Toshihisa T / Mbed 2 deprecated LSM303DLHTest

LSM303DLH Test Program for get angle.

Dependencies:   mbed

LSM303DLH/LSM303DLH.h@4:3c677edffb13, 2012-05-06 (annotated)

Committer:
tosihisa
Date:
Sun May 06 05:30:44 2012 +0000
Revision:
4:3c677edffb13
Parent:
3:f3796683b4c9 
cut space.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tosihisa 3:f3796683b4c9 1 #include "mbed.h"
tosihisa 3:f3796683b4c9 2 #include "vector.h"
tosihisa 3:f3796683b4c9 3
tosihisa 3:f3796683b4c9 4 #ifndef M_PI
tosihisa 3:f3796683b4c9 5 #define M_PI 3.14159265358979323846
tosihisa 3:f3796683b4c9 6 #endif
tosihisa 3:f3796683b4c9 7
tosihisa 3:f3796683b4c9 8 /** Tilt-compensated compass interface Library for the STMicro LSM303DLH 3-axis magnetometer, 3-axis acceleromter
tosihisa 3:f3796683b4c9 9 *
tosihisa 3:f3796683b4c9 10 * Michael Shimniok http://bot-thoughts.com
tosihisa 3:f3796683b4c9 11 *
tosihisa 3:f3796683b4c9 12 * Based on test program by @tosihisa and
tosihisa 3:f3796683b4c9 13 *
tosihisa 3:f3796683b4c9 14 * Pololu sample library for LSM303DLH breakout by ryantm:
tosihisa 3:f3796683b4c9 15 *
tosihisa 3:f3796683b4c9 16 * Copyright (c) 2011 Pololu Corporation. For more information, see
tosihisa 3:f3796683b4c9 17 *
tosihisa 3:f3796683b4c9 18 * http://www.pololu.com/
tosihisa 3:f3796683b4c9 19 * http://forum.pololu.com/
tosihisa 3:f3796683b4c9 20 *
tosihisa 3:f3796683b4c9 21 * Permission is hereby granted, free of charge, to any person
tosihisa 3:f3796683b4c9 22 * obtaining a copy of this software and associated documentation
tosihisa 3:f3796683b4c9 23 * files (the "Software"), to deal in the Software without
tosihisa 3:f3796683b4c9 24 * restriction, including without limitation the rights to use,
tosihisa 3:f3796683b4c9 25 * copy, modify, merge, publish, distribute, sublicense, and/or sell
tosihisa 3:f3796683b4c9 26 * copies of the Software, and to permit persons to whom the
tosihisa 3:f3796683b4c9 27 * Software is furnished to do so, subject to the following
tosihisa 3:f3796683b4c9 28 * conditions:
tosihisa 3:f3796683b4c9 29 *
tosihisa 3:f3796683b4c9 30 * The above copyright notice and this permission notice shall be
tosihisa 3:f3796683b4c9 31 * included in all copies or substantial portions of the Software.
tosihisa 3:f3796683b4c9 32 *
tosihisa 3:f3796683b4c9 33 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
tosihisa 3:f3796683b4c9 34 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
tosihisa 3:f3796683b4c9 35 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
tosihisa 3:f3796683b4c9 36 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
tosihisa 3:f3796683b4c9 37 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
tosihisa 3:f3796683b4c9 38 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
tosihisa 3:f3796683b4c9 39 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
tosihisa 3:f3796683b4c9 40 * OTHER DEALINGS IN THE SOFTWARE.
tosihisa 3:f3796683b4c9 41 *
tosihisa 3:f3796683b4c9 42 * @code
tosihisa 3:f3796683b4c9 43 * #include "mbed.h"
tosihisa 3:f3796683b4c9 44 * #include "LSM303DLH.h"
tosihisa 3:f3796683b4c9 45 *
tosihisa 3:f3796683b4c9 46 * Serial debug(USBTX,USBRX);
tosihisa 3:f3796683b4c9 47 * LSM303DLH compass(p28, p27);
tosihisa 3:f3796683b4c9 48 *
tosihisa 3:f3796683b4c9 49 * int main() {
tosihisa 3:f3796683b4c9 50 * float hdg;
tosihisa 3:f3796683b4c9 51 * debug.format(8,Serial::None,1);
tosihisa 3:f3796683b4c9 52 * debug.baud(115200);
tosihisa 3:f3796683b4c9 53 * debug.printf("LSM303DLH Test\x0d\x0a");
tosihisa 3:f3796683b4c9 54 * compass.setOffset(29.50, -0.50, 4.00); // example calibration
tosihisa 3:f3796683b4c9 55 * compass.setScale(1.00, 1.03, 1.21); // example calibration
tosihisa 3:f3796683b4c9 56 * while(1) {
tosihisa 3:f3796683b4c9 57 * hdg = compass.heading();
tosihisa 3:f3796683b4c9 58 * debug.printf("Heading: %.2f\n", hdg);
tosihisa 3:f3796683b4c9 59 * wait(0.1);
tosihisa 3:f3796683b4c9 60 * }
tosihisa 3:f3796683b4c9 61 * }
tosihisa 3:f3796683b4c9 62 * @endcode
tosihisa 3:f3796683b4c9 63 */
tosihisa 3:f3796683b4c9 64 class LSM303DLH {
tosihisa 3:f3796683b4c9 65 public:
tosihisa 3:f3796683b4c9 66 /** Create a new interface for an LSM303DLH
tosihisa 3:f3796683b4c9 67 *
tosihisa 3:f3796683b4c9 68 * @param sda is the pin for the I2C SDA line
tosihisa 3:f3796683b4c9 69 * @param scl is the pin for the I2C SCL line
tosihisa 3:f3796683b4c9 70 */
tosihisa 3:f3796683b4c9 71 LSM303DLH(PinName sda, PinName scl);
tosihisa 3:f3796683b4c9 72
tosihisa 3:f3796683b4c9 73 /** sets the x, y, and z offset corrections for hard iron calibration
tosihisa 3:f3796683b4c9 74 *
tosihisa 3:f3796683b4c9 75 * Calibration details here:
tosihisa 3:f3796683b4c9 76 * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
tosihisa 3:f3796683b4c9 77 *
tosihisa 3:f3796683b4c9 78 * If you gather raw magnetometer data and find, for example, x is offset
tosihisa 3:f3796683b4c9 79 * by hard iron by -20 then pass +20 to this member function to correct
tosihisa 3:f3796683b4c9 80 * for hard iron.
tosihisa 3:f3796683b4c9 81 *
tosihisa 3:f3796683b4c9 82 * @param x is the offset correction for the x axis
tosihisa 3:f3796683b4c9 83 * @param y is the offset correction for the y axis
tosihisa 3:f3796683b4c9 84 * @param z is the offset correction for the z axis
tosihisa 3:f3796683b4c9 85 */
tosihisa 3:f3796683b4c9 86 void setOffset(float x, float y, float z);
tosihisa 3:f3796683b4c9 87
tosihisa 3:f3796683b4c9 88 /** sets the scale factor for the x, y, and z axes
tosihisa 3:f3796683b4c9 89 *
tosihisa 3:f3796683b4c9 90 * Calibratio details here:
tosihisa 3:f3796683b4c9 91 * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
tosihisa 3:f3796683b4c9 92 *
tosihisa 3:f3796683b4c9 93 * Sensitivity of the three axes is never perfectly identical and this
tosihisa 3:f3796683b4c9 94 * function can help to correct differences in sensitivity. You're
tosihisa 3:f3796683b4c9 95 * supplying a multipler such that x, y and z will be normalized to the
tosihisa 3:f3796683b4c9 96 * same max/min values
tosihisa 3:f3796683b4c9 97 */
tosihisa 3:f3796683b4c9 98 void setScale(float x, float y, float z);
tosihisa 3:f3796683b4c9 99
tosihisa 3:f3796683b4c9 100 /** read the raw accelerometer and compass values
tosihisa 3:f3796683b4c9 101 *
tosihisa 3:f3796683b4c9 102 * @param a is the accelerometer 3d vector, written by the function
tosihisa 3:f3796683b4c9 103 * @param m is the magnetometer 3d vector, written by the function
tosihisa 3:f3796683b4c9 104 */
tosihisa 3:f3796683b4c9 105 void read(vector &a, vector &m);
tosihisa 3:f3796683b4c9 106
tosihisa 3:f3796683b4c9 107 /** returns the magnetic heading with respect to the y axis
tosihisa 3:f3796683b4c9 108 *
tosihisa 3:f3796683b4c9 109 */
tosihisa 3:f3796683b4c9 110 float heading(void);
tosihisa 3:f3796683b4c9 111
tosihisa 3:f3796683b4c9 112 /** returns the heading with respect to the specified vector
tosihisa 3:f3796683b4c9 113 *
tosihisa 3:f3796683b4c9 114 */
tosihisa 3:f3796683b4c9 115 float heading(vector from);
tosihisa 3:f3796683b4c9 116
tosihisa 3:f3796683b4c9 117 /** sets the I2C bus frequency
tosihisa 3:f3796683b4c9 118 *
tosihisa 3:f3796683b4c9 119 * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000)
tosihisa 3:f3796683b4c9 120 */
tosihisa 3:f3796683b4c9 121 void frequency(int hz);
tosihisa 3:f3796683b4c9 122
tosihisa 3:f3796683b4c9 123 private:
tosihisa 3:f3796683b4c9 124 I2C _compass;
tosihisa 3:f3796683b4c9 125 float _offset_x;
tosihisa 3:f3796683b4c9 126 float _offset_y;
tosihisa 3:f3796683b4c9 127 float _offset_z;
tosihisa 3:f3796683b4c9 128 float _scale_x;
tosihisa 3:f3796683b4c9 129 float _scale_y;
tosihisa 3:f3796683b4c9 130 float _scale_z;
tosihisa 3:f3796683b4c9 131 long _filt_ax;
tosihisa 3:f3796683b4c9 132 long _filt_ay;
tosihisa 3:f3796683b4c9 133 long _filt_az;
tosihisa 3:f3796683b4c9 134
tosihisa 3:f3796683b4c9 135 bool write_reg(int addr_i2c,int addr_reg, char v);
tosihisa 3:f3796683b4c9 136 bool read_reg(int addr_i2c,int addr_reg, char *v);
tosihisa 3:f3796683b4c9 137 bool read_reg_short(int addr_i2c,int addr_reg, short *v);
tosihisa 3:f3796683b4c9 138 };