Tasos Ch / LSM303DLHC

LSM303DLHC library with Free Fall Interrupt Initialisation.

Dependents:   Fall_Detect

Fork of LSM303DLHC by brian claus

LSM303DLHC.cpp@6:0b1dad2f6270, 2018-08-23 (annotated)

Committer:
tash1000
Date:
Thu Aug 23 18:11:09 2018 +0000
Revision:
6:0b1dad2f6270
Parent:
5:ee458711d467
Child:
7:1dabdf7beada
V 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bclaus 3:4d9465e7e10e 1 /** LSM303DLHC Interface Library
bclaus 3:4d9465e7e10e 2 *
bclaus 3:4d9465e7e10e 3 * base on code by Michael Shimniok http://bot-thoughts.com
bclaus 3:4d9465e7e10e 4 *
bclaus 3:4d9465e7e10e 5 * and on test program by @tosihisa and
bclaus 3:4d9465e7e10e 6 *
bclaus 3:4d9465e7e10e 7 * and on Pololu sample library for LSM303DLHC breakout by ryantm:
bclaus 3:4d9465e7e10e 8 *
bclaus 3:4d9465e7e10e 9 * Copyright (c) 2011 Pololu Corporation. For more information, see
bclaus 3:4d9465e7e10e 10 *
bclaus 3:4d9465e7e10e 11 * http://www.pololu.com/
bclaus 3:4d9465e7e10e 12 * http://forum.pololu.com/
bclaus 3:4d9465e7e10e 13 *
tash1000 6:0b1dad2f6270 14 * FREE FALL INTERRUPT CODE ADDED BY TASOS CHARISIS
tash1000 6:0b1dad2f6270 15 *
bclaus 3:4d9465e7e10e 16 * Permission is hereby granted, free of charge, to any person
bclaus 3:4d9465e7e10e 17 * obtaining a copy of this software and associated documentation
bclaus 3:4d9465e7e10e 18 * files (the "Software"), to deal in the Software without
bclaus 3:4d9465e7e10e 19 * restriction, including without limitation the rights to use,
bclaus 3:4d9465e7e10e 20 * copy, modify, merge, publish, distribute, sublicense, and/or sell
bclaus 3:4d9465e7e10e 21 * copies of the Software, and to permit persons to whom the
bclaus 3:4d9465e7e10e 22 * Software is furnished to do so, subject to the following
bclaus 3:4d9465e7e10e 23 * conditions:
bclaus 3:4d9465e7e10e 24 *
bclaus 3:4d9465e7e10e 25 * The above copyright notice and this permission notice shall be
bclaus 3:4d9465e7e10e 26 * included in all copies or substantial portions of the Software.
bclaus 3:4d9465e7e10e 27 *
bclaus 3:4d9465e7e10e 28 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
bclaus 3:4d9465e7e10e 29 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
bclaus 3:4d9465e7e10e 30 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
bclaus 3:4d9465e7e10e 31 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
bclaus 3:4d9465e7e10e 32 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
bclaus 3:4d9465e7e10e 33 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
bclaus 3:4d9465e7e10e 34 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
bclaus 3:4d9465e7e10e 35 * OTHER DEALINGS IN THE SOFTWARE.
bclaus 3:4d9465e7e10e 36 */
bclaus 3:4d9465e7e10e 37 #include "mbed.h"
bclaus 3:4d9465e7e10e 38 #include "LSM303DLHC.h"
bclaus 3:4d9465e7e10e 39
bclaus 3:4d9465e7e10e 40
bclaus 3:4d9465e7e10e 41 const int addr_acc = 0x32;
bclaus 3:4d9465e7e10e 42 const int addr_mag = 0x3c;
bclaus 3:4d9465e7e10e 43
bclaus 3:4d9465e7e10e 44 enum REG_ADDRS {
bclaus 3:4d9465e7e10e 45 /* --- Mag --- */
bclaus 3:4d9465e7e10e 46 CRA_REG_M = 0x00,
bclaus 3:4d9465e7e10e 47 CRB_REG_M = 0x01,
bclaus 3:4d9465e7e10e 48 MR_REG_M = 0x02,
bclaus 3:4d9465e7e10e 49 OUT_X_M = 0x03,
bclaus 3:4d9465e7e10e 50 OUT_Y_M = 0x05,
bclaus 3:4d9465e7e10e 51 OUT_Z_M = 0x07,
bclaus 3:4d9465e7e10e 52 /* --- Acc --- */
bclaus 3:4d9465e7e10e 53 CTRL_REG1_A = 0x20,
tash1000 6:0b1dad2f6270 54 CTRL_REG3_A = 0x22,
bclaus 3:4d9465e7e10e 55 CTRL_REG4_A = 0x23,
tash1000 6:0b1dad2f6270 56 CTRL_REG5_A = 0x24,
tash1000 6:0b1dad2f6270 57 REFERENCE_A = 0x26,
tash1000 6:0b1dad2f6270 58 INT1_CFG_A = 0x30,
tash1000 6:0b1dad2f6270 59 INT1_THS_A = 0x32,
tash1000 6:0b1dad2f6270 60 INT1_DURATION_A = 0x33,
bclaus 3:4d9465e7e10e 61 OUT_X_A = 0x28,
bclaus 3:4d9465e7e10e 62 OUT_Y_A = 0x2A,
bclaus 3:4d9465e7e10e 63 OUT_Z_A = 0x2C,
bclaus 3:4d9465e7e10e 64 };
bclaus 3:4d9465e7e10e 65
bclaus 3:4d9465e7e10e 66 bool LSM303DLHC::write_reg(int addr_i2c,int addr_reg, char v)
bclaus 3:4d9465e7e10e 67 {
bclaus 3:4d9465e7e10e 68 char data[2] = {addr_reg, v};
bclaus 3:4d9465e7e10e 69 return LSM303DLHC::_LSM303.write(addr_i2c, data, 2) == 0;
bclaus 3:4d9465e7e10e 70 }
bclaus 3:4d9465e7e10e 71
bclaus 3:4d9465e7e10e 72 bool LSM303DLHC::read_reg(int addr_i2c,int addr_reg, char *v)
bclaus 3:4d9465e7e10e 73 {
bclaus 3:4d9465e7e10e 74 char data = addr_reg;
bclaus 3:4d9465e7e10e 75 bool result = false;
bclaus 3:4d9465e7e10e 76
bclaus 3:4d9465e7e10e 77 __disable_irq();
bclaus 3:4d9465e7e10e 78 if ((_LSM303.write(addr_i2c, &data, 1) == 0) && (_LSM303.read(addr_i2c, &data, 1) == 0)){
bclaus 3:4d9465e7e10e 79 *v = data;
bclaus 3:4d9465e7e10e 80 result = true;
bclaus 3:4d9465e7e10e 81 }
bclaus 3:4d9465e7e10e 82 __enable_irq();
bclaus 3:4d9465e7e10e 83 return result;
bclaus 3:4d9465e7e10e 84 }
bclaus 3:4d9465e7e10e 85
bclaus 3:4d9465e7e10e 86
bclaus 3:4d9465e7e10e 87 LSM303DLHC::LSM303DLHC(PinName sda, PinName scl):
bclaus 3:4d9465e7e10e 88 _LSM303(sda, scl)
bclaus 3:4d9465e7e10e 89 {
bclaus 3:4d9465e7e10e 90 char reg_v;
bclaus 5:ee458711d467 91 _LSM303.frequency(200000);
bclaus 3:4d9465e7e10e 92
bclaus 3:4d9465e7e10e 93 reg_v = 0;
bclaus 3:4d9465e7e10e 94
tash1000 6:0b1dad2f6270 95 reg_v |= 0x57; /* Normal mode 100 Hz X/Y/Z axis enable. */
bclaus 3:4d9465e7e10e 96 write_reg(addr_acc,CTRL_REG1_A,reg_v);
bclaus 3:4d9465e7e10e 97
bclaus 3:4d9465e7e10e 98 reg_v = 0;
bclaus 3:4d9465e7e10e 99 // reg_v |= 0x01 << 6; /* 1: data MSB @ lower address */
tash1000 6:0b1dad2f6270 100 reg_v = 0x10 << 4; /* +/- 8g */
bclaus 3:4d9465e7e10e 101 write_reg(addr_acc,CTRL_REG4_A,reg_v);
bclaus 3:4d9465e7e10e 102
bclaus 3:4d9465e7e10e 103 /* -- mag --- */
bclaus 3:4d9465e7e10e 104 reg_v = 0;
tash1000 6:0b1dad2f6270 105 reg_v |= 0x06 << 2; /* Minimum magnetic data output rate = 75Hz */
bclaus 3:4d9465e7e10e 106 write_reg(addr_mag,CRA_REG_M,reg_v);
bclaus 3:4d9465e7e10e 107
bclaus 3:4d9465e7e10e 108 reg_v = 0;
bclaus 3:4d9465e7e10e 109 reg_v |= 0x01 << 5; /* +-1.3Gauss */
bclaus 3:4d9465e7e10e 110 //reg_v |= 0x07 << 5; /* +-8.1Gauss */
bclaus 3:4d9465e7e10e 111 write_reg(addr_mag,CRB_REG_M,reg_v);
bclaus 3:4d9465e7e10e 112
bclaus 3:4d9465e7e10e 113 reg_v = 0; /* Continuous-conversion mode */
bclaus 3:4d9465e7e10e 114 write_reg(addr_mag,MR_REG_M,reg_v);
tash1000 6:0b1dad2f6270 115
tash1000 6:0b1dad2f6270 116 /** ------------------------FREE FALL INTERRUPT SETTINGS-------------------------------------------
tash1000 6:0b1dad2f6270 117 --------------------CALIBRATION VALUES ARE g THRESHOLD AND DURATION----------------------------------
tash1000 6:0b1dad2f6270 118 **/
tash1000 6:0b1dad2f6270 119
tash1000 6:0b1dad2f6270 120 //Setup Free Fall INT as INT1
tash1000 6:0b1dad2f6270 121 reg_v = 0x40; /* AOI1 interrupt on INT1 */
tash1000 6:0b1dad2f6270 122 write_reg(addr_acc,CTRL_REG3_A,reg_v);
tash1000 6:0b1dad2f6270 123
tash1000 6:0b1dad2f6270 124 reg_v = 0x32; /* 50 Counts --> 0.2g at +- 8g scale (4mg/LSB*/
tash1000 6:0b1dad2f6270 125 write_reg(addr_acc,INT1_THS_A,reg_v);
tash1000 6:0b1dad2f6270 126
tash1000 6:0b1dad2f6270 127 reg_v = 0x5; /* 5 Counts --> 50ms duration at 100Hz sampling */
tash1000 6:0b1dad2f6270 128 write_reg(addr_acc,INT1_DURATION_A,reg_v);
tash1000 6:0b1dad2f6270 129
tash1000 6:0b1dad2f6270 130 reg_v = 0x95; /* Enable AOI and low events not high on all axes */
tash1000 6:0b1dad2f6270 131 write_reg(addr_acc,INT1_CFG_A,reg_v);
bclaus 3:4d9465e7e10e 132 }
bclaus 3:4d9465e7e10e 133
bclaus 3:4d9465e7e10e 134
bclaus 3:4d9465e7e10e 135 bool LSM303DLHC::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) {
bclaus 3:4d9465e7e10e 136 char acc[6], mag[6];
bclaus 3:4d9465e7e10e 137
bclaus 3:4d9465e7e10e 138 if (recv(addr_acc, OUT_X_A, acc, 6) && recv(addr_mag, OUT_X_M, mag, 6)) {
bclaus 3:4d9465e7e10e 139 *ax = float(short(acc[1] << 8 | acc[0]))/8192; //32768/4=8192
bclaus 3:4d9465e7e10e 140 *ay = float(short(acc[3] << 8 | acc[2]))/8192;
bclaus 3:4d9465e7e10e 141 *az = float(short(acc[5] << 8 | acc[4]))/8192;
bclaus 3:4d9465e7e10e 142 //full scale magnetic readings are from -2048 to 2047
bclaus 3:4d9465e7e10e 143 //gain is x,y =1100; z = 980 LSB/gauss
bclaus 3:4d9465e7e10e 144 *mx = float(short(mag[0] << 8 | mag[1]))/1100;
bclaus 3:4d9465e7e10e 145 *mz = float(short(mag[2] << 8 | mag[3]))/980;
bclaus 3:4d9465e7e10e 146 *my = float(short(mag[4] << 8 | mag[5]))/1100;
bclaus 3:4d9465e7e10e 147
tash1000 6:0b1dad2f6270 148 return 1;
bclaus 3:4d9465e7e10e 149 }
bclaus 3:4d9465e7e10e 150
tash1000 6:0b1dad2f6270 151 return 0;
bclaus 3:4d9465e7e10e 152 }
bclaus 3:4d9465e7e10e 153
bclaus 3:4d9465e7e10e 154
bclaus 3:4d9465e7e10e 155 bool LSM303DLHC::recv(char sad, char sub, char *buf, int length) {
bclaus 3:4d9465e7e10e 156 if (length > 1) sub |= 0x80;
bclaus 3:4d9465e7e10e 157
bclaus 3:4d9465e7e10e 158 return _LSM303.write(sad, &sub, 1, true) == 0 && _LSM303.read(sad, buf, length) == 0;
bclaus 3:4d9465e7e10e 159 }