Revision 3:4d9465e7e10e, committed 2013-02-20

Comitter:

bclaus

Date:

Wed Feb 20 23:52:53 2013 +0000

Parent:

2:aea5caec809c

Child:

4:612f7d5a822d

Commit message:

This provides some updates for dealing with LSM303DLHC; biggest changes are to addresses for this chip but I have stripped things I didn't need.

Changed in this revision

--- a/LSM303DLH.cpp	Tue Apr 12 18:21:44 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,219 +0,0 @@
-/** LSM303DLH Interface Library
- *
- * Michael Shimniok http://bot-thoughts.com
- *
- * Based on test program by @tosihisa and 
- *
- * Pololu sample library for LSM303DLH 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 "LSM303DLH.h"
-
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-#define FILTER_SHIFT 6      // used in filtering acceleromter readings
-
-const int addr_acc = 0x30;
-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 LSM303DLH::write_reg(int addr_i2c,int addr_reg, char v)
-{
-    char data[2] = {addr_reg, v}; 
-    return LSM303DLH::_compass.write(addr_i2c, data, 2) == 0;
-}
-
-bool LSM303DLH::read_reg(int addr_i2c,int addr_reg, char *v)
-{
-    char data = addr_reg; 
-    bool result = false;
-    
-    __disable_irq();
-    if ((_compass.write(addr_i2c, &data, 1) == 0) && (_compass.read(addr_i2c, &data, 1) == 0)){
-        *v = data;
-        result = true;
-    }
-    __enable_irq();
-    return result;
-}
-
-bool LSM303DLH::read_reg_short(int addr_i2c,int addr_reg, short *v)
-{
-    char *pv = (char *)v;
-    bool result;
-    
-    result =  read_reg(addr_i2c,addr_reg+0,pv+1);
-    result &= read_reg(addr_i2c,addr_reg+1,pv+0);
-  
-    return result;
-}
-
-LSM303DLH::LSM303DLH(PinName sda, PinName scl):
-    _compass(sda, scl), _offset_x(0), _offset_y(0), _offset_z(0), _scale_x(0), _scale_y(0), _scale_z(0), _filt_ax(0), _filt_ay(0), _filt_az(6000)
-{
-    char reg_v;
-    _compass.frequency(100000);
-        
-    reg_v = 0;
-    reg_v |= 0x01 << 5;     /* Normal mode  */
-    reg_v |= 0x07;          /* X/Y/Z axis enable. */
-    write_reg(addr_acc,CTRL_REG1_A,reg_v);
-    reg_v = 0;
-    read_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);
-}
-
-
-void LSM303DLH::setOffset(float x, float y, float z)
-{
-    _offset_x = x;
-    _offset_y = y;
-    _offset_z = z;   
-}
-
-void LSM303DLH::setScale(float x, float y, float z)
-{
-    _scale_x = x;
-    _scale_y = y;
-    _scale_z = z;
-}
-
-void LSM303DLH::read(vector &a, vector &m)
-{
-    short a_x, a_y, a_z;
-    short m_x, m_y, m_z;
-    //Timer t;
-    //int usec1, usec2;
-    
-    //t.reset();
-    //t.start();
-
-    //usec1 = t.read_us();
-    read_reg_short(addr_acc, OUT_X_A, &a_x);
-    read_reg_short(addr_acc, OUT_Y_A, &a_y);
-    read_reg_short(addr_acc, OUT_Z_A, &a_z);
-    read_reg_short(addr_mag, OUT_X_M, &m_x);
-    read_reg_short(addr_mag, OUT_Y_M, &m_y);
-    read_reg_short(addr_mag, OUT_Z_M, &m_z);
-    //usec2 = t.read_us();
-    
-    //if (debug) debug->printf("%d %d %d\n", usec1, usec2, usec2-usec1);
-
-    // Perform simple lowpass filtering
-    // Intended to stabilize heading despite
-    // device vibration such as on a UGV
-    _filt_ax += a_x - (_filt_ax >> FILTER_SHIFT);
-    _filt_ay += a_y - (_filt_ay >> FILTER_SHIFT);
-    _filt_az += a_z - (_filt_az >> FILTER_SHIFT);
-
-    a.x = (float) (_filt_ax >> FILTER_SHIFT);
-    a.y = (float) (_filt_ay >> FILTER_SHIFT);
-    a.z = (float) (_filt_az >> FILTER_SHIFT);
-    
-    // offset and scale
-    m.x = (m_x + _offset_x) * _scale_x;
-    m.y = (m_y + _offset_y) * _scale_y;
-    m.z = (m_z + _offset_z) * _scale_z;
-}
-
-
-// Returns the number of degrees from the -Y axis that it
-// is pointing.
-float LSM303DLH::heading()
-{
-    return heading((vector){0,-1,0});
-}
-
-float LSM303DLH::heading(vector from)
-{
-    vector a, m;
-
-    this->read(a, m);
-    
-    ////////////////////////////////////////////////
-    // compute heading       
-    ////////////////////////////////////////////////
-
-    vector temp_a = a;
-    // normalize
-    vector_normalize(&temp_a);
-    //vector_normalize(&m);
-
-    // compute E and N
-    vector E;
-    vector N;
-    vector_cross(&m,&temp_a,&E);
-    vector_normalize(&E);
-    vector_cross(&temp_a,&E,&N);
-    
-    // compute heading
-    float heading = atan2(vector_dot(&E,&from), vector_dot(&N,&from)) * 180/M_PI;
-    if (heading < 0) heading += 360;
-    
-    return heading;
-}
-
-void LSM303DLH::frequency(int hz)
-{
-    _compass.frequency(hz);
-}
\ No newline at end of file

--- a/LSM303DLH.h	Tue Apr 12 18:21:44 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,138 +0,0 @@
-#include "mbed.h"
-#include "vector.h"
-
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-/** Tilt-compensated compass interface Library for the STMicro LSM303DLH 3-axis magnetometer, 3-axis acceleromter
- *
- * Michael Shimniok http://bot-thoughts.com
- *
- * Based on test program by @tosihisa and 
- *
- * Pololu sample library for LSM303DLH 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.
- *
- * @code
- * #include "mbed.h"
- * #include "LSM303DLH.h"
- *
- * Serial debug(USBTX,USBRX);
- * LSM303DLH compass(p28, p27);
- *
- * int main() {
- *   float hdg;
- *   debug.format(8,Serial::None,1);
- *   debug.baud(115200);
- *   debug.printf("LSM303DLH Test\x0d\x0a");
- *   compass.setOffset(29.50, -0.50, 4.00); // example calibration
- *   compass.setScale(1.00, 1.03, 1.21);    // example calibration
- *   while(1) {
- *     hdg = compass.heading();
- *     debug.printf("Heading: %.2f\n", hdg);
- *     wait(0.1);
- *   }
- * }
- * @endcode
- */
-class LSM303DLH {
-    public:
-        /** Create a new interface for an LSM303DLH
-         *
-         * @param sda is the pin for the I2C SDA line
-         * @param scl is the pin for the I2C SCL line
-         */
-        LSM303DLH(PinName sda, PinName scl);
-
-        /** sets the x, y, and z offset corrections for hard iron calibration
-         * 
-         * Calibration details here:
-         *  http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
-         *
-         * If you gather raw magnetometer data and find, for example, x is offset
-         * by hard iron by -20 then pass +20 to this member function to correct
-         * for hard iron.
-         *
-         * @param x is the offset correction for the x axis
-         * @param y is the offset correction for the y axis
-         * @param z is the offset correction for the z axis
-         */
-        void setOffset(float x, float y, float z);
-        
-        /** sets the scale factor for the x, y, and z axes
-         *
-         * Calibratio details here:
-         *  http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
-         *
-         * Sensitivity of the three axes is never perfectly identical and this
-         * function can help to correct differences in sensitivity.  You're
-         * supplying a multipler such that x, y and z will be normalized to the
-         * same max/min values
-         */
-        void setScale(float x, float y, float z);
-
-        /** read the raw accelerometer and compass values
-         *
-         * @param a is the accelerometer 3d vector, written by the function
-         * @param m is the magnetometer 3d vector, written by the function
-         */
-        void read(vector &a, vector &m);
-        
-        /** returns the magnetic heading with respect to the y axis
-         *
-         */
-        float heading(void);
-        
-        /** returns the heading with respect to the specified vector
-         *
-         */
-        float heading(vector from);
-    
-        /** sets the I2C bus frequency
-         *
-         * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000)
-         */
-        void frequency(int hz);
-    
-    private:
-        I2C _compass;
-        float _offset_x;
-        float _offset_y;
-        float _offset_z;
-        float _scale_x;
-        float _scale_y;
-        float _scale_z;
-        long _filt_ax;
-        long _filt_ay;
-        long _filt_az;
-       
-        bool write_reg(int addr_i2c,int addr_reg, char v);
-        bool read_reg(int addr_i2c,int addr_reg, char *v);
-        bool read_reg_short(int addr_i2c,int addr_reg, short *v);
-};

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303DLHC.cpp	Wed Feb 20 23:52:53 2013 +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;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303DLHC.h	Wed Feb 20 23:52:53 2013 +0000
@@ -0,0 +1,33 @@
+#include "mbed.h"
+
+
+
+class LSM303DLHC {
+    public:
+        /** Create a new interface for an LSM303DLHC
+         *
+         * @param sda is the pin for the I2C SDA line
+         * @param scl is the pin for the I2C SCL line
+         */
+        LSM303DLHC(PinName sda, PinName scl);
+
+  
+        /** read the raw accelerometer and compass values
+         *
+         * @param ax,ay,az is the accelerometer 3d vector, written by the function
+         * @param mx,my,mz is the magnetometer 3d vector, written by the function
+         */
+         bool read(float *ax, float *ay, float *az, float *mx, float *my, float *mz);
+
+
+    private:
+        I2C _LSM303;
+
+         
+        float ax, ay, az;
+        float mx, my, mz;         
+         
+        bool write_reg(int addr_i2c,int addr_reg, char v);
+        bool read_reg(int addr_i2c,int addr_reg, char *v);
+        bool recv(char sad, char sub, char *buf, int length);
+};

--- a/vector.cpp	Tue Apr 12 18:21:44 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,22 +0,0 @@
-#include <vector.h>
-#include <math.h>
-
-void vector_cross(const vector *a,const vector *b, vector *out)
-{
-  out->x = a->y*b->z - a->z*b->y;
-  out->y = a->z*b->x - a->x*b->z;
-  out->z = a->x*b->y - a->y*b->x;
-}
-
-float vector_dot(const vector *a,const vector *b)
-{
-  return a->x*b->x+a->y*b->y+a->z*b->z;
-}
-
-void vector_normalize(vector *a)
-{
-  float mag = sqrt(vector_dot(a,a));
-  a->x /= mag;
-  a->y /= mag;
-  a->z /= mag;
-}
\ No newline at end of file

--- a/vector.h	Tue Apr 12 18:21:44 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,11 +0,0 @@
-#ifndef vector_h
-#define vector_h
-typedef struct vector
-{
-  float x, y, z;
-} vector;
-
-extern void vector_cross(const vector *a, const vector *b, vector *out);
-extern float vector_dot(const vector *a,const vector *b);
-extern void vector_normalize(vector *a);
-#endif
\ No newline at end of file