok 0:de767f4959ef 159 reg_v |= 0x01 << 4; /* +/- 4g */
shimniok 0:de767f4959ef 160 write_reg(addr_acc,CTRL_REG4_A,reg_v);
shimniok 0:de767f4959ef 161
shimniok 0:de767f4959ef 162 /* -- mag --- */
salco 3:9b4ff901b5c9 163 debug("in MAG \n");
shimniok 0:de767f4959ef 164 reg_v = 0;
shimniok 0:de767f4959ef 165 reg_v |= 0x04 << 2; /* Minimum data output rate = 15Hz */
shimniok 0:de767f4959ef 166 write_reg(addr_mag,CRA_REG_M,reg_v);
shimniok 0:de767f4959ef 167
shimniok 0:de767f4959ef 168 reg_v = 0;
shimniok 0:de767f4959ef 169 //reg_v |= 0x01 << 5; /* +-1.3Gauss */
shimniok 0:de767f4959ef 170 reg_v |= 0x07 << 5; /* +-8.1Gauss */
shimniok 0:de767f4959ef 171 write_reg(addr_mag,CRB_REG_M,reg_v);
shimniok 0:de767f4959ef 172
shimniok 0:de767f4959ef 173 reg_v = 0; /* Continuous-conversion mode */
shimniok 0:de767f4959ef 174 write_reg(addr_mag,MR_REG_M,reg_v);
salco 3:9b4ff901b5c9 175
salco 3:9b4ff901b5c9 176 debug("Out INIT \n");
salco 3:9b4ff901b5c9 177 clearscreen();
shimniok 0:de767f4959ef 178 }
shimniok 0:de767f4959ef 179
shimniok 0:de767f4959ef 180 void LSM303DLH::setOffset(float x, float y, float z)
shimniok 0:de767f4959ef 181 {
shimniok 0:de767f4959ef 182 _offset_x = x;
shimniok 0:de767f4959ef 183 _offset_y = y;
shimniok 0:de767f4959ef 184 _offset_z = z;
shimniok 0:de767f4959ef 185 }
shimniok 0:de767f4959ef 186
shimniok 0:de767f4959ef 187 void LSM303DLH::setScale(float x, float y, float z)
shimniok 0:de767f4959ef 188 {
shimniok 0:de767f4959ef 189 _scale_x = x;
shimniok 0:de767f4959ef 190 _scale_y = y;
shimniok 0:de767f4959ef 191 _scale_z = z;
shimniok 0:de767f4959ef 192 }
salco 3:9b4ff901b5c9 193 #define _FS 4
salco 3:9b4ff901b5c9 194 bool LSM303DLH::read(vector &a, vector &m)
shimniok 0:de767f4959ef 195 {
salco 3:9b4ff901b5c9 196
salco 3:9b4ff901b5c9 197 bool result = true;
shimniok 0:de767f4959ef 198 short a_x, a_y, a_z;
shimniok 0:de767f4959ef 199 short m_x, m_y, m_z;
salco 3:9b4ff901b5c9 200 #if defined(CHECK_TIME_SEQUENCE)
salco 3:9b4ff901b5c9 201 Timer t;
salco 3:9b4ff901b5c9 202 int usec1, usec2;
salco 3:9b4ff901b5c9 203
salco 3:9b4ff901b5c9 204 t.reset();
salco 3:9b4ff901b5c9 205 t.start();
shimniok 2:aea5caec809c 206
salco 3:9b4ff901b5c9 207 usec1 = t.read_us();
salco 3:9b4ff901b5c9 208 #endif
salco 3:9b4ff901b5c9 209
salco 3:9b4ff901b5c9 210 union{
salco 3:9b4ff901b5c9 211 int16_t number;
salco 3:9b4ff901b5c9 212 char byte[2];
salco 3:9b4ff901b5c9 213 struct{
salco 3:9b4ff901b5c9 214 char MSB;
salco 3:9b4ff901b5c9 215 char LSB;
salco 3:9b4ff901b5c9 216 };
salco 3:9b4ff901b5c9 217 }my_test;
salco 3:9b4ff901b5c9 218 vector a_test;
salco 3:9b4ff901b5c9 219
salco 3:9b4ff901b5c9 220 char data_read_acc =0;
salco 3:9b4ff901b5c9 221 read_reg(addr_acc,STATUS_REG_A,&data_read_acc);
salco 3:9b4ff901b5c9 222 if(data_read_acc & (1<<3))//new data
salco 3:9b4ff901b5c9 223 {
salco 3:9b4ff901b5c9 224 result &= read_reg(addr_acc,OUT_X_A ,&(my_test.MSB));//MSB at lower
salco 3:9b4ff901b5c9 225 if(result)
salco 3:9b4ff901b5c9 226 {
salco 3:9b4ff901b5c9 227 result &= read_reg(addr_acc,OUT_X_A+1,&(my_test.LSB));
salco 3:9b4ff901b5c9 228 }
salco 3:9b4ff901b5c9 229 if(result)
salco 3:9b4ff901b5c9 230 {
salco 3:9b4ff901b5c9 231 //a_test.x = my_test.number;
salco 3:9b4ff901b5c9 232 a_test.x = (my_test.number / (float)(32768 /*half of the ADC resolution*/ / _FS/*+- 4g*/));
salco 3:9b4ff901b5c9 233 //debug("read from reg _x:(%d) %.2X %.2X \n",my_test.number, my_test.byte[1],my_test.byte[0]);
salco 3:9b4ff901b5c9 234 setText(0,0,"read from reg _x:(%d) %.2X %.2X \n",my_test.number, my_test.byte[1],my_test.byte[0]);
salco 3:9b4ff901b5c9 235 }
salco 3:9b4ff901b5c9 236 else
salco 3:9b4ff901b5c9 237 {
salco 3:9b4ff901b5c9 238 debug("error reading \n");
salco 3:9b4ff901b5c9 239 }
salco 3:9b4ff901b5c9 240
salco 3:9b4ff901b5c9 241 if(result)
salco 3:9b4ff901b5c9 242 {
salco 3:9b4ff901b5c9 243 result &= read_reg(addr_acc,OUT_Y_A ,&(my_test.MSB));//MSB at lower
salco 3:9b4ff901b5c9 244 }
salco 3:9b4ff901b5c9 245 if(result)
salco 3:9b4ff901b5c9 246 {
salco 3:9b4ff901b5c9 247 result &= read_reg(addr_acc,OUT_Y_A+1,&(my_test.LSB));
salco 3:9b4ff901b5c9 248 }
salco 3:9b4ff901b5c9 249 if(result)
salco 3:9b4ff901b5c9 250 {
salco 3:9b4ff901b5c9 251 //a_test.y = my_test.number;
salco 3:9b4ff901b5c9 252 a_test.y = (my_test.number / (float)(32768 /*half of the ADC resolution*/ / _FS/*+- 4g*/));
salco 3:9b4ff901b5c9 253 //debug("read from reg _x:(%d) %.2X %.2X \n",my_test.number, my_test.byte[1],my_test.byte[0]);
salco 3:9b4ff901b5c9 254 setText(0,1,"read from reg _y:(%d) %.2X %.2X \n",my_test.number, my_test.byte[1],my_test.byte[0]);
salco 3:9b4ff901b5c9 255 }
salco 3:9b4ff901b5c9 256 else
salco 3:9b4ff901b5c9 257 {
salco 3:9b4ff901b5c9 258 debug("error reading \n");
salco 3:9b4ff901b5c9 259 }
salco 3:9b4ff901b5c9 260
salco 3:9b4ff901b5c9 261 if(result)
salco 3:9b4ff901b5c9 262 {
salco 3:9b4ff901b5c9 263 result &= read_reg(addr_acc,OUT_Z_A ,&(my_test.MSB));//MSB at lower
salco 3:9b4ff901b5c9 264 }
salco 3:9b4ff901b5c9 265 if(result)
salco 3:9b4ff901b5c9 266 {
salco 3:9b4ff901b5c9 267 result &= read_reg(addr_acc,OUT_Z_A+1,&(my_test.LSB));
salco 3:9b4ff901b5c9 268 }
salco 3:9b4ff901b5c9 269 if(result)
salco 3:9b4ff901b5c9 270 {
salco 3:9b4ff901b5c9 271 //a_test.z = my_test.number;
salco 3:9b4ff901b5c9 272 a_test.z = (my_test.number / (float)(32768 /*half of the ADC resolution*/ / _FS/*+- 4g*/));
salco 3:9b4ff901b5c9 273 //debug("read from reg _x:(%d) %.2X %.2X \n",my_test.number, my_test.byte[1],my_test.byte[0]);
salco 3:9b4ff901b5c9 274 setText(0,2,"read from reg _z:(%d) %.2X %.2X \n",my_test.number, my_test.byte[1],my_test.byte[0]);
salco 3:9b4ff901b5c9 275 }
salco 3:9b4ff901b5c9 276 else
salco 3:9b4ff901b5c9 277 {
salco 3:9b4ff901b5c9 278 debug("error reading \n");
salco 3:9b4ff901b5c9 279 }
salco 3:9b4ff901b5c9 280 //debug("test 4: x: %.4f y: %.4f z: %.4f \n",a_test.x,a_test.y,a_test.z);
salco 3:9b4ff901b5c9 281 setText(0,4,"test 4: x: %.4f y: %.4f z: %.4f \n",a_test.x,a_test.y,a_test.z);
salco 3:9b4ff901b5c9 282 }
salco 3:9b4ff901b5c9 283 /*result &= read_reg_short(addr_acc, OUT_X_A, &a_x);
salco 3:9b4ff901b5c9 284 result &= read_reg_short(addr_acc, OUT_Y_A, &a_y);
salco 3:9b4ff901b5c9 285 result &= read_reg_short(addr_acc, OUT_Z_A, &a_z);*/
salco 3:9b4ff901b5c9 286 //This test pass so its ok
shimniok 0:de767f4959ef 287
salco 3:9b4ff901b5c9 288 result &= read_reg_short(addr_mag, OUT_X_M, &m_x);
salco 3:9b4ff901b5c9 289 result &= read_reg_short(addr_mag, OUT_Y_M, &m_y);
salco 3:9b4ff901b5c9 290 result &= read_reg_short(addr_mag, OUT_Z_M, &m_z);
salco 3:9b4ff901b5c9 291 #if defined(CHECK_TIME_SEQUENCE)
salco 3:9b4ff901b5c9 292 usec2 = t.read_us();
salco 3:9b4ff901b5c9 293
salco 3:9b4ff901b5c9 294 debug("%d %d %d\n", usec1, usec2, usec2-usec1);//if (debug) debug->printf("%d %d %d\n", usec1, usec2, usec2-usec1);
salco 3:9b4ff901b5c9 295 #endif
salco 3:9b4ff901b5c9 296 if(result == true)
salco 3:9b4ff901b5c9 297 {
salco 3:9b4ff901b5c9 298 // Perform simple lowpass filtering
salco 3:9b4ff901b5c9 299 // Intended to stabilize heading despite
salco 3:9b4ff901b5c9 300 // device vibration such as on a UGV
salco 3:9b4ff901b5c9 301
salco 3:9b4ff901b5c9 302 #if 0
salco 3:9b4ff901b5c9 303 if(data_read_acc & (1<<3))
salco 3:9b4ff901b5c9 304 {
salco 3:9b4ff901b5c9 305 a_test.x= a_test.x / (32768 /*half of the ADC resolution*/ / _FS/*+- 4g*/);
salco 3:9b4ff901b5c9 306 a_test.y= a_test.y / (32768 /*half of the ADC resolution*/ / _FS/*+- 4g*/);
salco 3:9b4ff901b5c9 307 a_test.z= a_test.z / (32768 /*half of the ADC resolution*/ / _FS/*+- 4g*/);
salco 3:9b4ff901b5c9 308
salco 3:9b4ff901b5c9 309 debug("test 4: x: %.4f y: %.4f z: %.4f \n",a_test.x,a_test.y,a_test.z);
salco 3:9b4ff901b5c9 310 }
salco 3:9b4ff901b5c9 311 #endif
salco 3:9b4ff901b5c9 312 //float( a[i] ) * pow(2.,(fs+1)) / 32768.
salco 3:9b4ff901b5c9 313
salco 3:9b4ff901b5c9 314 //x/8 = reading /0xFFFF(655355)
salco 3:9b4ff901b5c9 315
salco 3:9b4ff901b5c9 316
salco 3:9b4ff901b5c9 317
salco 3:9b4ff901b5c9 318 // _filt_ax = _filt_ax + (a_x - (_filt_ax >> FILTER_SHIFT));
salco 3:9b4ff901b5c9 319 /*_filt_ax = _filt_ax + (ax_test - (_filt_ax >> FILTER_SHIFT));
salco 3:9b4ff901b5c9 320 _filt_ay += a_y - (_filt_ay >> FILTER_SHIFT);
salco 3:9b4ff901b5c9 321 _filt_az += a_z - (_filt_az >> FILTER_SHIFT);
salco 3:9b4ff901b5c9 322
salco 3:9b4ff901b5c9 323
salco 3:9b4ff901b5c9 324
salco 3:9b4ff901b5c9 325 a.x = (float) (_filt_ax >> FILTER_SHIFT);
salco 3:9b4ff901b5c9 326 a.y = (float) (_filt_ay >> FILTER_SHIFT);
salco 3:9b4ff901b5c9 327 a.z = (float) (_filt_az >> FILTER_SHIFT);*/
salco 3:9b4ff901b5c9 328
salco 3:9b4ff901b5c9 329 // offset and scale
salco 3:9b4ff901b5c9 330 m.x = (m_x + _offset_x) * _scale_x;
salco 3:9b4ff901b5c9 331 m.y = (m_y + _offset_y) * _scale_y;
salco 3:9b4ff901b5c9 332 m.z = (m_z + _offset_z) * _scale_z;
salco 3:9b4ff901b5c9 333 }
salco 3:9b4ff901b5c9 334
salco 3:9b4ff901b5c9 335 return result;
shimniok 0:de767f4959ef 336 }
shimniok 0:de767f4959ef 337
shimniok 0:de767f4959ef 338
shimniok 0:de767f4959ef 339 // Returns the number of degrees from the -Y axis that it
shimniok 0:de767f4959ef 340 // is pointing.
shimniok 0:de767f4959ef 341 float LSM303DLH::heading()
shimniok 0:de767f4959ef 342 {
shimniok 0:de767f4959ef 343 return heading((vector){0,-1,0});
shimniok 0:de767f4959ef 344 }
shimniok 0:de767f4959ef 345
shimniok 0:de767f4959ef 346 float LSM303DLH::heading(vector from)
shimniok 0:de767f4959ef 347 {
shimniok 0:de767f4959ef 348 vector a, m;
shimniok 0:de767f4959ef 349
salco 3:9b4ff901b5c9 350 read(a, m);
shimniok 0:de767f4959ef 351
shimniok 0:de767f4959ef 352 ////////////////////////////////////////////////
shimniok 0:de767f4959ef 353 // compute heading
shimniok 0:de767f4959ef 354 ////////////////////////////////////////////////
shimniok 0:de767f4959ef 355
shimniok 0:de767f4959ef 356 vector temp_a = a;
shimniok 0:de767f4959ef 357 // normalize
shimniok 0:de767f4959ef 358 vector_normalize(&temp_a);
shimniok 0:de767f4959ef 359 //vector_normalize(&m);
shimniok 0:de767f4959ef 360
shimniok 0:de767f4959ef 361 // compute E and N
shimniok 0:de767f4959ef 362 vector E;
shimniok 0:de767f4959ef 363 vector N;
shimniok 0:de767f4959ef 364 vector_cross(&m,&temp_a,&E);
shimniok 0:de767f4959ef 365 vector_normalize(&E);
shimniok 0:de767f4959ef 366 vector_cross(&temp_a,&E,&N);
shimniok 0:de767f4959ef 367
shimniok 0:de767f4959ef 368 // compute heading
shimniok 0:de767f4959ef 369 float heading = atan2(vector_dot(&E,&from), vector_dot(&N,&from)) * 180/M_PI;
shimniok 0:de767f4959ef 370 if (heading < 0) heading += 360;
shimniok 0:de767f4959ef 371
shimniok 0:de767f4959ef 372 return heading;
shimniok 0:de767f4959ef 373 }
shimniok 2:aea5caec809c 374
shimniok 2:aea5caec809c 375 void LSM303DLH::frequency(int hz)
shimniok 2:aea5caec809c 376 {
salco 3:9b4ff901b5c9 377 m_ptr_I2C->frequency(hz);
salco 3:9b4ff901b5c9 378 }