Diff: LSM303DLM.cpp

Revision:

0:faef9e4c8bea

Child:

1:fc5c9258ec45

diff -r 000000000000 -r faef9e4c8bea LSM303DLM.cpp
--- /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
+}
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