Diff: LSM303D.cpp

Revision:

3:50ff4ad71082

Parent:

2:8cd0c3c11b48

--- a/LSM303D.cpp	Mon Feb 08 17:57:22 2016 +0000
+++ b/LSM303D.cpp	Tue Sep 08 06:34:37 2020 +0000
@@ -37,7 +37,6 @@
 #include "mbed.h"
 #include "LSM303D.h"
 
-
 const int addr_acc_mag = 0x3A;
 
 enum REG_ADDRS {
@@ -84,7 +83,6 @@
     _LSM303(sda, scl)
 {
     char reg_v;
-    _LSM303.frequency(200000);
         
     reg_v = 0;
     
@@ -94,7 +92,7 @@
 
     /* -- mag --- */
     reg_v = 0;
-    reg_v |= 0x78;     //M_RES = 11 (high resolution mode); M_ODR = 100 (50 Hz ODR)
+    reg_v |= 0x74;     //M_RES = 11 (high resolution mode); M_ODR = 100 (50 Hz ODR)
     write_reg(addr_acc_mag,CTRL5,reg_v);
 
  
@@ -102,20 +100,24 @@
     reg_v = 0;    
     reg_v |= 0x00;   //continuous mag
     write_reg(addr_acc_mag,CTRL7,reg_v);
+    
+    reg_v = 0;    
+    reg_v |= 0x00;   //+-2gauss
+    write_reg(addr_acc_mag,CTRL6,reg_v);
 }
 
 
-bool LSM303D::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) {
+bool LSM303D::read(float *aData,float *mData) {
     char acc[6], mag[6];
  
     if (recv(addr_acc_mag, OUT_X_A, acc, 6) && recv(addr_acc_mag, OUT_X_M, mag, 6)) {
-        *ax = float(short(acc[1] << 8 | acc[0]))*0.061;  //32768/4=8192
-        *ay =  float(short(acc[3] << 8 | acc[2]))*0.061;
-        *az =  float(short(acc[5] << 8 | acc[4]))*0.061;
-        //+-4gauss
-        *mx = float(short(mag[0] << 8 | mag[1]))*0.16;
-        *mz = float(short(mag[2] << 8 | mag[3]))*0.16;
-        *my = float(short(mag[4] << 8 | mag[5]))*0.16;
+        aData[0] = float(short(acc[1] << 8 | acc[0]))*0.061;  //32768/4=8192
+        aData[1] =  float(short(acc[3] << 8 | acc[2]))*0.061;
+        aData[2] =  float(short(acc[5] << 8 | acc[4]))*0.061;
+        //+-2gauss
+        mData[0] = float(short(mag[1] << 8 | mag[0]))*0.08;
+        mData[1] = float(short(mag[3] << 8 | mag[2]))*0.08;
+        mData[2] = float(short(mag[5] << 8 | mag[4]))*0.08;
  
         return true;
     }