Diff: adapt/compass.h

Revision:

10:c4745ddaaf6a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/adapt/compass.h	Thu Apr 03 17:24:53 2014 +0000
@@ -0,0 +1,241 @@
+/**
+* \brief Adaptor for the LSM303 integrated compass and accelerometer
+**/
+
+#ifndef _COMPASS_H_
+#define _COMPASS_H_
+
+#include "mbed.h"
+#include <SPI.h>
+#include <stdint.h>
+
+typedef unsigned char byte;   
+
+class Compass{
+  public:
+
+    template <typename T> struct vector{
+        T x, y, z;
+    };
+
+    /**
+    * \brief LSM303 devices
+    **/
+    enum deviceType { device_DLH, device_DLM, device_DLHC, device_D, device_auto };
+
+    /**
+    * \brief register addresses
+    **/
+    enum regAddr{
+      TEMP_OUT_L        = 0x05, // D
+      TEMP_OUT_H        = 0x06, // D
+
+      STATUS_M          = 0x07, // D
+
+      INT_CTRL_M        = 0x12, // D
+      INT_SRC_M         = 0x13, // D
+      INT_THS_L_M       = 0x14, // D
+      INT_THS_H_M       = 0x15, // D
+
+      OFFSET_X_L_M      = 0x16, // D
+      OFFSET_X_H_M      = 0x17, // D
+      OFFSET_Y_L_M      = 0x18, // D
+      OFFSET_Y_H_M      = 0x19, // D
+      OFFSET_Z_L_M      = 0x1A, // D
+      OFFSET_Z_H_M      = 0x1B, // D
+      REFERENCE_X       = 0x1C, // D
+      REFERENCE_Y       = 0x1D, // D
+      REFERENCE_Z       = 0x1E, // D
+
+      CTRL0             = 0x1F, // D
+      CTRL1             = 0x20, // D
+      CTRL_REG1_A       = 0x20, // DLH, DLM, DLHC
+      CTRL2             = 0x21, // D
+      CTRL_REG2_A       = 0x21, // DLH, DLM, DLHC
+      CTRL3             = 0x22, // D
+      CTRL_REG3_A       = 0x22, // DLH, DLM, DLHC
+      CTRL4             = 0x23, // D
+      CTRL_REG4_A       = 0x23, // DLH, DLM, DLHC
+      CTRL5             = 0x24, // D
+      CTRL_REG5_A       = 0x24, // DLH, DLM, DLHC
+      CTRL6             = 0x25, // D
+      CTRL_REG6_A       = 0x25, // DLHC
+      HP_FILTER_RESET_A = 0x25, // DLH, DLM
+      CTRL7             = 0x26, // D
+      REFERENCE_A       = 0x26, // DLH, DLM, DLHC
+      STATUS_A          = 0x27, // D
+      STATUS_REG_A      = 0x27, // DLH, DLM, DLHC
+
+      OUT_X_L_A         = 0x28,
+      OUT_X_H_A         = 0x29,
+      OUT_Y_L_A         = 0x2A,
+      OUT_Y_H_A         = 0x2B,
+      OUT_Z_L_A         = 0x2C,
+      OUT_Z_H_A         = 0x2D,
+
+      FIFO_CTRL         = 0x2E, // D
+      FIFO_CTRL_REG_A   = 0x2E, // DLHC
+      FIFO_SRC          = 0x2F, // D
+      FIFO_SRC_REG_A    = 0x2F, // DLHC
+
+      IG_CFG1           = 0x30, // D
+      INT1_CFG_A        = 0x30, // DLH, DLM, DLHC
+      IG_SRC1           = 0x31, // D
+      INT1_SRC_A        = 0x31, // DLH, DLM, DLHC
+      IG_THS1           = 0x32, // D
+      INT1_THS_A        = 0x32, // DLH, DLM, DLHC
+      IG_DUR1           = 0x33, // D
+      INT1_DURATION_A   = 0x33, // DLH, DLM, DLHC
+      IG_CFG2           = 0x34, // D
+      INT2_CFG_A        = 0x34, // DLH, DLM, DLHC
+      IG_SRC2           = 0x35, // D
+      INT2_SRC_A        = 0x35, // DLH, DLM, DLHC
+      IG_THS2           = 0x36, // D
+      INT2_THS_A        = 0x36, // DLH, DLM, DLHC
+      IG_DUR2           = 0x37, // D
+      INT2_DURATION_A   = 0x37, // DLH, DLM, DLHC
+
+      CLICK_CFG         = 0x38, // D
+      CLICK_CFG_A       = 0x38, // DLHC
+      CLICK_SRC         = 0x39, // D
+      CLICK_SRC_A       = 0x39, // DLHC
+      CLICK_THS         = 0x3A, // D
+      CLICK_THS_A       = 0x3A, // DLHC
+      TIME_LIMIT        = 0x3B, // D
+      TIME_LIMIT_A      = 0x3B, // DLHC
+      TIME_LATENCY      = 0x3C, // D
+      TIME_LATENCY_A    = 0x3C, // DLHC
+      TIME_WINDOW       = 0x3D, // D
+      TIME_WINDOW_A     = 0x3D, // DLHC
+
+      Act_THS           = 0x3E, // D
+      Act_DUR           = 0x3F, // D
+
+      CRA_REG_M         = 0x00, // DLH, DLM, DLHC
+      CRB_REG_M         = 0x01, // DLH, DLM, DLHC
+      MR_REG_M          = 0x02, // DLH, DLM, DLHC
+
+      SR_REG_M          = 0x09, // DLH, DLM, DLHC
+      IRA_REG_M         = 0x0A, // DLH, DLM, DLHC
+      IRB_REG_M         = 0x0B, // DLH, DLM, DLHC
+      IRC_REG_M         = 0x0C, // DLH, DLM, DLHC
+
+      WHO_AM_I_M        = 0x0F, // DLM
+      WHO_AM_I          = 0x0F, // D
+
+      TEMP_OUT_H_M      = 0x31, // DLHC
+      TEMP_OUT_L_M      = 0x32, // DLHC
+
+
+      // dummy addresses for registers in different locations on different devices;
+      // the library translates these based on device type
+      // value with sign flipped is used as index into translated_regs array
+
+      OUT_X_H_M         = -1,
+      OUT_X_L_M         = -2,
+      OUT_Y_H_M         = -3,
+      OUT_Y_L_M         = -4,
+      OUT_Z_H_M         = -5,
+      OUT_Z_L_M         = -6,
+      // update dummy_reg_count if registers are added here!
+
+      // device-specific register addresses
+      DLH_OUT_X_H_M     = 0x03,
+      DLH_OUT_X_L_M     = 0x04,
+      DLH_OUT_Y_H_M     = 0x05,
+      DLH_OUT_Y_L_M     = 0x06,
+      DLH_OUT_Z_H_M     = 0x07,
+      DLH_OUT_Z_L_M     = 0x08,
+
+      DLM_OUT_X_H_M     = 0x03,
+      DLM_OUT_X_L_M     = 0x04,
+      DLM_OUT_Z_H_M     = 0x05,
+      DLM_OUT_Z_L_M     = 0x06,
+      DLM_OUT_Y_H_M     = 0x07,
+      DLM_OUT_Y_L_M     = 0x08,
+
+      DLHC_OUT_X_H_M    = 0x03,
+      DLHC_OUT_X_L_M    = 0x04,
+      DLHC_OUT_Z_H_M    = 0x05,
+      DLHC_OUT_Z_L_M    = 0x06,
+      DLHC_OUT_Y_H_M    = 0x07,
+      DLHC_OUT_Y_L_M    = 0x08,
+
+      D_OUT_X_L_M       = 0x08,
+      D_OUT_X_H_M       = 0x09,
+      D_OUT_Y_L_M       = 0x0A,
+      D_OUT_Y_H_M       = 0x0B,
+      D_OUT_Z_L_M       = 0x0C,
+      D_OUT_Z_H_M       = 0x0D
+    };
+
+    /**
+    * \brief accelerometer readings
+    **/
+    vector<int16_t> a;
+    /**
+    * \brief magnetometer readings
+    **/
+    vector<int16_t> m;
+    /**
+    * \brief maximum magnetometer values (calibration values)
+    **/
+    vector<int16_t> m_max;
+    /**
+    * \brief minimum magnetometer values (calibration values)
+    **/
+    vector<int16_t> m_min;
+
+    /**
+    * \brief Compass constructor
+    **/
+    Compass(void);
+
+    /**
+    * \brief setup SPI, determine device type, and setup register addresses for device
+    **/
+    bool init(deviceType device = device_auto);
+    
+    /**
+    * \brief get the device type
+    **/
+    int getDeviceType(void) { return _device; }
+
+    /**
+    * \brief enable default settings (writes default values to control registers)
+    **/
+    void enableDefault(void);
+
+    /**
+    * \brief write to an accelerometer register
+    **/
+    void writeAccReg(regAddr reg, int value);
+    int readAccReg(regAddr reg);
+    void writeMagReg(regAddr reg, int value);
+    int readMagReg(regAddr reg);
+
+    void writeReg(regAddr reg, int value);
+    int readReg(regAddr reg);
+
+    void readAcc(void);
+    void readMag(void);
+    void read(void);
+
+    float get_heading(void);
+    template <typename T> float get_heading(vector<T> from);
+
+    // vector functions
+    template <typename Ta, typename Tb, typename To> static void vector_cross(const vector<Ta> *a, const vector<Tb> *b, vector<To> *out);
+    template <typename Ta, typename Tb> static float vector_dot(const vector<Ta> *a,const vector<Tb> *b);
+    static void vector_normalize(vector<float> *a);
+
+    deviceType _device; // chip type (DLH, DLM, or DLHC)
+
+private:  
+    static const int dummy_reg_count = 6;
+    regAddr translated_regs[dummy_reg_count + 1]; // index 0 not used
+
+    int testReg(regAddr reg);
+};
+
+#endif
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