Michael Shimniok / LSM303DLM

Interface library for ST LSM303DLM 3-axis magnetometer/accelerometer

Dependents:   AVC_2012 m3pi_Kompass Fish_2014Fall Fish_2014Fall ... more

LSM303DLM.cpp@0:faef9e4c8bea, 2012-01-20 (annotated)

Committer:
shimniok
Date:
Fri Jan 20 23:47:25 2012 +0000
Revision:
0:faef9e4c8bea
Child:
1:fc5c9258ec45
Initial version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:faef9e4c8bea 1 #include "mbed.h"
shimniok 0:faef9e4c8bea 2 #include "LSM303DLM.h"
shimniok 0:faef9e4c8bea 3 #include "stdio.h"
shimniok 0:faef9e4c8bea 4
shimniok 0:faef9e4c8bea 5 #define MAG_ADDRESS 0x3C
shimniok 0:faef9e4c8bea 6 #define ACC_ADDRESS 0x30
shimniok 0:faef9e4c8bea 7
shimniok 0:faef9e4c8bea 8 LSM303DLM::LSM303DLM(PinName sda, PinName scl): _device(sda, scl)
shimniok 0:faef9e4c8bea 9 {
shimniok 0:faef9e4c8bea 10 _device.frequency(400000);
shimniok 0:faef9e4c8bea 11 init();
shimniok 0:faef9e4c8bea 12 }
shimniok 0:faef9e4c8bea 13
shimniok 0:faef9e4c8bea 14 void LSM303DLM::init()
shimniok 0:faef9e4c8bea 15 {
shimniok 0:faef9e4c8bea 16 // init mag
shimniok 0:faef9e4c8bea 17 // continuous conversion mode
shimniok 0:faef9e4c8bea 18 _data[0] = MR_REG_M;
shimniok 0:faef9e4c8bea 19 _data[1] = 0x00;
shimniok 0:faef9e4c8bea 20 if (!_device.write(MAG_ADDRESS, _data, 2))
shimniok 0:faef9e4c8bea 21 fprintf(stdout, "MR_REG_M: no ack\n");
shimniok 0:faef9e4c8bea 22 // data rate 75hz
shimniok 0:faef9e4c8bea 23 _data[0] = CRA_REG_M;
shimniok 0:faef9e4c8bea 24 _data[1] = 0x18; // 0b00011000
shimniok 0:faef9e4c8bea 25 if (_device.write(MAG_ADDRESS, _data, 2))
shimniok 0:faef9e4c8bea 26 fprintf(stdout, "CRA_REG_M: no ack\n");
shimniok 0:faef9e4c8bea 27
shimniok 0:faef9e4c8bea 28 // init acc
shimniok 0:faef9e4c8bea 29 // data rate 100hz
shimniok 0:faef9e4c8bea 30 _data[0] = CTRL_REG1_A;
shimniok 0:faef9e4c8bea 31 _data[1] = 0x2F; // 0b00101111
shimniok 0:faef9e4c8bea 32 if (!_device.write(ACC_ADDRESS, _data, 2))
shimniok 0:faef9e4c8bea 33 fprintf(stdout, "CTRL_REG1_A: no ack\n");
shimniok 0:faef9e4c8bea 34 }
shimniok 0:faef9e4c8bea 35
shimniok 0:faef9e4c8bea 36 void LSM303DLM::read(int a[3], int m[3])
shimniok 0:faef9e4c8bea 37 {
shimniok 0:faef9e4c8bea 38 readAcc(a);
shimniok 0:faef9e4c8bea 39 readMag(m);
shimniok 0:faef9e4c8bea 40 }
shimniok 0:faef9e4c8bea 41
shimniok 0:faef9e4c8bea 42 void LSM303DLM::readAcc(int a[3])
shimniok 0:faef9e4c8bea 43 {
shimniok 0:faef9e4c8bea 44 _data[0] = OUT_X_L_A | (1<<7);
shimniok 0:faef9e4c8bea 45 _device.write(ACC_ADDRESS, _data, 1);
shimniok 0:faef9e4c8bea 46 _device.read(ACC_ADDRESS, _data, 6);
shimniok 0:faef9e4c8bea 47
shimniok 0:faef9e4c8bea 48 // 12-bit values
shimniok 0:faef9e4c8bea 49 a[0] = (short) (_data[0] | _data[1]<<8)>>4;
shimniok 0:faef9e4c8bea 50 a[1] = (short) (_data[2] | _data[3]<<8)>>4;
shimniok 0:faef9e4c8bea 51 a[2] = (short) (_data[4] | _data[5]<<8)>>4;
shimniok 0:faef9e4c8bea 52 }
shimniok 0:faef9e4c8bea 53
shimniok 0:faef9e4c8bea 54 void LSM303DLM::readMag(int m[3])
shimniok 0:faef9e4c8bea 55 {
shimniok 0:faef9e4c8bea 56 _data[0] = OUT_X_H_M;
shimniok 0:faef9e4c8bea 57 _device.write(MAG_ADDRESS, _data, 1);
shimniok 0:faef9e4c8bea 58 _device.read(MAG_ADDRESS, _data, 6);
shimniok 0:faef9e4c8bea 59
shimniok 0:faef9e4c8bea 60 m[0] = (short) _data[0]<<8 | _data[1]; // X
shimniok 0:faef9e4c8bea 61 m[1] = (short) _data[4]<<8 | _data[5]; // Y
shimniok 0:faef9e4c8bea 62 m[2] = (short) _data[2]<<8 | _data[3]; // Z
shimniok 0:faef9e4c8bea 63 }