mirror of
https://github.com/k3ng/k3ng_rotator_controller.git
synced 2024-12-21 22:17:52 +00:00
219 lines
6.6 KiB
C++
219 lines
6.6 KiB
C++
#ifndef LSM303_h
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#define LSM303_h
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#include <Arduino.h> // for byte data type
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class LSM303
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{
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public:
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template <typename T> struct vector
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{
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T x, y, z;
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};
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enum deviceType { device_DLH, device_DLM, device_DLHC, device_D, device_auto };
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enum sa0State { sa0_low, sa0_high, sa0_auto };
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// register addresses
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enum regAddr
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{
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TEMP_OUT_L = 0x05, // D
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TEMP_OUT_H = 0x06, // D
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STATUS_M = 0x07, // D
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INT_CTRL_M = 0x12, // D
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INT_SRC_M = 0x13, // D
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INT_THS_L_M = 0x14, // D
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INT_THS_H_M = 0x15, // D
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OFFSET_X_L_M = 0x16, // D
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OFFSET_X_H_M = 0x17, // D
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OFFSET_Y_L_M = 0x18, // D
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OFFSET_Y_H_M = 0x19, // D
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OFFSET_Z_L_M = 0x1A, // D
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OFFSET_Z_H_M = 0x1B, // D
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REFERENCE_X = 0x1C, // D
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REFERENCE_Y = 0x1D, // D
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REFERENCE_Z = 0x1E, // D
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CTRL0 = 0x1F, // D
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CTRL1 = 0x20, // D
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CTRL_REG1_A = 0x20, // DLH, DLM, DLHC
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CTRL2 = 0x21, // D
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CTRL_REG2_A = 0x21, // DLH, DLM, DLHC
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CTRL3 = 0x22, // D
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CTRL_REG3_A = 0x22, // DLH, DLM, DLHC
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CTRL4 = 0x23, // D
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CTRL_REG4_A = 0x23, // DLH, DLM, DLHC
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CTRL5 = 0x24, // D
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CTRL_REG5_A = 0x24, // DLH, DLM, DLHC
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CTRL6 = 0x25, // D
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CTRL_REG6_A = 0x25, // DLHC
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HP_FILTER_RESET_A = 0x25, // DLH, DLM
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CTRL7 = 0x26, // D
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REFERENCE_A = 0x26, // DLH, DLM, DLHC
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STATUS_A = 0x27, // D
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STATUS_REG_A = 0x27, // DLH, DLM, DLHC
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OUT_X_L_A = 0x28,
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OUT_X_H_A = 0x29,
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OUT_Y_L_A = 0x2A,
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OUT_Y_H_A = 0x2B,
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OUT_Z_L_A = 0x2C,
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OUT_Z_H_A = 0x2D,
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FIFO_CTRL = 0x2E, // D
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FIFO_CTRL_REG_A = 0x2E, // DLHC
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FIFO_SRC = 0x2F, // D
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FIFO_SRC_REG_A = 0x2F, // DLHC
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IG_CFG1 = 0x30, // D
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INT1_CFG_A = 0x30, // DLH, DLM, DLHC
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IG_SRC1 = 0x31, // D
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INT1_SRC_A = 0x31, // DLH, DLM, DLHC
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IG_THS1 = 0x32, // D
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INT1_THS_A = 0x32, // DLH, DLM, DLHC
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IG_DUR1 = 0x33, // D
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INT1_DURATION_A = 0x33, // DLH, DLM, DLHC
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IG_CFG2 = 0x34, // D
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INT2_CFG_A = 0x34, // DLH, DLM, DLHC
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IG_SRC2 = 0x35, // D
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INT2_SRC_A = 0x35, // DLH, DLM, DLHC
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IG_THS2 = 0x36, // D
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INT2_THS_A = 0x36, // DLH, DLM, DLHC
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IG_DUR2 = 0x37, // D
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INT2_DURATION_A = 0x37, // DLH, DLM, DLHC
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CLICK_CFG = 0x38, // D
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CLICK_CFG_A = 0x38, // DLHC
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CLICK_SRC = 0x39, // D
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CLICK_SRC_A = 0x39, // DLHC
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CLICK_THS = 0x3A, // D
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CLICK_THS_A = 0x3A, // DLHC
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TIME_LIMIT = 0x3B, // D
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TIME_LIMIT_A = 0x3B, // DLHC
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TIME_LATENCY = 0x3C, // D
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TIME_LATENCY_A = 0x3C, // DLHC
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TIME_WINDOW = 0x3D, // D
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TIME_WINDOW_A = 0x3D, // DLHC
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Act_THS = 0x3E, // D
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Act_DUR = 0x3F, // D
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CRA_REG_M = 0x00, // DLH, DLM, DLHC
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CRB_REG_M = 0x01, // DLH, DLM, DLHC
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MR_REG_M = 0x02, // DLH, DLM, DLHC
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SR_REG_M = 0x09, // DLH, DLM, DLHC
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IRA_REG_M = 0x0A, // DLH, DLM, DLHC
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IRB_REG_M = 0x0B, // DLH, DLM, DLHC
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IRC_REG_M = 0x0C, // DLH, DLM, DLHC
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WHO_AM_I_M = 0x0F, // DLM
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WHO_AM_I = 0x0F, // D
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TEMP_OUT_H_M = 0x31, // DLHC
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TEMP_OUT_L_M = 0x32, // DLHC
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// dummy addresses for registers in different locations on different devices;
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// the library translates these based on device type
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// value with sign flipped is used as index into translated_regs array
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OUT_X_H_M = -1,
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OUT_X_L_M = -2,
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OUT_Y_H_M = -3,
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OUT_Y_L_M = -4,
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OUT_Z_H_M = -5,
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OUT_Z_L_M = -6,
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// update dummy_reg_count if registers are added here!
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// device-specific register addresses
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DLH_OUT_X_H_M = 0x03,
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DLH_OUT_X_L_M = 0x04,
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DLH_OUT_Y_H_M = 0x05,
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DLH_OUT_Y_L_M = 0x06,
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DLH_OUT_Z_H_M = 0x07,
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DLH_OUT_Z_L_M = 0x08,
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DLM_OUT_X_H_M = 0x03,
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DLM_OUT_X_L_M = 0x04,
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DLM_OUT_Z_H_M = 0x05,
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DLM_OUT_Z_L_M = 0x06,
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DLM_OUT_Y_H_M = 0x07,
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DLM_OUT_Y_L_M = 0x08,
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DLHC_OUT_X_H_M = 0x03,
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DLHC_OUT_X_L_M = 0x04,
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DLHC_OUT_Z_H_M = 0x05,
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DLHC_OUT_Z_L_M = 0x06,
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DLHC_OUT_Y_H_M = 0x07,
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DLHC_OUT_Y_L_M = 0x08,
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D_OUT_X_L_M = 0x08,
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D_OUT_X_H_M = 0x09,
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D_OUT_Y_L_M = 0x0A,
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D_OUT_Y_H_M = 0x0B,
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D_OUT_Z_L_M = 0x0C,
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D_OUT_Z_H_M = 0x0D
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};
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vector<int16_t> a; // accelerometer readings
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vector<int16_t> m; // magnetometer readings
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vector<int16_t> m_max; // maximum magnetometer values, used for calibration
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vector<int16_t> m_min; // minimum magnetometer values, used for calibration
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byte last_status; // status of last I2C transmission
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LSM303(void);
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bool init(deviceType device = device_auto, sa0State sa0 = sa0_auto);
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byte getDeviceType(void) { return _device; }
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void enableDefault(void);
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void writeAccReg(regAddr reg, byte value);
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byte readAccReg(regAddr reg);
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void writeMagReg(regAddr reg, byte value);
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byte readMagReg(regAddr reg);
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void writeReg(regAddr reg, byte value);
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byte readReg(regAddr reg);
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void readAcc(void);
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void readMag(void);
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void read(void);
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void setTimeout(unsigned int timeout);
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unsigned int getTimeout(void);
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bool timeoutOccurred(void);
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float heading(void);
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template <typename T> float heading(vector<T> from);
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// vector functions
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template <typename Ta, typename Tb, typename To> static void vector_cross(const vector<Ta> *a, const vector<Tb> *b, vector<To> *out);
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template <typename Ta, typename Tb> static float vector_dot(const vector<Ta> *a,const vector<Tb> *b);
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static void vector_normalize(vector<float> *a);
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private:
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deviceType _device; // chip type (DLH, DLM, or DLHC)
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byte acc_address;
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byte mag_address;
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static const int dummy_reg_count = 6;
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regAddr translated_regs[dummy_reg_count + 1]; // index 0 not used
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unsigned int io_timeout;
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bool did_timeout;
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int testReg(byte address, regAddr reg);
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};
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#endif
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