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Dependencies:   mbed

Fork of dgps by Colin Stearns

adapt/compass.h@66:5d43988d100c, 2014-05-05 (annotated)

Committer:
dylanembed123
Date:
Mon May 05 13:20:35 2014 +0000
Revision:
66:5d43988d100c
Parent:
10:c4745ddaaf6a 
Final Project;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krobertson 10:c4745ddaaf6a 1 /**
krobertson 10:c4745ddaaf6a 2 * \brief Adaptor for the LSM303 integrated compass and accelerometer
krobertson 10:c4745ddaaf6a 3 **/
krobertson 10:c4745ddaaf6a 4
krobertson 10:c4745ddaaf6a 5 #ifndef _COMPASS_H_
krobertson 10:c4745ddaaf6a 6 #define _COMPASS_H_
krobertson 10:c4745ddaaf6a 7
krobertson 10:c4745ddaaf6a 8 #include "mbed.h"
krobertson 10:c4745ddaaf6a 9 #include <SPI.h>
krobertson 10:c4745ddaaf6a 10 #include <stdint.h>
krobertson 10:c4745ddaaf6a 11
krobertson 10:c4745ddaaf6a 12 typedef unsigned char byte;
krobertson 10:c4745ddaaf6a 13
krobertson 10:c4745ddaaf6a 14 class Compass{
krobertson 10:c4745ddaaf6a 15 public:
krobertson 10:c4745ddaaf6a 16
krobertson 10:c4745ddaaf6a 17 template <typename T> struct vector{
krobertson 10:c4745ddaaf6a 18 T x, y, z;
krobertson 10:c4745ddaaf6a 19 };
krobertson 10:c4745ddaaf6a 20
krobertson 10:c4745ddaaf6a 21 /**
krobertson 10:c4745ddaaf6a 22 * \brief LSM303 devices
krobertson 10:c4745ddaaf6a 23 **/
krobertson 10:c4745ddaaf6a 24 enum deviceType { device_DLH, device_DLM, device_DLHC, device_D, device_auto };
krobertson 10:c4745ddaaf6a 25
krobertson 10:c4745ddaaf6a 26 /**
krobertson 10:c4745ddaaf6a 27 * \brief register addresses
krobertson 10:c4745ddaaf6a 28 **/
krobertson 10:c4745ddaaf6a 29 enum regAddr{
krobertson 10:c4745ddaaf6a 30 TEMP_OUT_L = 0x05, // D
krobertson 10:c4745ddaaf6a 31 TEMP_OUT_H = 0x06, // D
krobertson 10:c4745ddaaf6a 32
krobertson 10:c4745ddaaf6a 33 STATUS_M = 0x07, // D
krobertson 10:c4745ddaaf6a 34
krobertson 10:c4745ddaaf6a 35 INT_CTRL_M = 0x12, // D
krobertson 10:c4745ddaaf6a 36 INT_SRC_M = 0x13, // D
krobertson 10:c4745ddaaf6a 37 INT_THS_L_M = 0x14, // D
krobertson 10:c4745ddaaf6a 38 INT_THS_H_M = 0x15, // D
krobertson 10:c4745ddaaf6a 39
krobertson 10:c4745ddaaf6a 40 OFFSET_X_L_M = 0x16, // D
krobertson 10:c4745ddaaf6a 41 OFFSET_X_H_M = 0x17, // D
krobertson 10:c4745ddaaf6a 42 OFFSET_Y_L_M = 0x18, // D
krobertson 10:c4745ddaaf6a 43 OFFSET_Y_H_M = 0x19, // D
krobertson 10:c4745ddaaf6a 44 OFFSET_Z_L_M = 0x1A, // D
krobertson 10:c4745ddaaf6a 45 OFFSET_Z_H_M = 0x1B, // D
krobertson 10:c4745ddaaf6a 46 REFERENCE_X = 0x1C, // D
krobertson 10:c4745ddaaf6a 47 REFERENCE_Y = 0x1D, // D
krobertson 10:c4745ddaaf6a 48 REFERENCE_Z = 0x1E, // D
krobertson 10:c4745ddaaf6a 49
krobertson 10:c4745ddaaf6a 50 CTRL0 = 0x1F, // D
krobertson 10:c4745ddaaf6a 51 CTRL1 = 0x20, // D
krobertson 10:c4745ddaaf6a 52 CTRL_REG1_A = 0x20, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 53 CTRL2 = 0x21, // D
krobertson 10:c4745ddaaf6a 54 CTRL_REG2_A = 0x21, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 55 CTRL3 = 0x22, // D
krobertson 10:c4745ddaaf6a 56 CTRL_REG3_A = 0x22, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 57 CTRL4 = 0x23, // D
krobertson 10:c4745ddaaf6a 58 CTRL_REG4_A = 0x23, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 59 CTRL5 = 0x24, // D
krobertson 10:c4745ddaaf6a 60 CTRL_REG5_A = 0x24, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 61 CTRL6 = 0x25, // D
krobertson 10:c4745ddaaf6a 62 CTRL_REG6_A = 0x25, // DLHC
krobertson 10:c4745ddaaf6a 63 HP_FILTER_RESET_A = 0x25, // DLH, DLM
krobertson 10:c4745ddaaf6a 64 CTRL7 = 0x26, // D
krobertson 10:c4745ddaaf6a 65 REFERENCE_A = 0x26, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 66 STATUS_A = 0x27, // D
krobertson 10:c4745ddaaf6a 67 STATUS_REG_A = 0x27, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 68
krobertson 10:c4745ddaaf6a 69 OUT_X_L_A = 0x28,
krobertson 10:c4745ddaaf6a 70 OUT_X_H_A = 0x29,
krobertson 10:c4745ddaaf6a 71 OUT_Y_L_A = 0x2A,
krobertson 10:c4745ddaaf6a 72 OUT_Y_H_A = 0x2B,
krobertson 10:c4745ddaaf6a 73 OUT_Z_L_A = 0x2C,
krobertson 10:c4745ddaaf6a 74 OUT_Z_H_A = 0x2D,
krobertson 10:c4745ddaaf6a 75
krobertson 10:c4745ddaaf6a 76 FIFO_CTRL = 0x2E, // D
krobertson 10:c4745ddaaf6a 77 FIFO_CTRL_REG_A = 0x2E, // DLHC
krobertson 10:c4745ddaaf6a 78 FIFO_SRC = 0x2F, // D
krobertson 10:c4745ddaaf6a 79 FIFO_SRC_REG_A = 0x2F, // DLHC
krobertson 10:c4745ddaaf6a 80
krobertson 10:c4745ddaaf6a 81 IG_CFG1 = 0x30, // D
krobertson 10:c4745ddaaf6a 82 INT1_CFG_A = 0x30, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 83 IG_SRC1 = 0x31, // D
krobertson 10:c4745ddaaf6a 84 INT1_SRC_A = 0x31, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 85 IG_THS1 = 0x32, // D
krobertson 10:c4745ddaaf6a 86 INT1_THS_A = 0x32, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 87 IG_DUR1 = 0x33, // D
krobertson 10:c4745ddaaf6a 88 INT1_DURATION_A = 0x33, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 89 IG_CFG2 = 0x34, // D
krobertson 10:c4745ddaaf6a 90 INT2_CFG_A = 0x34, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 91 IG_SRC2 = 0x35, // D
krobertson 10:c4745ddaaf6a 92 INT2_SRC_A = 0x35, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 93 IG_THS2 = 0x36, // D
krobertson 10:c4745ddaaf6a 94 INT2_THS_A = 0x36, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 95 IG_DUR2 = 0x37, // D
krobertson 10:c4745ddaaf6a 96 INT2_DURATION_A = 0x37, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 97
krobertson 10:c4745ddaaf6a 98 CLICK_CFG = 0x38, // D
krobertson 10:c4745ddaaf6a 99 CLICK_CFG_A = 0x38, // DLHC
krobertson 10:c4745ddaaf6a 100 CLICK_SRC = 0x39, // D
krobertson 10:c4745ddaaf6a 101 CLICK_SRC_A = 0x39, // DLHC
krobertson 10:c4745ddaaf6a 102 CLICK_THS = 0x3A, // D
krobertson 10:c4745ddaaf6a 103 CLICK_THS_A = 0x3A, // DLHC
krobertson 10:c4745ddaaf6a 104 TIME_LIMIT = 0x3B, // D
krobertson 10:c4745ddaaf6a 105 TIME_LIMIT_A = 0x3B, // DLHC
krobertson 10:c4745ddaaf6a 106 TIME_LATENCY = 0x3C, // D
krobertson 10:c4745ddaaf6a 107 TIME_LATENCY_A = 0x3C, // DLHC
krobertson 10:c4745ddaaf6a 108 TIME_WINDOW = 0x3D, // D
krobertson 10:c4745ddaaf6a 109 TIME_WINDOW_A = 0x3D, // DLHC
krobertson 10:c4745ddaaf6a 110
krobertson 10:c4745ddaaf6a 111 Act_THS = 0x3E, // D
krobertson 10:c4745ddaaf6a 112 Act_DUR = 0x3F, // D
krobertson 10:c4745ddaaf6a 113
krobertson 10:c4745ddaaf6a 114 CRA_REG_M = 0x00, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 115 CRB_REG_M = 0x01, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 116 MR_REG_M = 0x02, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 117
krobertson 10:c4745ddaaf6a 118 SR_REG_M = 0x09, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 119 IRA_REG_M = 0x0A, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 120 IRB_REG_M = 0x0B, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 121 IRC_REG_M = 0x0C, // DLH, DLM, DLHC
krobertson 10:c4745ddaaf6a 122
krobertson 10:c4745ddaaf6a 123 WHO_AM_I_M = 0x0F, // DLM
krobertson 10:c4745ddaaf6a 124 WHO_AM_I = 0x0F, // D
krobertson 10:c4745ddaaf6a 125
krobertson 10:c4745ddaaf6a 126 TEMP_OUT_H_M = 0x31, // DLHC
krobertson 10:c4745ddaaf6a 127 TEMP_OUT_L_M = 0x32, // DLHC
krobertson 10:c4745ddaaf6a 128
krobertson 10:c4745ddaaf6a 129
krobertson 10:c4745ddaaf6a 130 // dummy addresses for registers in different locations on different devices;
krobertson 10:c4745ddaaf6a 131 // the library translates these based on device type
krobertson 10:c4745ddaaf6a 132 // value with sign flipped is used as index into translated_regs array
krobertson 10:c4745ddaaf6a 133
krobertson 10:c4745ddaaf6a 134 OUT_X_H_M = -1,
krobertson 10:c4745ddaaf6a 135 OUT_X_L_M = -2,
krobertson 10:c4745ddaaf6a 136 OUT_Y_H_M = -3,
krobertson 10:c4745ddaaf6a 137 OUT_Y_L_M = -4,
krobertson 10:c4745ddaaf6a 138 OUT_Z_H_M = -5,
krobertson 10:c4745ddaaf6a 139 OUT_Z_L_M = -6,
krobertson 10:c4745ddaaf6a 140 // update dummy_reg_count if registers are added here!
krobertson 10:c4745ddaaf6a 141
krobertson 10:c4745ddaaf6a 142 // device-specific register addresses
krobertson 10:c4745ddaaf6a 143 DLH_OUT_X_H_M = 0x03,
krobertson 10:c4745ddaaf6a 144 DLH_OUT_X_L_M = 0x04,
krobertson 10:c4745ddaaf6a 145 DLH_OUT_Y_H_M = 0x05,
krobertson 10:c4745ddaaf6a 146 DLH_OUT_Y_L_M = 0x06,
krobertson 10:c4745ddaaf6a 147 DLH_OUT_Z_H_M = 0x07,
krobertson 10:c4745ddaaf6a 148 DLH_OUT_Z_L_M = 0x08,
krobertson 10:c4745ddaaf6a 149
krobertson 10:c4745ddaaf6a 150 DLM_OUT_X_H_M = 0x03,
krobertson 10:c4745ddaaf6a 151 DLM_OUT_X_L_M = 0x04,
krobertson 10:c4745ddaaf6a 152 DLM_OUT_Z_H_M = 0x05,
krobertson 10:c4745ddaaf6a 153 DLM_OUT_Z_L_M = 0x06,
krobertson 10:c4745ddaaf6a 154 DLM_OUT_Y_H_M = 0x07,
krobertson 10:c4745ddaaf6a 155 DLM_OUT_Y_L_M = 0x08,
krobertson 10:c4745ddaaf6a 156
krobertson 10:c4745ddaaf6a 157 DLHC_OUT_X_H_M = 0x03,
krobertson 10:c4745ddaaf6a 158 DLHC_OUT_X_L_M = 0x04,
krobertson 10:c4745ddaaf6a 159 DLHC_OUT_Z_H_M = 0x05,
krobertson 10:c4745ddaaf6a 160 DLHC_OUT_Z_L_M = 0x06,
krobertson 10:c4745ddaaf6a 161 DLHC_OUT_Y_H_M = 0x07,
krobertson 10:c4745ddaaf6a 162 DLHC_OUT_Y_L_M = 0x08,
krobertson 10:c4745ddaaf6a 163
krobertson 10:c4745ddaaf6a 164 D_OUT_X_L_M = 0x08,
krobertson 10:c4745ddaaf6a 165 D_OUT_X_H_M = 0x09,
krobertson 10:c4745ddaaf6a 166 D_OUT_Y_L_M = 0x0A,
krobertson 10:c4745ddaaf6a 167 D_OUT_Y_H_M = 0x0B,
krobertson 10:c4745ddaaf6a 168 D_OUT_Z_L_M = 0x0C,
krobertson 10:c4745ddaaf6a 169 D_OUT_Z_H_M = 0x0D
krobertson 10:c4745ddaaf6a 170 };
krobertson 10:c4745ddaaf6a 171
krobertson 10:c4745ddaaf6a 172 /**
krobertson 10:c4745ddaaf6a 173 * \brief accelerometer readings
krobertson 10:c4745ddaaf6a 174 **/
krobertson 10:c4745ddaaf6a 175 vector<int16_t> a;
krobertson 10:c4745ddaaf6a 176 /**
krobertson 10:c4745ddaaf6a 177 * \brief magnetometer readings
krobertson 10:c4745ddaaf6a 178 **/
krobertson 10:c4745ddaaf6a 179 vector<int16_t> m;
krobertson 10:c4745ddaaf6a 180 /**
krobertson 10:c4745ddaaf6a 181 * \brief maximum magnetometer values (calibration values)
krobertson 10:c4745ddaaf6a 182 **/
krobertson 10:c4745ddaaf6a 183 vector<int16_t> m_max;
krobertson 10:c4745ddaaf6a 184 /**
krobertson 10:c4745ddaaf6a 185 * \brief minimum magnetometer values (calibration values)
krobertson 10:c4745ddaaf6a 186 **/
krobertson 10:c4745ddaaf6a 187 vector<int16_t> m_min;
krobertson 10:c4745ddaaf6a 188
krobertson 10:c4745ddaaf6a 189 /**
krobertson 10:c4745ddaaf6a 190 * \brief Compass constructor
krobertson 10:c4745ddaaf6a 191 **/
krobertson 10:c4745ddaaf6a 192 Compass(void);
krobertson 10:c4745ddaaf6a 193
krobertson 10:c4745ddaaf6a 194 /**
krobertson 10:c4745ddaaf6a 195 * \brief setup SPI, determine device type, and setup register addresses for device
krobertson 10:c4745ddaaf6a 196 **/
krobertson 10:c4745ddaaf6a 197 bool init(deviceType device = device_auto);
krobertson 10:c4745ddaaf6a 198
krobertson 10:c4745ddaaf6a 199 /**
krobertson 10:c4745ddaaf6a 200 * \brief get the device type
krobertson 10:c4745ddaaf6a 201 **/
krobertson 10:c4745ddaaf6a 202 int getDeviceType(void) { return _device; }
krobertson 10:c4745ddaaf6a 203
krobertson 10:c4745ddaaf6a 204 /**
krobertson 10:c4745ddaaf6a 205 * \brief enable default settings (writes default values to control registers)
krobertson 10:c4745ddaaf6a 206 **/
krobertson 10:c4745ddaaf6a 207 void enableDefault(void);
krobertson 10:c4745ddaaf6a 208
krobertson 10:c4745ddaaf6a 209 /**
krobertson 10:c4745ddaaf6a 210 * \brief write to an accelerometer register
krobertson 10:c4745ddaaf6a 211 **/
krobertson 10:c4745ddaaf6a 212 void writeAccReg(regAddr reg, int value);
krobertson 10:c4745ddaaf6a 213 int readAccReg(regAddr reg);
krobertson 10:c4745ddaaf6a 214 void writeMagReg(regAddr reg, int value);
krobertson 10:c4745ddaaf6a 215 int readMagReg(regAddr reg);
krobertson 10:c4745ddaaf6a 216
krobertson 10:c4745ddaaf6a 217 void writeReg(regAddr reg, int value);
krobertson 10:c4745ddaaf6a 218 int readReg(regAddr reg);
krobertson 10:c4745ddaaf6a 219
krobertson 10:c4745ddaaf6a 220 void readAcc(void);
krobertson 10:c4745ddaaf6a 221 void readMag(void);
krobertson 10:c4745ddaaf6a 222 void read(void);
krobertson 10:c4745ddaaf6a 223
krobertson 10:c4745ddaaf6a 224 float get_heading(void);
krobertson 10:c4745ddaaf6a 225 template <typename T> float get_heading(vector<T> from);
krobertson 10:c4745ddaaf6a 226
krobertson 10:c4745ddaaf6a 227 // vector functions
krobertson 10:c4745ddaaf6a 228 template <typename Ta, typename Tb, typename To> static void vector_cross(const vector<Ta> *a, const vector<Tb> *b, vector<To> *out);
krobertson 10:c4745ddaaf6a 229 template <typename Ta, typename Tb> static float vector_dot(const vector<Ta> *a,const vector<Tb> *b);
krobertson 10:c4745ddaaf6a 230 static void vector_normalize(vector<float> *a);
krobertson 10:c4745ddaaf6a 231
krobertson 10:c4745ddaaf6a 232 deviceType _device; // chip type (DLH, DLM, or DLHC)
krobertson 10:c4745ddaaf6a 233
krobertson 10:c4745ddaaf6a 234 private:
krobertson 10:c4745ddaaf6a 235 static const int dummy_reg_count = 6;
krobertson 10:c4745ddaaf6a 236 regAddr translated_regs[dummy_reg_count + 1]; // index 0 not used
krobertson 10:c4745ddaaf6a 237
krobertson 10:c4745ddaaf6a 238 int testReg(regAddr reg);
krobertson 10:c4745ddaaf6a 239 };
krobertson 10:c4745ddaaf6a 240
krobertson 10:c4745ddaaf6a 241 #endif