Interface library for ST LSM303DLM 3-axis magnetometer/accelerometer
Dependents: AVC_2012 m3pi_Kompass Fish_2014Fall Fish_2014Fall ... more
Diff: LSM303DLM.cpp
- Revision:
- 0:faef9e4c8bea
- Child:
- 1:fc5c9258ec45
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM303DLM.cpp Fri Jan 20 23:47:25 2012 +0000 @@ -0,0 +1,63 @@ +#include "mbed.h" +#include "LSM303DLM.h" +#include "stdio.h" + +#define MAG_ADDRESS 0x3C +#define ACC_ADDRESS 0x30 + +LSM303DLM::LSM303DLM(PinName sda, PinName scl): _device(sda, scl) +{ + _device.frequency(400000); + init(); +} + +void LSM303DLM::init() +{ + // init mag + // continuous conversion mode + _data[0] = MR_REG_M; + _data[1] = 0x00; + if (!_device.write(MAG_ADDRESS, _data, 2)) + fprintf(stdout, "MR_REG_M: no ack\n"); + // data rate 75hz + _data[0] = CRA_REG_M; + _data[1] = 0x18; // 0b00011000 + if (_device.write(MAG_ADDRESS, _data, 2)) + fprintf(stdout, "CRA_REG_M: no ack\n"); + + // init acc + // data rate 100hz + _data[0] = CTRL_REG1_A; + _data[1] = 0x2F; // 0b00101111 + if (!_device.write(ACC_ADDRESS, _data, 2)) + fprintf(stdout, "CTRL_REG1_A: no ack\n"); +} + +void LSM303DLM::read(int a[3], int m[3]) +{ + readAcc(a); + readMag(m); +} + +void LSM303DLM::readAcc(int a[3]) +{ + _data[0] = OUT_X_L_A | (1<<7); + _device.write(ACC_ADDRESS, _data, 1); + _device.read(ACC_ADDRESS, _data, 6); + + // 12-bit values + a[0] = (short) (_data[0] | _data[1]<<8)>>4; + a[1] = (short) (_data[2] | _data[3]<<8)>>4; + a[2] = (short) (_data[4] | _data[5]<<8)>>4; +} + +void LSM303DLM::readMag(int m[3]) +{ + _data[0] = OUT_X_H_M; + _device.write(MAG_ADDRESS, _data, 1); + _device.read(MAG_ADDRESS, _data, 6); + + m[0] = (short) _data[0]<<8 | _data[1]; // X + m[1] = (short) _data[4]<<8 | _data[5]; // Y + m[2] = (short) _data[2]<<8 | _data[3]; // Z +} \ No newline at end of file