STM32F303K8T6でLSM303D動かしてみた
LSM303D.cpp@0:5b930e09bd6e, 2016-02-03 (annotated)
- Committer:
- bclaus
- Date:
- Wed Feb 03 20:57:01 2016 +0000
- Revision:
- 0:5b930e09bd6e
- Child:
- 1:f93f4bc7a889
initial;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bclaus | 0:5b930e09bd6e | 1 | /** LSM303D Interface Library |
bclaus | 0:5b930e09bd6e | 2 | * |
bclaus | 0:5b930e09bd6e | 3 | * base on code by Michael Shimniok http://bot-thoughts.com |
bclaus | 0:5b930e09bd6e | 4 | * |
bclaus | 0:5b930e09bd6e | 5 | * and on test program by @tosihisa and |
bclaus | 0:5b930e09bd6e | 6 | * |
bclaus | 0:5b930e09bd6e | 7 | * and on Pololu sample library for LSM303D breakout by ryantm: |
bclaus | 0:5b930e09bd6e | 8 | * |
bclaus | 0:5b930e09bd6e | 9 | * ported by Brian Claus |
bclaus | 0:5b930e09bd6e | 10 | * |
bclaus | 0:5b930e09bd6e | 11 | * Copyright (c) 2011 Pololu Corporation. For more information, see |
bclaus | 0:5b930e09bd6e | 12 | * |
bclaus | 0:5b930e09bd6e | 13 | * http://www.pololu.com/ |
bclaus | 0:5b930e09bd6e | 14 | * http://forum.pololu.com/ |
bclaus | 0:5b930e09bd6e | 15 | * |
bclaus | 0:5b930e09bd6e | 16 | * Permission is hereby granted, free of charge, to any person |
bclaus | 0:5b930e09bd6e | 17 | * obtaining a copy of this software and associated documentation |
bclaus | 0:5b930e09bd6e | 18 | * files (the "Software"), to deal in the Software without |
bclaus | 0:5b930e09bd6e | 19 | * restriction, including without limitation the rights to use, |
bclaus | 0:5b930e09bd6e | 20 | * copy, modify, merge, publish, distribute, sublicense, and/or sell |
bclaus | 0:5b930e09bd6e | 21 | * copies of the Software, and to permit persons to whom the |
bclaus | 0:5b930e09bd6e | 22 | * Software is furnished to do so, subject to the following |
bclaus | 0:5b930e09bd6e | 23 | * conditions: |
bclaus | 0:5b930e09bd6e | 24 | * |
bclaus | 0:5b930e09bd6e | 25 | * The above copyright notice and this permission notice shall be |
bclaus | 0:5b930e09bd6e | 26 | * included in all copies or substantial portions of the Software. |
bclaus | 0:5b930e09bd6e | 27 | * |
bclaus | 0:5b930e09bd6e | 28 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
bclaus | 0:5b930e09bd6e | 29 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
bclaus | 0:5b930e09bd6e | 30 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
bclaus | 0:5b930e09bd6e | 31 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
bclaus | 0:5b930e09bd6e | 32 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
bclaus | 0:5b930e09bd6e | 33 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
bclaus | 0:5b930e09bd6e | 34 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
bclaus | 0:5b930e09bd6e | 35 | * OTHER DEALINGS IN THE SOFTWARE. |
bclaus | 0:5b930e09bd6e | 36 | */ |
bclaus | 0:5b930e09bd6e | 37 | #include "mbed.h" |
bclaus | 0:5b930e09bd6e | 38 | #include "LSM303D.h" |
bclaus | 0:5b930e09bd6e | 39 | |
bclaus | 0:5b930e09bd6e | 40 | |
bclaus | 0:5b930e09bd6e | 41 | const int addr_acc_mag = 0x3A; |
bclaus | 0:5b930e09bd6e | 42 | |
bclaus | 0:5b930e09bd6e | 43 | enum REG_ADDRS { |
bclaus | 0:5b930e09bd6e | 44 | /* --- Mag --- */ |
bclaus | 0:5b930e09bd6e | 45 | OUT_X_M = 0x08, |
bclaus | 0:5b930e09bd6e | 46 | OUT_Y_M = 0x0A, |
bclaus | 0:5b930e09bd6e | 47 | OUT_Z_M = 0x0C, |
bclaus | 0:5b930e09bd6e | 48 | /* --- Acc --- */ |
bclaus | 0:5b930e09bd6e | 49 | OUT_X_A = 0x28, |
bclaus | 0:5b930e09bd6e | 50 | OUT_Y_A = 0x2A, |
bclaus | 0:5b930e09bd6e | 51 | OUT_Z_A = 0x2C, |
bclaus | 0:5b930e09bd6e | 52 | // |
bclaus | 0:5b930e09bd6e | 53 | CTRL0 = 0x1F; |
bclaus | 0:5b930e09bd6e | 54 | CTRL1 = 0x20; |
bclaus | 0:5b930e09bd6e | 55 | CTRL2 = 0x21; |
bclaus | 0:5b930e09bd6e | 56 | CTRL3 = 0x22; |
bclaus | 0:5b930e09bd6e | 57 | CTRL4 = 0x23; |
bclaus | 0:5b930e09bd6e | 58 | CTRL5 = 0x24; |
bclaus | 0:5b930e09bd6e | 59 | CTRL6 = 0x25; |
bclaus | 0:5b930e09bd6e | 60 | CTRL7 = 0x26; |
bclaus | 0:5b930e09bd6e | 61 | }; |
bclaus | 0:5b930e09bd6e | 62 | |
bclaus | 0:5b930e09bd6e | 63 | bool LSM303D::write_reg(int addr_i2c,int addr_reg, char v) |
bclaus | 0:5b930e09bd6e | 64 | { |
bclaus | 0:5b930e09bd6e | 65 | char data[2] = {addr_reg, v}; |
bclaus | 0:5b930e09bd6e | 66 | return LSM303D::_LSM303.write(addr_i2c, data, 2) == 0; |
bclaus | 0:5b930e09bd6e | 67 | } |
bclaus | 0:5b930e09bd6e | 68 | |
bclaus | 0:5b930e09bd6e | 69 | bool LSM303D::read_reg(int addr_i2c,int addr_reg, char *v) |
bclaus | 0:5b930e09bd6e | 70 | { |
bclaus | 0:5b930e09bd6e | 71 | char data = addr_reg; |
bclaus | 0:5b930e09bd6e | 72 | bool result = false; |
bclaus | 0:5b930e09bd6e | 73 | |
bclaus | 0:5b930e09bd6e | 74 | __disable_irq(); |
bclaus | 0:5b930e09bd6e | 75 | if ((_LSM303.write(addr_i2c, &data, 1) == 0) && (_LSM303.read(addr_i2c, &data, 1) == 0)){ |
bclaus | 0:5b930e09bd6e | 76 | *v = data; |
bclaus | 0:5b930e09bd6e | 77 | result = true; |
bclaus | 0:5b930e09bd6e | 78 | } |
bclaus | 0:5b930e09bd6e | 79 | __enable_irq(); |
bclaus | 0:5b930e09bd6e | 80 | return result; |
bclaus | 0:5b930e09bd6e | 81 | } |
bclaus | 0:5b930e09bd6e | 82 | |
bclaus | 0:5b930e09bd6e | 83 | LSM303D::LSM303D(PinName sda, PinName scl): |
bclaus | 0:5b930e09bd6e | 84 | _LSM303(sda, scl) |
bclaus | 0:5b930e09bd6e | 85 | { |
bclaus | 0:5b930e09bd6e | 86 | char reg_v; |
bclaus | 0:5b930e09bd6e | 87 | _LSM303.frequency(200000); |
bclaus | 0:5b930e09bd6e | 88 | |
bclaus | 0:5b930e09bd6e | 89 | reg_v = 0; |
bclaus | 0:5b930e09bd6e | 90 | |
bclaus | 0:5b930e09bd6e | 91 | //acc |
bclaus | 0:5b930e09bd6e | 92 | reg_v |= 0x57; /* 50 Hz X/Y/Z axis enable. */ |
bclaus | 0:5b930e09bd6e | 93 | write_reg(addr_acc_mag,CTRL1,reg_v); |
bclaus | 0:5b930e09bd6e | 94 | |
bclaus | 0:5b930e09bd6e | 95 | /* -- mag --- */ |
bclaus | 0:5b930e09bd6e | 96 | reg_v = 0; |
bclaus | 0:5b930e09bd6e | 97 | reg_v |= 0x78; //M_RES = 11 (high resolution mode); M_ODR = 100 (50 Hz ODR) |
bclaus | 0:5b930e09bd6e | 98 | write_reg(addr_acc_mag,CTRL5,reg_v); |
bclaus | 0:5b930e09bd6e | 99 | |
bclaus | 0:5b930e09bd6e | 100 | |
bclaus | 0:5b930e09bd6e | 101 | |
bclaus | 0:5b930e09bd6e | 102 | reg_v = 0; |
bclaus | 0:5b930e09bd6e | 103 | reg_v |= 0x00; //continuous mag |
bclaus | 0:5b930e09bd6e | 104 | write_reg(addr_mag,CTRL7,reg_v); |
bclaus | 0:5b930e09bd6e | 105 | } |
bclaus | 0:5b930e09bd6e | 106 | |
bclaus | 0:5b930e09bd6e | 107 | |
bclaus | 0:5b930e09bd6e | 108 | bool LSM303D::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) { |
bclaus | 0:5b930e09bd6e | 109 | char acc[6], mag[6]; |
bclaus | 0:5b930e09bd6e | 110 | |
bclaus | 0:5b930e09bd6e | 111 | if (recv(addr_acc_mag, OUT_X_A, acc, 6) && recv(addr_acc_mag, OUT_X_M, mag, 6)) { |
bclaus | 0:5b930e09bd6e | 112 | *ax = float(short(acc[1] << 8 | acc[0]))/8192; //32768/4=8192 |
bclaus | 0:5b930e09bd6e | 113 | *ay = float(short(acc[3] << 8 | acc[2]))/8192; |
bclaus | 0:5b930e09bd6e | 114 | *az = float(short(acc[5] << 8 | acc[4]))/8192; |
bclaus | 0:5b930e09bd6e | 115 | //full scale magnetic readings are from -2048 to 2047 |
bclaus | 0:5b930e09bd6e | 116 | //gain is x,y =1100; z = 980 LSB/gauss |
bclaus | 0:5b930e09bd6e | 117 | *mx = float(short(mag[0] << 8 | mag[1]))/1100; |
bclaus | 0:5b930e09bd6e | 118 | *mz = float(short(mag[2] << 8 | mag[3]))/980; |
bclaus | 0:5b930e09bd6e | 119 | *my = float(short(mag[4] << 8 | mag[5]))/1100; |
bclaus | 0:5b930e09bd6e | 120 | |
bclaus | 0:5b930e09bd6e | 121 | return true; |
bclaus | 0:5b930e09bd6e | 122 | } |
bclaus | 0:5b930e09bd6e | 123 | |
bclaus | 0:5b930e09bd6e | 124 | return false; |
bclaus | 0:5b930e09bd6e | 125 | } |
bclaus | 0:5b930e09bd6e | 126 | |
bclaus | 0:5b930e09bd6e | 127 | |
bclaus | 0:5b930e09bd6e | 128 | bool LSM303D::recv(char sad, char sub, char *buf, int length) { |
bclaus | 0:5b930e09bd6e | 129 | if (length > 1) sub |= 0x80; |
bclaus | 0:5b930e09bd6e | 130 | |
bclaus | 0:5b930e09bd6e | 131 | return _LSM303.write(sad, &sub, 1, true) == 0 && _LSM303.read(sad, buf, length) == 0; |
bclaus | 0:5b930e09bd6e | 132 | } |