STM32F303K8T6でLSM303D動かしてみた
LSM303D.cpp
- Committer:
- bclaus
- Date:
- 2016-02-03
- Revision:
- 0:5b930e09bd6e
- Child:
- 1:f93f4bc7a889
File content as of revision 0:5b930e09bd6e:
/** LSM303D 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 LSM303D breakout by ryantm: * * ported by Brian Claus * * 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 "LSM303D.h" const int addr_acc_mag = 0x3A; enum REG_ADDRS { /* --- Mag --- */ OUT_X_M = 0x08, OUT_Y_M = 0x0A, OUT_Z_M = 0x0C, /* --- Acc --- */ OUT_X_A = 0x28, OUT_Y_A = 0x2A, OUT_Z_A = 0x2C, // CTRL0 = 0x1F; CTRL1 = 0x20; CTRL2 = 0x21; CTRL3 = 0x22; CTRL4 = 0x23; CTRL5 = 0x24; CTRL6 = 0x25; CTRL7 = 0x26; }; bool LSM303D::write_reg(int addr_i2c,int addr_reg, char v) { char data[2] = {addr_reg, v}; return LSM303D::_LSM303.write(addr_i2c, data, 2) == 0; } bool LSM303D::read_reg(int addr_i2c,int addr_reg, char *v) { char data = addr_reg; bool result = false; __disable_irq(); if ((_LSM303.write(addr_i2c, &data, 1) == 0) && (_LSM303.read(addr_i2c, &data, 1) == 0)){ *v = data; result = true; } __enable_irq(); return result; } LSM303D::LSM303D(PinName sda, PinName scl): _LSM303(sda, scl) { char reg_v; _LSM303.frequency(200000); reg_v = 0; //acc reg_v |= 0x57; /* 50 Hz X/Y/Z axis enable. */ write_reg(addr_acc_mag,CTRL1,reg_v); /* -- mag --- */ reg_v = 0; reg_v |= 0x78; //M_RES = 11 (high resolution mode); M_ODR = 100 (50 Hz ODR) write_reg(addr_acc_mag,CTRL5,reg_v); reg_v = 0; reg_v |= 0x00; //continuous mag write_reg(addr_mag,CTRL7,reg_v); } bool LSM303D::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) { 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]))/8192; //32768/4=8192 *ay = float(short(acc[3] << 8 | acc[2]))/8192; *az = float(short(acc[5] << 8 | acc[4]))/8192; //full scale magnetic readings are from -2048 to 2047 //gain is x,y =1100; z = 980 LSB/gauss *mx = float(short(mag[0] << 8 | mag[1]))/1100; *mz = float(short(mag[2] << 8 | mag[3]))/980; *my = float(short(mag[4] << 8 | mag[5]))/1100; return true; } return false; } bool LSM303D::recv(char sad, char sub, char *buf, int length) { if (length > 1) sub |= 0x80; return _LSM303.write(sad, &sub, 1, true) == 0 && _LSM303.read(sad, buf, length) == 0; }