LSM303DLH interface library
Dependents: LSM303DLH_Example Arch_Test
LSM303DLH.cpp
- Committer:
- yamaguch
- Date:
- 2011-10-06
- Revision:
- 0:9b2a0b783bfc
File content as of revision 0:9b2a0b783bfc:
#include "LSM303DLH.h" #include "Vector.h" const char SAD_ACC = 0x30; const char SAD_MAG = 0x3C; const float ACC_UNIT[] = {0.001, 0.002, 0, 0.0039}; const float MAG_UNIT_XY[] = {0, 1.0 / 1055, 1.0 / 795, 1.0 / 635, 1.0 / 430, 1.0 / 375, 1.0 / 320, 1.0 / 230}; const float MAG_UNIT_Z[] = {0, 1.0 / 950, 1.0 / 710, 1.0 / 570, 1.0 / 385, 1.0 / 335, 1.0 / 285, 1.0 / 205}; enum REG_ADDRS { CRA_REG_M = 0x00, CRB_REG_M = 0x01, MR_REG_M = 0x02, OUT_X_H_M = 0x03, OUT_X_L_M = 0x04, OUT_Y_H_M = 0x05, OUT_Y_L_M = 0x06, OUT_Z_H_M = 0x07, OUT_Z_L_M = 0x08, SR_REG_M = 0x09, IRA_REG_M = 0x0A, IRB_REG_M = 0x0B, IRC_REG_M = 0x0C, CTRL_REG1_A = 0x20, CTRL_REG2_A = 0x21, CTRL_REG3_A = 0x22, CTRL_REG4_A = 0x23, CTRL_REG5_A = 0x24, HP_FILTER_RESET_A = 0x25, REFERENCE_A = 0x26, STATUS_REG_A = 0x27, OUT_X_L_A = 0x28, OUT_X_H_A = 0x29, OUT_Y_L_A = 0x2A, OUT_Y_H_A = 0x2B, OUT_Z_L_A = 0x2C, OUT_Z_H_A = 0x2D, INT1_CFG_A = 0x30, INT1_SOURCE_A = 0x31, INT1_THS_A = 0x32, INT1_DURATION_A = 0x33, INT2_CFG_A = 0x34, INT2_SOURCE_A = 0x35, INT2_THS_A = 0x36, INT2_DURATION_A = 0x37, }; LSM303DLH::LSM303DLH(PinName sda, PinName scl, PinName int1, PinName int2) : ax(0), ay(0), az(0), mx(0), my(0), mz(0), i2c(sda, scl), acc_range(ACC_RANGE_2G), mag_range(MAG_RANGE_1_3GAUSS), int1(int1), int2(int2) { send(SAD_ACC, CTRL_REG1_A, 0x27); // output rate 400 Hz send(SAD_ACC, CTRL_REG4_A, 0xC0); // block data update; big endian, max=2g send(SAD_MAG, CRA_REG_M, 0x18); // min data output rate 75Hz send(SAD_MAG, MR_REG_M, 0x00); // continuous conversion mode } bool LSM303DLH::setOutputDataRate(ACC_ODR acc_odr, MAG_ODR mag_odr) { return send(SAD_ACC, CTRL_REG4_A, 0x27 | acc_odr << 3) && send(SAD_MAG, CRA_REG_M, mag_odr << 2); } bool LSM303DLH::setMeasurementRange(ACC_RANGE acc_range, MAG_RANGE mag_range) { this->acc_range = acc_range; this->mag_range = mag_range; return send(SAD_ACC, CTRL_REG4_A, 0xC0 | acc_range << 4) && send(SAD_MAG, CRB_REG_M, mag_range << 5); } bool LSM303DLH::read() { char acc[6], mag[6]; if (recv(0x30, OUT_X_L_A, acc, 6) && recv(0x3C, OUT_X_H_M, mag, 6)) { ax = ACC_UNIT[acc_range] * short(acc[0] << 8 | acc[1]) / 16; ay = ACC_UNIT[acc_range] * short(acc[2] << 8 | acc[3]) / 16; az = ACC_UNIT[acc_range] * short(acc[4] << 8 | acc[5]) / 16; mx = MAG_UNIT_XY[mag_range] * short(mag[0] << 8 | mag[1]); my = MAG_UNIT_XY[mag_range] * short(mag[2] << 8 | mag[3]); mz = MAG_UNIT_Z[mag_range] * short(mag[4] << 8 | mag[5]); return true; } return false; } bool LSM303DLH::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) { if (ax != 0 || ay != 0 || az != 0) { char acc[6]; if (recv(0x30, OUT_X_L_A, acc, 6)) { if (ax != 0) *ax = ACC_UNIT[acc_range] * short(acc[0] << 8 | acc[1]) / 16; if (ay != 0) *ay = ACC_UNIT[acc_range] * short(acc[2] << 8 | acc[3]) / 16; if (az != 0) *az = ACC_UNIT[acc_range] * short(acc[4] << 8 | acc[5]) / 16; } else return false; } if (mx != 0 || my != 0 || mz != 0) { char mag[6]; if (recv(0x3C, OUT_X_H_M, mag, 6)) { if (mx != 0) *mx = MAG_UNIT_XY[mag_range] * short(mag[0] << 8 | mag[1]); if (my != 0) *my = MAG_UNIT_XY[mag_range] * short(mag[2] << 8 | mag[3]); if (mz != 0) *mz = MAG_UNIT_Z[mag_range] * short(mag[4] << 8 | mag[5]); } else return false; } return true; } float LSM303DLH::getHeading() { return getHeading(0, 1, 0); } float LSM303DLH::getHeading(float x, float y, float z) { Vector base(x, y, z); Vector accel = Vector(ax, ay, az); Vector compass = Vector(mx, my, mz); Vector east = compass * accel; Vector north = accel * east; east /= east.norm(); north /= north.norm(); //printf("accel = (%.1f, %.1f, %.1f), compass = (%.1f, %.1f, %.1f)\n", accel.x, accel.y, accel.z, compass.x, compass.y, compass.z); //printf("north = (%.1f, %.1f, %.1f), east = (%.1f, %.1f, %.1f)\n", north.x, north.y, north.z, east.x, east.y, east.z); //printf("east.dot(base) = %.1f, north.dot(base) = %.1f\n", east.dot(base), north.dot(base)); return atan2(east.dot(base), north.dot(base)); } void LSM303DLH::attach(INT_TYPE type, char config, char threshold, char duration, void (*handler)(void)) { InterruptIn& interruptIn = (type == INT1) ? int1 : int2; send(SAD_ACC, type == INT1 ? INT1_CFG_A : INT2_CFG_A, config); send(SAD_ACC, type == INT1 ? INT1_THS_A : INT2_THS_A, threshold); send(SAD_ACC, type == INT1 ? INT1_DURATION_A : INT2_DURATION_A, duration); interruptIn.rise(handler); } template<typename T> void LSM303DLH::attach(T *t, INT_TYPE type, char config, char threshold, char duration, void (*handler)(void)) { InterruptIn& interruptIn = (type == INT1) ? int1 : int2; interruptIn.rise(t, handler); } bool LSM303DLH::recv(char sad, char sub, char *buf, int length) { if (length > 1) sub |= 0x80; return i2c.write(sad, &sub, 1, true) == 0 && i2c.read(sad, buf, length) == 0; } bool LSM303DLH::send(char sad, char sub, char data) { char buf[] = {sub, data}; return i2c.write(sad, buf, 2) == 0; }