STM32F303K8T6でLSM303D動かしてみた
Diff: LSM303D.cpp
- Revision:
- 0:5b930e09bd6e
- Child:
- 1:f93f4bc7a889
diff -r 000000000000 -r 5b930e09bd6e LSM303D.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM303D.cpp Wed Feb 03 20:57:01 2016 +0000 @@ -0,0 +1,132 @@ +/** 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; +}