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LSM303DLHC/LSM303DLHC.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
tzxl10000 | 0:561f7672eaad | 1 | /** LSM303DLHC Interface Library |
tzxl10000 | 0:561f7672eaad | 2 | * |
tzxl10000 | 0:561f7672eaad | 3 | * base on code by Michael Shimniok http://bot-thoughts.com |
tzxl10000 | 0:561f7672eaad | 4 | * |
tzxl10000 | 0:561f7672eaad | 5 | * and on test program by @tosihisa and |
tzxl10000 | 0:561f7672eaad | 6 | * |
tzxl10000 | 0:561f7672eaad | 7 | * and on Pololu sample library for LSM303DLHC breakout by ryantm: |
tzxl10000 | 0:561f7672eaad | 8 | * |
tzxl10000 | 0:561f7672eaad | 9 | * Copyright (c) 2011 Pololu Corporation. For more information, see |
tzxl10000 | 0:561f7672eaad | 10 | * |
tzxl10000 | 0:561f7672eaad | 11 | * http://www.pololu.com/ |
tzxl10000 | 0:561f7672eaad | 12 | * http://forum.pololu.com/ |
tzxl10000 | 0:561f7672eaad | 13 | * |
tzxl10000 | 0:561f7672eaad | 14 | * Permission is hereby granted, free of charge, to any person |
tzxl10000 | 0:561f7672eaad | 15 | * obtaining a copy of this software and associated documentation |
tzxl10000 | 0:561f7672eaad | 16 | * files (the "Software"), to deal in the Software without |
tzxl10000 | 0:561f7672eaad | 17 | * restriction, including without limitation the rights to use, |
tzxl10000 | 0:561f7672eaad | 18 | * copy, modify, merge, publish, distribute, sublicense, and/or sell |
tzxl10000 | 0:561f7672eaad | 19 | * copies of the Software, and to permit persons to whom the |
tzxl10000 | 0:561f7672eaad | 20 | * Software is furnished to do so, subject to the following |
tzxl10000 | 0:561f7672eaad | 21 | * conditions: |
tzxl10000 | 0:561f7672eaad | 22 | * |
tzxl10000 | 0:561f7672eaad | 23 | * The above copyright notice and this permission notice shall be |
tzxl10000 | 0:561f7672eaad | 24 | * included in all copies or substantial portions of the Software. |
tzxl10000 | 0:561f7672eaad | 25 | * |
tzxl10000 | 0:561f7672eaad | 26 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
tzxl10000 | 0:561f7672eaad | 27 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
tzxl10000 | 0:561f7672eaad | 28 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
tzxl10000 | 0:561f7672eaad | 29 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
tzxl10000 | 0:561f7672eaad | 30 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
tzxl10000 | 0:561f7672eaad | 31 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
tzxl10000 | 0:561f7672eaad | 32 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
tzxl10000 | 0:561f7672eaad | 33 | * OTHER DEALINGS IN THE SOFTWARE. |
tzxl10000 | 0:561f7672eaad | 34 | */ |
tzxl10000 | 0:561f7672eaad | 35 | #include "mbed.h" |
tzxl10000 | 0:561f7672eaad | 36 | #include "LSM303DLHC.h" |
tzxl10000 | 0:561f7672eaad | 37 | |
tzxl10000 | 0:561f7672eaad | 38 | |
tzxl10000 | 0:561f7672eaad | 39 | const int addr_acc = 0x32; |
tzxl10000 | 0:561f7672eaad | 40 | const int addr_mag = 0x3c; |
tzxl10000 | 0:561f7672eaad | 41 | |
tzxl10000 | 0:561f7672eaad | 42 | enum REG_ADDRS { |
tzxl10000 | 0:561f7672eaad | 43 | /* --- Mag --- */ |
tzxl10000 | 0:561f7672eaad | 44 | CRA_REG_M = 0x00, |
tzxl10000 | 0:561f7672eaad | 45 | CRB_REG_M = 0x01, |
tzxl10000 | 0:561f7672eaad | 46 | MR_REG_M = 0x02, |
tzxl10000 | 0:561f7672eaad | 47 | OUT_X_M = 0x03, |
tzxl10000 | 0:561f7672eaad | 48 | OUT_Y_M = 0x05, |
tzxl10000 | 0:561f7672eaad | 49 | OUT_Z_M = 0x07, |
tzxl10000 | 0:561f7672eaad | 50 | /* --- Acc --- */ |
tzxl10000 | 0:561f7672eaad | 51 | CTRL_REG1_A = 0x20, |
tzxl10000 | 0:561f7672eaad | 52 | CTRL_REG4_A = 0x23, |
tzxl10000 | 0:561f7672eaad | 53 | OUT_X_A = 0x28, |
tzxl10000 | 0:561f7672eaad | 54 | OUT_Y_A = 0x2A, |
tzxl10000 | 0:561f7672eaad | 55 | OUT_Z_A = 0x2C, |
tzxl10000 | 0:561f7672eaad | 56 | }; |
tzxl10000 | 0:561f7672eaad | 57 | |
tzxl10000 | 0:561f7672eaad | 58 | bool LSM303DLHC::write_reg(int addr_i2c,int addr_reg, char v) |
tzxl10000 | 0:561f7672eaad | 59 | { |
tzxl10000 | 0:561f7672eaad | 60 | char data[2] = {addr_reg, v}; |
tzxl10000 | 0:561f7672eaad | 61 | return LSM303DLHC::_LSM303.write(addr_i2c, data, 2) == 0; |
tzxl10000 | 0:561f7672eaad | 62 | } |
tzxl10000 | 0:561f7672eaad | 63 | |
tzxl10000 | 0:561f7672eaad | 64 | bool LSM303DLHC::read_reg(int addr_i2c,int addr_reg, char *v) |
tzxl10000 | 0:561f7672eaad | 65 | { |
tzxl10000 | 0:561f7672eaad | 66 | char data = addr_reg; |
tzxl10000 | 0:561f7672eaad | 67 | bool result = false; |
tzxl10000 | 0:561f7672eaad | 68 | |
tzxl10000 | 0:561f7672eaad | 69 | __disable_irq(); |
tzxl10000 | 0:561f7672eaad | 70 | if ((_LSM303.write(addr_i2c, &data, 1) == 0) && (_LSM303.read(addr_i2c, &data, 1) == 0)){ |
tzxl10000 | 0:561f7672eaad | 71 | *v = data; |
tzxl10000 | 0:561f7672eaad | 72 | result = true; |
tzxl10000 | 0:561f7672eaad | 73 | } |
tzxl10000 | 0:561f7672eaad | 74 | __enable_irq(); |
tzxl10000 | 0:561f7672eaad | 75 | return result; |
tzxl10000 | 0:561f7672eaad | 76 | } |
tzxl10000 | 0:561f7672eaad | 77 | |
tzxl10000 | 0:561f7672eaad | 78 | |
tzxl10000 | 0:561f7672eaad | 79 | LSM303DLHC::LSM303DLHC(PinName sda, PinName scl): |
tzxl10000 | 0:561f7672eaad | 80 | _LSM303(sda, scl) |
tzxl10000 | 0:561f7672eaad | 81 | { |
tzxl10000 | 0:561f7672eaad | 82 | char reg_v; |
tzxl10000 | 0:561f7672eaad | 83 | _LSM303.frequency(100000); |
tzxl10000 | 0:561f7672eaad | 84 | |
tzxl10000 | 0:561f7672eaad | 85 | reg_v = 0; |
tzxl10000 | 0:561f7672eaad | 86 | |
tzxl10000 | 0:561f7672eaad | 87 | reg_v |= 0x27; /* X/Y/Z axis enable. */ |
tzxl10000 | 0:561f7672eaad | 88 | write_reg(addr_acc,CTRL_REG1_A,reg_v); |
tzxl10000 | 0:561f7672eaad | 89 | |
tzxl10000 | 0:561f7672eaad | 90 | reg_v = 0; |
tzxl10000 | 0:561f7672eaad | 91 | // reg_v |= 0x01 << 6; /* 1: data MSB @ lower address */ |
tzxl10000 | 0:561f7672eaad | 92 | reg_v = 0x01 << 4; /* +/- 4g */ |
tzxl10000 | 0:561f7672eaad | 93 | write_reg(addr_acc,CTRL_REG4_A,reg_v); |
tzxl10000 | 0:561f7672eaad | 94 | |
tzxl10000 | 0:561f7672eaad | 95 | /* -- mag --- */ |
tzxl10000 | 0:561f7672eaad | 96 | reg_v = 0; |
tzxl10000 | 0:561f7672eaad | 97 | reg_v |= 0x04 << 2; /* Minimum data output rate = 15Hz */ |
tzxl10000 | 0:561f7672eaad | 98 | write_reg(addr_mag,CRA_REG_M,reg_v); |
tzxl10000 | 0:561f7672eaad | 99 | |
tzxl10000 | 0:561f7672eaad | 100 | reg_v = 0; |
tzxl10000 | 0:561f7672eaad | 101 | reg_v |= 0x01 << 5; /* +-1.3Gauss */ |
tzxl10000 | 0:561f7672eaad | 102 | //reg_v |= 0x07 << 5; /* +-8.1Gauss */ |
tzxl10000 | 0:561f7672eaad | 103 | write_reg(addr_mag,CRB_REG_M,reg_v); |
tzxl10000 | 0:561f7672eaad | 104 | |
tzxl10000 | 0:561f7672eaad | 105 | reg_v = 0; /* Continuous-conversion mode */ |
tzxl10000 | 0:561f7672eaad | 106 | write_reg(addr_mag,MR_REG_M,reg_v); |
tzxl10000 | 0:561f7672eaad | 107 | } |
tzxl10000 | 0:561f7672eaad | 108 | |
tzxl10000 | 0:561f7672eaad | 109 | |
tzxl10000 | 0:561f7672eaad | 110 | bool LSM303DLHC::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) { |
tzxl10000 | 0:561f7672eaad | 111 | char acc[6], mag[6]; |
tzxl10000 | 0:561f7672eaad | 112 | |
tzxl10000 | 0:561f7672eaad | 113 | if (recv(addr_acc, OUT_X_A, acc, 6) && recv(addr_mag, OUT_X_M, mag, 6)) { |
tzxl10000 | 0:561f7672eaad | 114 | *ax = float(short(acc[1] << 8 | acc[0]))/8192; //32768/4=8192 |
tzxl10000 | 0:561f7672eaad | 115 | *ay = float(short(acc[3] << 8 | acc[2]))/8192; |
tzxl10000 | 0:561f7672eaad | 116 | *az = float(short(acc[5] << 8 | acc[4]))/8192; |
tzxl10000 | 0:561f7672eaad | 117 | //full scale magnetic readings are from -2048 to 2047 |
tzxl10000 | 0:561f7672eaad | 118 | //gain is x,y =1100; z = 980 LSB/gauss |
tzxl10000 | 0:561f7672eaad | 119 | *mx = float(short(mag[0] << 8 | mag[1]))/1100; |
tzxl10000 | 0:561f7672eaad | 120 | *mz = float(short(mag[2] << 8 | mag[3]))/980; |
tzxl10000 | 0:561f7672eaad | 121 | *my = float(short(mag[4] << 8 | mag[5]))/1100; |
tzxl10000 | 0:561f7672eaad | 122 | |
tzxl10000 | 0:561f7672eaad | 123 | return true; |
tzxl10000 | 0:561f7672eaad | 124 | } |
tzxl10000 | 0:561f7672eaad | 125 | |
tzxl10000 | 0:561f7672eaad | 126 | return false; |
tzxl10000 | 0:561f7672eaad | 127 | } |
tzxl10000 | 0:561f7672eaad | 128 | |
tzxl10000 | 0:561f7672eaad | 129 | |
tzxl10000 | 0:561f7672eaad | 130 | bool LSM303DLHC::recv(char sad, char sub, char *buf, int length) { |
tzxl10000 | 0:561f7672eaad | 131 | if (length > 1) sub |= 0x80; |
tzxl10000 | 0:561f7672eaad | 132 | |
tzxl10000 | 0:561f7672eaad | 133 | return _LSM303.write(sad, &sub, 1, true) == 0 && _LSM303.read(sad, buf, length) == 0; |
tzxl10000 | 0:561f7672eaad | 134 | } |