Zhan Tu
/
fish_control
fish
Diff: LSM303DLHC/LSM303DLHC.cpp
- Revision:
- 0:561f7672eaad
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM303DLHC/LSM303DLHC.cpp Wed Jun 14 20:22:45 2017 +0000 @@ -0,0 +1,134 @@ +/** LSM303DLHC Interface Library + * + * base on code by Michael Shimniok http://bot-thoughts.com + * + * and on test program by @tosihisa and + * + * and on Pololu sample library for LSM303DLHC breakout by ryantm: + * + * Copyright (c) 2011 Pololu Corporation. For more information, see + * + * http://www.pololu.com/ + * http://forum.pololu.com/ + * + * 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 + * restriction, including without limitation the rights to use, + * copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following + * conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES + * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT + * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR + * OTHER DEALINGS IN THE SOFTWARE. + */ +#include "mbed.h" +#include "LSM303DLHC.h" + + +const int addr_acc = 0x32; +const int addr_mag = 0x3c; + +enum REG_ADDRS { + /* --- Mag --- */ + CRA_REG_M = 0x00, + CRB_REG_M = 0x01, + MR_REG_M = 0x02, + OUT_X_M = 0x03, + OUT_Y_M = 0x05, + OUT_Z_M = 0x07, + /* --- Acc --- */ + CTRL_REG1_A = 0x20, + CTRL_REG4_A = 0x23, + OUT_X_A = 0x28, + OUT_Y_A = 0x2A, + OUT_Z_A = 0x2C, +}; + +bool LSM303DLHC::write_reg(int addr_i2c,int addr_reg, char v) +{ + char data[2] = {addr_reg, v}; + return LSM303DLHC::_LSM303.write(addr_i2c, data, 2) == 0; +} + +bool LSM303DLHC::read_reg(int addr_i2c,int addr_reg, char *v) +{ + char data = addr_reg; + bool result = false; + + __disable_irq(); + if ((_LSM303.write(addr_i2c, &data, 1) == 0) && (_LSM303.read(addr_i2c, &data, 1) == 0)){ + *v = data; + result = true; + } + __enable_irq(); + return result; +} + + +LSM303DLHC::LSM303DLHC(PinName sda, PinName scl): + _LSM303(sda, scl) +{ + char reg_v; + _LSM303.frequency(100000); + + reg_v = 0; + + reg_v |= 0x27; /* 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 */ + write_reg(addr_acc,CTRL_REG4_A,reg_v); + + /* -- mag --- */ + reg_v = 0; + reg_v |= 0x04 << 2; /* Minimum data output rate = 15Hz */ + write_reg(addr_mag,CRA_REG_M,reg_v); + + reg_v = 0; + reg_v |= 0x01 << 5; /* +-1.3Gauss */ + //reg_v |= 0x07 << 5; /* +-8.1Gauss */ + write_reg(addr_mag,CRB_REG_M,reg_v); + + reg_v = 0; /* Continuous-conversion mode */ + write_reg(addr_mag,MR_REG_M,reg_v); +} + + +bool LSM303DLHC::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) { + char acc[6], mag[6]; + + if (recv(addr_acc, OUT_X_A, acc, 6) && recv(addr_mag, OUT_X_M, mag, 6)) { + *ax = float(short(acc[1] << 8 | acc[0]))/8192; //32768/4=8192 + *ay = float(short(acc[3] << 8 | acc[2]))/8192; + *az = float(short(acc[5] << 8 | acc[4]))/8192; + //full scale magnetic readings are from -2048 to 2047 + //gain is x,y =1100; z = 980 LSB/gauss + *mx = float(short(mag[0] << 8 | mag[1]))/1100; + *mz = float(short(mag[2] << 8 | mag[3]))/980; + *my = float(short(mag[4] << 8 | mag[5]))/1100; + + return true; + } + + return false; +} + + +bool LSM303DLHC::recv(char sad, char sub, char *buf, int length) { + if (length > 1) sub |= 0x80; + + return _LSM303.write(sad, &sub, 1, true) == 0 && _LSM303.read(sad, buf, length) == 0; +}