Ward Mattar
Code for Technion Formula car sensors reader
Dependencies: mbed Buffer FATFileSystem
Fork of
SX1272PingPong
by 
Semtech
This is code is part of a Technion course project in advanced IoT, implementing a device to read and transmit sensors data from a Formula racing car built by students at Technion - Israel Institute of Technology.
How to install
- Create an account on Mbed: https://os.mbed.com/account/signup/
- Import project into Compiler
- In the Program Workspace select "Formula_Nucleo_Reader"
- Select a Platform like so:
- Click button at top-left
- Add Board
- Search "NUCLEO F103RB" and then "Add to your Mbed Compiler"
- Finally click "Compile", if the build was successful, the binary would download automatically
- To install it on device simply plug it in to a PC, open device drive and drag then drop binary file in it
Diff: LSM303DLHC/LSM303DLHC.cpp
- Revision:
- 15:2e0d977dbb31
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303DLHC/LSM303DLHC.cpp Thu May 17 20:37:41 2018 +0000
@@ -0,0 +1,196 @@
+#include "mbed.h"
+#include "LSM303DLHC.h"
+
+LSM303DLHC::LSM303DLHC(PinName sda, PinName scl) : i2c(sda, scl){
+ i2c.frequency(400000);
+
+ // HERE GIVES DEVICE DEFAULT
+ ACtrl(LP_OFF); // ACC Normal Power Mode
+ ACtrl(ADR3); // ACC ON and Date Rate 25Hz
+ ACtrl(XYZ); // ACC XYZ Axis Enable
+ ACtrl(HPF_ON); // ACC internal HPF IN USE
+ ACtrl(HPF_CF0); // ACC HPF Cutoff Freq = option 0
+ ACtrl(HPF_NORM_R); // ACC HPF Model = Normal
+ ACtrl(BDU_CONT); // ACC data continuous
+ ACtrl(G4); // ACC Range +/-4g
+ ACtrl(HIGH_R); // ACC in High Prec
+ MCtrl(MDR4); // MAG DR 15Hz
+ MCtrl(GN4); // MAG GN 4.0Gauss
+ MCtrl(MD_CONT); // MAG ON and MD Continuous
+ TCtrl(TEMP_ON); // TEMP ON
+
+ // DEFAULT CALIBRATION PARAMETER
+ acc_offset[0] = 0;
+ acc_offset[1] = 0;
+ acc_offset[2] = 0;
+ acc_scale[0] = 1;
+ acc_scale[1] = 1;
+ acc_scale[2] = 1;
+
+ mag_offset[0] = 0;
+ mag_offset[1] = 0;
+ mag_offset[2] = 0;
+ mag_scale[0] = 1;
+ mag_scale[1] = 1;
+ mag_scale[2] = 1;
+
+ temp_offset[0] = 0;
+ temp_scale[0] = 1;
+}
+
+void LSM303DLHC::GetAcc(float arr[3]){
+ data[0] = OUT_X_L_A | (1 << 7); // MSB=1 to read multiple bytes
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, data, 6);
+
+ arr[0] = acc_scale[0]*(acc_offset[0]+((short)(data[1]<<8 | data[0])>>4));
+ arr[1] = acc_scale[1]*(acc_offset[1]+((short)(data[3]<<8 | data[2])>>4));
+ arr[2] = acc_scale[2]*(acc_offset[2]+((short)(data[5]<<8 | data[4])>>4));
+}
+
+void LSM303DLHC::GetMag(float arr[3]){
+ data[0] = OUT_X_H_M;
+ i2c.write(MAG_ADDRESS, data, 1);
+ i2c.read(MAG_ADDRESS, data, 6);
+ arr[0] = mag_scale[0]*(mag_offset[0]+(short)(data[0]<<8 | data[1]));
+ arr[1] = mag_scale[1]*(mag_offset[1]+(short)(data[4]<<8 | data[5]));
+ arr[2] = mag_scale[2]*(mag_offset[2]+(short)(data[2]<<8 | data[3]));
+}
+
+void LSM303DLHC::GetTemp(float arr[1]){
+ data[0] = TEMP_OUT_H_M;
+ i2c.write(MAG_ADDRESS, data, 1);
+ i2c.read(MAG_ADDRESS, data, 2);
+ arr[0] = temp_scale[0]*(temp_offset[0]+((short)(data[0]<<8 | data[1])>>4));
+}
+
+void LSM303DLHC::ACtrl(ACC_ODR cmd){
+ data[0] = CTRL_REG1_A;
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b00001111) | (cmd<<4);
+ i2c.write(ACC_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::ACtrl(ACC_LPen cmd){
+ data[0] = CTRL_REG1_A;
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b11110111) | (cmd<<3);
+ i2c.write(ACC_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::ACtrl(ACC_AXIS cmd){
+ data[0] = CTRL_REG1_A;
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b11111000) | (cmd<<0);
+ i2c.write(ACC_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::ACtrl(ACC_HPM cmd){
+ data[0] = CTRL_REG2_A;
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b00111111) | (cmd<<6);
+ i2c.write(ACC_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::ACtrl(ACC_HPCF cmd){
+ data[0] = CTRL_REG2_A;
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b11001111) | (cmd<<4);
+ i2c.write(ACC_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::ACtrl(ACC_FDS cmd){
+ data[0] = CTRL_REG2_A;
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b11110111) | (cmd<<3);
+ i2c.write(ACC_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::ACtrl(ACC_BDU cmd){
+ data[0] = CTRL_REG4_A;
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b01111111) | (cmd<<7);
+ i2c.write(ACC_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::ACtrl(ACC_FS cmd){
+ data[0] = CTRL_REG4_A;
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b11001111) | (cmd<<4);
+ i2c.write(ACC_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::ACtrl(ACC_HR cmd){
+ data[0] = CTRL_REG4_A;
+ i2c.write(ACC_ADDRESS, data, 1);
+ i2c.read(ACC_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b11110111) | (cmd<<3);
+ i2c.write(ACC_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::TCtrl(TEMP_EN cmd){
+ data[0] = CRA_REG_M;
+ i2c.write(MAG_ADDRESS, data, 1);
+ i2c.read(MAG_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b01111111) | (cmd<<7);
+ i2c.write(MAG_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::MCtrl(MAG_DR cmd){
+ data[0] = CRA_REG_M;
+ i2c.write(MAG_ADDRESS, data, 1);
+ i2c.read(MAG_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b11100011) | (cmd<<2);
+ i2c.write(MAG_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::MCtrl(MAG_GN cmd){
+ data[0] = CRB_REG_M;
+ i2c.write(MAG_ADDRESS, data, 1);
+ i2c.read(MAG_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b00011111) | (cmd<<5);
+ i2c.write(MAG_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::MCtrl(MAG_MD cmd){
+ data[0] = MR_REG_M;
+ i2c.write(MAG_ADDRESS, data, 1);
+ i2c.read(MAG_ADDRESS, &data[1], 1);
+ data[1] = data[1] & (0b11111100) | (cmd<<0);
+ i2c.write(MAG_ADDRESS, data, 2);
+}
+
+void LSM303DLHC::WriteReg(int sad, char d[2]){
+ i2c.write(sad, d, 2);
+}
+
+void LSM303DLHC::ACal(float offset[3], float scale[3]){
+ acc_offset[0] = offset[0];
+ acc_offset[1] = offset[1];
+ acc_offset[2] = offset[2];
+ acc_scale[0] = scale[0];
+ acc_scale[1] = scale[1];
+ acc_scale[2] = scale[2];
+}
+
+void LSM303DLHC::MCal(float offset[3], float scale[3]){
+ mag_offset[0] = offset[0];
+ mag_offset[1] = offset[1];
+ mag_offset[2] = offset[2];
+ mag_scale[0] = scale[0];
+ mag_scale[1] = scale[1];
+ mag_scale[2] = scale[2];
+}
+
+void LSM303DLHC::TCal(float offset[1], float scale[1]){
+ temp_offset[0] = offset[0];
+ temp_scale[0] = scale[0];
+}
\ No newline at end of file