Zhan Tu / Mbed 2 deprecated fish_control

fish

Dependencies:   mbed

LSM303DLM/LSM303DLM.cpp@0:561f7672eaad, 2017-06-14 (annotated)

Committer:
tzxl10000
Date:
Wed Jun 14 20:22:45 2017 +0000
Revision:
0:561f7672eaad
fish;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tzxl10000 0:561f7672eaad 1 #include "mbed.h"
tzxl10000 0:561f7672eaad 2 #include "LSM303DLM.h"
tzxl10000 0:561f7672eaad 3 #include "stdio.h"
tzxl10000 0:561f7672eaad 4
tzxl10000 0:561f7672eaad 5 #define MAG_ADDRESS 0x3C
tzxl10000 0:561f7672eaad 6 #define ACC_ADDRESS 0x30
tzxl10000 0:561f7672eaad 7
tzxl10000 0:561f7672eaad 8 LSM303DLM::LSM303DLM(PinName sda, PinName scl): _device(sda, scl)
tzxl10000 0:561f7672eaad 9 {
tzxl10000 0:561f7672eaad 10 _device.frequency(400000);
tzxl10000 0:561f7672eaad 11 init();
tzxl10000 0:561f7672eaad 12 }
tzxl10000 0:561f7672eaad 13
tzxl10000 0:561f7672eaad 14 void LSM303DLM::init()
tzxl10000 0:561f7672eaad 15 {
tzxl10000 0:561f7672eaad 16 // init mag
tzxl10000 0:561f7672eaad 17 // continuous conversion mode
tzxl10000 0:561f7672eaad 18 _data[0] = MR_REG_M;
tzxl10000 0:561f7672eaad 19 _data[1] = 0x00;
tzxl10000 0:561f7672eaad 20 _device.write(MAG_ADDRESS, _data, 2);
tzxl10000 0:561f7672eaad 21 // data rate 75hz
tzxl10000 0:561f7672eaad 22 _data[0] = CRA_REG_M;
tzxl10000 0:561f7672eaad 23 _data[1] = 0x18; // 0b00011000
tzxl10000 0:561f7672eaad 24 _device.write(MAG_ADDRESS, _data, 2);
tzxl10000 0:561f7672eaad 25 // init acc
tzxl10000 0:561f7672eaad 26 // data rate 100hz
tzxl10000 0:561f7672eaad 27 _data[0] = CTRL_REG1_A;
tzxl10000 0:561f7672eaad 28 _data[1] = 0x2F; // 0b00101111
tzxl10000 0:561f7672eaad 29 _device.write(ACC_ADDRESS, _data, 2);
tzxl10000 0:561f7672eaad 30 }
tzxl10000 0:561f7672eaad 31
tzxl10000 0:561f7672eaad 32 void LSM303DLM::read(int a[3], int m[3])
tzxl10000 0:561f7672eaad 33 {
tzxl10000 0:561f7672eaad 34 readAcc(a);
tzxl10000 0:561f7672eaad 35 readMag(m);
tzxl10000 0:561f7672eaad 36 }
tzxl10000 0:561f7672eaad 37
tzxl10000 0:561f7672eaad 38 void LSM303DLM::readAcc(int a[3])
tzxl10000 0:561f7672eaad 39 {
tzxl10000 0:561f7672eaad 40 _data[0] = OUT_X_L_A | (1<<7);
tzxl10000 0:561f7672eaad 41 _device.write(ACC_ADDRESS, _data, 1);
tzxl10000 0:561f7672eaad 42 _device.read(ACC_ADDRESS, _data, 6);
tzxl10000 0:561f7672eaad 43
tzxl10000 0:561f7672eaad 44 // 12-bit values
tzxl10000 0:561f7672eaad 45 a[0] = (short) (_data[1]<<8 | _data[0]) >> 4;
tzxl10000 0:561f7672eaad 46 a[1] = (short) (_data[3]<<8 | _data[2]) >> 4;
tzxl10000 0:561f7672eaad 47 a[2] = (short) (_data[5]<<8 | _data[4]) >> 4;
tzxl10000 0:561f7672eaad 48 }
tzxl10000 0:561f7672eaad 49
tzxl10000 0:561f7672eaad 50 void LSM303DLM::readMag(int m[3])
tzxl10000 0:561f7672eaad 51 {
tzxl10000 0:561f7672eaad 52 _data[0] = OUT_X_H_M;
tzxl10000 0:561f7672eaad 53 _device.write(MAG_ADDRESS, _data, 1);
tzxl10000 0:561f7672eaad 54 _device.read(MAG_ADDRESS, _data, 6);
tzxl10000 0:561f7672eaad 55
tzxl10000 0:561f7672eaad 56 m[0] = (short) (_data[0]<<8 | _data[1]); // X
tzxl10000 0:561f7672eaad 57 m[1] = (short) (_data[4]<<8 | _data[5]); // Y
tzxl10000 0:561f7672eaad 58 m[2] = (short) (_data[2]<<8 | _data[3]); // Z
tzxl10000 0:561f7672eaad 59 }
tzxl10000 0:561f7672eaad 60
tzxl10000 0:561f7672eaad 61 void LSM303DLM::setScale(float x, float y, float z)
tzxl10000 0:561f7672eaad 62 {
tzxl10000 0:561f7672eaad 63 scale[0] = x;
tzxl10000 0:561f7672eaad 64 scale[1] = y;
tzxl10000 0:561f7672eaad 65 scale[2] = z;
tzxl10000 0:561f7672eaad 66 }
tzxl10000 0:561f7672eaad 67
tzxl10000 0:561f7672eaad 68 void LSM303DLM::setOffset(float x, float y, float z)
tzxl10000 0:561f7672eaad 69 {
tzxl10000 0:561f7672eaad 70 offset[0] = x;
tzxl10000 0:561f7672eaad 71 offset[1] = y;
tzxl10000 0:561f7672eaad 72 offset[2] = z;
tzxl10000 0:561f7672eaad 73 }