Diff: LSM303DLHC.cpp

Revision:

6:0b1dad2f6270

Parent:

5:ee458711d467

Child:

7:1dabdf7beada

--- a/LSM303DLHC.cpp	Wed Feb 03 20:08:41 2016 +0000
+++ b/LSM303DLHC.cpp	Thu Aug 23 18:11:09 2018 +0000
@@ -11,6 +11,8 @@
  * http://www.pololu.com/
  * http://forum.pololu.com/
  *
+ * FREE FALL INTERRUPT CODE ADDED BY TASOS CHARISIS
+ *
  * Permission is hereby granted, free of charge, to any person
  * obtaining a copy of this software and associated documentation
  * files (the "Software"), to deal in the Software without
@@ -49,7 +51,13 @@
     OUT_Z_M     = 0x07,
     /* --- Acc --- */
     CTRL_REG1_A = 0x20,
+    CTRL_REG3_A = 0x22,
     CTRL_REG4_A = 0x23,
+    CTRL_REG5_A = 0x24,
+    REFERENCE_A = 0x26,
+    INT1_CFG_A  = 0x30,
+    INT1_THS_A  = 0x32,
+    INT1_DURATION_A = 0x33,
     OUT_X_A     = 0x28,
     OUT_Y_A     = 0x2A,
     OUT_Z_A     = 0x2C,
@@ -84,17 +92,17 @@
         
     reg_v = 0;
     
-    reg_v |= 0x37;          /* X/Y/Z axis enable. */
+    reg_v |= 0x57;          /* Normal mode 100 Hz X/Y/Z axis enable. */
     write_reg(addr_acc,CTRL_REG1_A,reg_v);
 
     reg_v = 0;
    // reg_v |= 0x01 << 6;     /* 1: data MSB @ lower address */
-    reg_v = 0x01 << 4;     /* +/- 4g */
+    reg_v = 0x10 << 4;     /* +/- 8g */
     write_reg(addr_acc,CTRL_REG4_A,reg_v);
 
     /* -- mag --- */
     reg_v = 0;
-    reg_v |= 0x06 << 2;     /* Minimum data output rate = 15Hz */
+    reg_v |= 0x06 << 2;     /* Minimum magnetic data output rate = 75Hz */
     write_reg(addr_mag,CRA_REG_M,reg_v);
 
     reg_v = 0;
@@ -104,6 +112,23 @@
 
     reg_v = 0;              /* Continuous-conversion mode */
     write_reg(addr_mag,MR_REG_M,reg_v);
+
+/** ------------------------FREE FALL INTERRUPT SETTINGS-------------------------------------------
+--------------------CALIBRATION VALUES ARE g THRESHOLD AND DURATION----------------------------------
+**/
+    
+    //Setup Free Fall INT as INT1
+        reg_v = 0x40;     /* AOI1 interrupt on INT1 */
+        write_reg(addr_acc,CTRL_REG3_A,reg_v);  
+        
+        reg_v = 0x32;   /* 50 Counts --> 0.2g at +- 8g scale (4mg/LSB*/
+        write_reg(addr_acc,INT1_THS_A,reg_v); 
+        
+        reg_v = 0x5;   /* 5 Counts --> 50ms duration at 100Hz sampling */
+        write_reg(addr_acc,INT1_DURATION_A,reg_v); 
+        
+        reg_v = 0x95;   /* Enable AOI and low events not high on all axes */
+        write_reg(addr_acc,INT1_CFG_A,reg_v);
 }
 
 
@@ -120,10 +145,10 @@
         *mz = float(short(mag[2] << 8 | mag[3]))/980;
         *my = float(short(mag[4] << 8 | mag[5]))/1100;
  
-        return true;
+        return 1;
     }
  
-    return false;
+    return 0;
 }