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sensor.imu.6dof.lsm303dlhc.spin
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sensor.imu.6dof.lsm303dlhc.spin
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{
----------------------------------------------------------------------------------------------------
Filename: sensor.imu.6dof.lsm303dlhc.spin
Description: Driver for the ST LSM303 6DoF IMU
Supported variants:
LSM303AGR
LSM303DLHC
Author: Jesse Burt
Started: Jul 29, 2020
Updated: Jun 19, 2024
Copyright (c) 2024 - See end of file for terms of use.
----------------------------------------------------------------------------------------------------
}
#include "sensor.accel.common.spinh"
#include "sensor.magnetometer.common.spinh"
CON
{ default I/O configuration - these can be overridden by the parent object }
SCL = 28
SDA = 29
I2C_FREQ = 100_000
XL_SLAVE_WR = core.XL_SLAVE_ADDR
XL_SLAVE_RD = core.XL_SLAVE_ADDR|1
MAG_SLAVE_WR = core.MAG_SLAVE_ADDR
MAG_SLAVE_RD = core.MAG_SLAVE_ADDR|1
DEF_SCL = 28
DEF_SDA = 29
DEF_HZ = 100_000
I2C_MAX_FREQ = core.I2C_MAX_FREQ
LSBF = 0
MSBF = 1
' Indicate to user apps how many Degrees of Freedom each sub-sensor has
' (also imply whether or not it has a particular sensor)
ACCEL_DOF = 3
GYRO_DOF = 0
MAG_DOF = 3
BARO_DOF = 0
DOF = ACCEL_DOF + GYRO_DOF + MAG_DOF + BARO_DOF
' Scales and data rates used during calibration/bias/offset process
CAL_XL_SCL = 2
CAL_G_SCL = 0
#ifdef LSM303AGR
CAL_M_SCL = 50
CAL_M_DR = 100
#else
CAL_M_SCL = 1_3
CAL_M_DR = 75
#endif
CAL_XL_DR = 100
CAL_G_DR = 0
FP_SCALE = 1_000_000
R = 0
W = 1
' XYZ axis constants used throughout the driver
X_AXIS = 0
Y_AXIS = 1
Z_AXIS = 2
' FIFO modes
BYPASS = %00
FIFO = %01
STREAM = %10
STREAM2FIFO = %11
' Magnetometer operating modes
CONT = 0
SINGLE = 1
SLEEP = 2
IDLE = SLEEP
VAR
long _accel_time_res
OBJ
{ decide: Bytecode I2C engine, or PASM? Default is PASM if BC isn't specified }
#ifdef LSM303_I2C_BC
i2c: "com.i2c.nocog" ' BC I2C engine
#else
i2c: "com.i2c" ' PASM I2C engine
#endif
core: "core.con.lsm303dlhc" ' hw-specific low-level const's
time: "time" ' basic timing functions
PUB null()
'This is not a top-level object
PUB start(): status
' Start using default I/O configuration
return startx(SCL, SDA, I2C_FREQ)
PUB startx(SCL_PIN, SDA_PIN, I2C_HZ): status
' Start using custom I/O pins and I2C bus frequency
if ( lookdown(SCL_PIN: 0..31) and lookdown(SDA_PIN: 0..31) )
if ( status := i2c.init(SCL_PIN, SDA_PIN, I2C_HZ) )
time.usleep(core.TPOR) ' wait for device startup
if ( i2c.present(XL_SLAVE_WR) ) ' test device bus presence
return status
' if this point is reached, something above failed
' Re-check I/O pin assignments, bus speed, connections, power
' Lastly - make sure you have at least one free core/cog
return FALSE
PUB stop()
' Stop the driver
i2c.deinit()
PUB defaults()
' Set factory defaults
accel_scale(2)
mag_scale(1)
mag_data_rate(15)
PUB preset_active()
' Like defaults(), but
' * enables output data
' * 50Hz accelerometer sample rate
accel_data_rate(50)
accel_scale(2)
mag_opmode(CONT)
mag_scale(1)
PUB preset_click_det()
' Presets for click-detection
accel_adc_res(12)
accel_scale(4)
accel_data_rate(400)
accel_axis_ena(%111)
click_set_thresh(1_187500)
click_axis_ena(%11_00_00)
click_set_time(127_000)
dbl_click_set_win(637_500)
click_set_latency(150_000)
click_int_ena(TRUE)
PUB accel_adc_res(bits=-2): curr_res | tmp1, tmp2
' Set accelerometer ADC resolution, in bits
' Valid values:
' 8: 8-bit data output, Low-power mode
' 10: 10-bit data output, Normal mode
' 12: 12-bit data output, High-resolution mode
' Any other value polls the chip and returns the current setting
tmp1 := tmp2 := 0
readreg(core.CTRL_REG1, 1, @tmp1)
readreg(core.CTRL_REG4, 1, @tmp2)
case bits
8:
tmp1 &= core.LPEN_MASK
tmp2 &= core.HR_MASK
tmp1 := (tmp1 | (1 << core.LPEN))
10:
tmp1 &= core.LPEN_MASK
tmp2 &= core.HR_MASK
12:
tmp1 &= core.LPEN_MASK
tmp2 &= core.HR_MASK
tmp2 := (tmp2 | (1 << core.HR))
other:
tmp1 := (tmp1 >> core.LPEN) & 1
tmp2 := (tmp2 >> core.HR) & 1
tmp1 := (tmp1 << 1) | tmp2
return lookupz(tmp1: 10, 12, 8)
writereg(core.CTRL_REG1, 1, @tmp1)
writereg(core.CTRL_REG4, 1, @tmp2)
PUB accel_axis_ena(mask=-2): curr_mask
' Enable data output for Accelerometer - per axis
' Valid values: 0 or 1, for each axis:
' Bits 210
' XYZ
' Any other value polls the chip and returns the current setting
curr_mask := 0
readreg(core.CTRL_REG1, 1, @curr_mask)
case mask
%000..%111:
' reverse the position of the XYZ bits, since internally, they're
' ZYX (XYZ order is sensor.imu standard)
mask := (mask >< 3) & core.XYZEN_BITS
other:
return ((curr_mask & core.XYZEN_BITS) >< 3)
mask := ((curr_mask & core.XYZEN_MASK) | mask)
writereg(core.CTRL_REG1, 1, @mask)
PUB accel_bias(x, y, z)
' Read accelerometer calibration offset values
' x, y, z: pointers to copy offsets to
long[x] := _abias[X_AXIS]
long[y] := _abias[Y_AXIS]
long[z] := _abias[Z_AXIS]
PUB accel_set_bias(x, y, z)
' Write accelerometer calibration offset values
' Valid values:
' -1024..1023 (clamped to range)
_abias[X_AXIS] := (-1024 #> x <# 1023)
_abias[Y_AXIS] := (-1024 #> y <# 1023)
_abias[Z_AXIS] := (-1024 #> z <# 1023)
PUB accel_data(ax, ay, az) | tmp[2]
' Read the Accelerometer output registers
longfill(@tmp, 0, 2)
readreg(core.OUT_X_L, 6, @tmp)
' accel data is 12bit, left-justified in a 16bit word
' extend sign, then right-justify
long[ax] := (~~tmp.word[X_AXIS] ~> 4) - _abias[X_AXIS]
long[ay] := (~~tmp.word[Y_AXIS] ~> 4) - _abias[Y_AXIS]
long[az] := (~~tmp.word[Z_AXIS] ~> 4) - _abias[Z_AXIS]
PUB accel_data_overrun(): flag
' Flag indicating previously acquired data has been overwritten
' Returns:
' Bits 3210 (decimal val):
' 3 (8): X, Y, and Z-axis data overrun
' 2 (4): Z-axis data overrun
' 1 (2): Y-axis data overrun
' 0 (1): X-axis data overrun
' Returns 0 otherwise
flag := 0
readreg(core.STATUS_REG, 1, @flag)
return ((flag >> core.X_OR) & core.OR_BITS)
PUB accel_data_rdy(): flag
' Flag indicating accelerometer data is ready
' Returns: TRUE (-1) if data ready, FALSE otherwise
flag := 0
readreg(core.STATUS_REG, 1, @flag)
return (((flag >> core.ZYXDA) & 1) == 1)
PUB accel_data_rate(rate=-2): curr_rate
' Set accelerometer output data rate, in Hz
' Valid values: 0 (power down), 1, 10, 25, *50, 100, 200, 400, 1620, 1344, 5376
' Any other value polls the chip and returns the current setting
curr_rate := 0
readreg(core.CTRL_REG1, 1, @curr_rate)
case rate
0, 1, 10, 25, 50, 100, 200, 400, 1620, 1344, 5376:
_accel_time_res := (1_000000 / rate)' calc time resolution
rate := lookdownz(rate: 0, 1, 10, 25, 50, 100, 200, 400, 1620, 1344, 5376) << core.ODR
other:
curr_rate := ((curr_rate >> core.ODR) & core.ODR_BITS)
return lookupz(curr_rate: 0, 1, 10, 25, 50, 100, 200, 400, 1620, 1344, 5376)
rate := ((curr_rate & core.ODR_MASK) | rate)
writereg(core.CTRL_REG1, 1, @rate)
PUB accel_int(): curr_state
' Read accelerometer interrupt state
' Bit 6543210 (For each bit, 0: No interrupt, 1: Interrupt has been generated)
' 6: One or more interrupts have been generated
' 5: Z-axis high event
' 4: Z-axis low event
' 3: Y-axis high event
' 2: Y-axis low event
' 1: X-axis high event
' 0: X-axis low event
curr_state := 0
readreg(core.INT1_SRC, 1, @curr_state)
PUB accel_int_mask(mask=-2): curr_mask
' Set accelerometer interrupt mask
' Bits: 543210
' 5: Z-axis high event
' 4: Z-axis low event
' 3: Y-axis high event
' 2: Y-axis low event
' 1: X-axis high event
' 0: X-axis low event
' Valid values: %000000..%111111
' Any other value polls the chip and returns the current setting
case mask
%000000..%111111:
writereg(core.INT1_CFG, 1, @mask)
other:
curr_mask := 0
readreg(core.INT1_CFG, 1, @curr_mask)
return
PUB accel_int_thresh(): thresh
' Get accelerometer interrupt threshold level
' Returns: micro-g's
thresh := 0
readreg(core.INT1_THS, 1, @thresh)
case accel_scale()
2: thresh *= 16_000
4: thresh *= 32_000
8: thresh *= 62_000
16: thresh *= 186_000 ' scale to micro-g's
PUB accel_int_set_thresh(thresh) | ascl
' Set accelerometer interrupt threshold level, in micro-g's
' Valid values: 0..16_000000 (clamped to range)
case accel_scale()
2: ascl := 16_000
4: ascl := 32_000
8: ascl := 62_000
16: ascl := 186_000 ' scale to reg range
thresh := ((0 #> thresh <# 16_000000) / ascl)
writereg(core.INT1_THS, 1, @thresh)
PUB accel_scale(scale=-2): curr_scl
' Set measurement range of the accelerometer, in g's
' Valid values: 2, 4, 8, 16
' Any other value polls the chip and returns the current setting
curr_scl := 0
readreg(core.CTRL_REG4, 1, @curr_scl)
case scale
2, 4, 8, 16:
scale := lookdownz(scale: 2, 4, 8, 16)
#ifdef LSM303AGR
_ares := lookupz(scale: 0_980, 1_950, 3_900, 11_720)
#else
_ares := lookupz(scale: 1_000, 2_000, 4_000, 12_000)
#endif
scale <<= core.FS
other:
curr_scl := (curr_scl >> core.FS) & core.FS_BITS
return lookupz(curr_scl: 2, 4, 8, 16)
scale := ((curr_scl & core.FS_MASK) | scale)
writereg(core.CTRL_REG4, 1, @scale)
PUB click_axis_ena(mask=-2): curr_mask
' Enable click detection per axis, and per click type
' Valid values:
' Bits: 5..0
' [5..4]: Z-axis double-click..single-click
' [3..2]: Y-axis double-click..single-click
' [1..0]: X-axis double-click..single-click
' Any other value polls the chip and returns the current setting
case mask
%000000..%111111:
writereg(core.CLICK_CFG, 1, @mask)
other:
curr_mask := 0
readreg(core.CLICK_CFG, 1, @curr_mask)
return
PUB clicked(): flag
' Flag indicating the sensor was single or double-clicked
' Returns: TRUE (-1) if sensor was single-clicked or double-clicked
' FALSE (0) otherwise
return (((clickedint >> core.SCLICK) & core.CLICK_BITS) <> 0)
PUB clicked_int(): int_src
' Clicked interrupt status
' Bits: 6..0
' 6: Interrupt active
' 5: Double-clicked
' 4: Single-clicked
' 3: Click sign (0: positive, 1: negative)
' 2: Z-axis clicked
' 1: Y-axis clicked
' 0: X-axis clicked
int_src := 0
readreg(core.CLICK_SRC, 1, @int_src)
PUB click_int_ena(state=-2): curr_state
' Enable click interrupts on INT1
' Valid values: TRUE (-1 or 1), FALSE (0)
' Any other value polls the chip and returns the current setting
readreg(core.CTRL_REG3, 1, @curr_state)
case ||(state)
0, 1:
state := ||(state) << core.I1_CLICK
other:
return ((curr_state >> core.I1_CLICK) == 1)
state := ((curr_state & core.I1_CLICK_MASK) | state)
writereg(core.CTRL_REG3, 1, @state)
PUB click_latency(): ltime
' Get maximum elapsed interval between start of click and end of click
' Returns: microseconds
ltime := 0
readreg(core.TIME_LATENCY, 1, @ltime)
return (ltime * _accel_time_res)
PUB click_set_latency(ltime)
' Set maximum elapsed interval between start of click and end of click, in uSec
' (i.e., time from set ClickThresh exceeded to falls back below threshold)
' Valid values:
' accel_data_rate() Min time (uS/step size) Max time (uS) (equiv. range in mS)
' 1 1_000_000 255_000_000 1,000 .. 255,000
' 10 100_000 25_500_000 100 .. 25,500
' 25 40_000 10_200_000 40.0 .. 10,200
' 50 20_000 5_100_000 20.0 .. 5,100
' 100 10_000 2_550_000 10.0 .. 2,550
' 200 5_000 1_275_000 5.0 .. 1,275
' 400 2_500 637_500 2.5 .. 637.5
' 1344 744 189_732 0.744 .. 189.732
' 1600 625 159_375 0.625 .. 159.375
' NOTE: Minimum unit is dependent on the current accel_data_rate()
' NOTE: ST application note example uses accel_data_rate(400)
ltime := ((0 #> ltime <# (_accel_time_res * 255)) / _accel_time_res)
writereg(core.TIME_LATENCY, 1, @ltime)
PUB click_thresh(): thresh | ares
' Get threshold for recognizing a click
' Returns: micro-g's
ares := (accel_scale() * 1_000000) / 128 ' Resolution is current scale / 128
thresh := 0
readreg(core.CLICK_THS, 1, @thresh)
return (thresh * ares)
PUB click_set_thresh(thresh) | ares
' Set threshold for recognizing a click, in micro-g's
' Valid values:
' accel_scale() Max thresh
' 2 1_984375 (= 1.984375g)
' 4 3_968750 (= 3.968750g)
' 8 7_937500 (= 7.937500g)
' 16 15_875000 (= 15.875000g)
' NOTE: Each LSB = (accel_scale()/128)*1M (e.g., 4g scale lsb=31250ug = 0_031250ug = 0.03125g)
ares := (accel_scale() * 1_000000) / 128 ' Resolution is current scale / 128
thresh := ((0 #> thresh <# (127 * ares)) / ares)
writereg(core.CLICK_THS, 1, @thresh)
PUB click_time(): ctime | time_res
' Get maximum elapsed interval between start of click and end of click
' Returns: microseconds
ctime := 0
readreg(core.TIME_LIMIT, 1, @ctime)
return (ctime * _accel_time_res)
PUB click_set_time(ctime)
' Set maximum elapsed interval between start of click and end of click, in uSec
' (i.e., time from set ClickThresh exceeded to falls back below threshold)
' Valid values:
' accel_data_rate() Min time (uS/step size) Max time (uS) (equiv. mS)
' 1 1_000_000 127_000_000 127,000
' 10 100_000 12_700_000 12,700
' 25 40_000 5_080_000 5,080
' 50 20_000 2_540_000 2,540
' 100 10_000 1_270_000 1,127
' 200 5_000 635_000 635
' 400 2_500 317_500 317
' 1344 744 94_494 94
' 1600 625 79_375 79
' NOTE: Minimum unit is dependent on the current accel_data_rate()
' NOTE: ST application note example uses accel_data_rate(400)
ctime := ((0 #> ctime <# (_accel_time_res * 127)) / _accel_time_res)
writereg(core.TIME_LIMIT, 1, @ctime)
PUB dbl_click_win(): dctime
' Get maximum elapsed interval between two consecutive clicks
' Returns: microseconds
dctime := 0
readreg(core.TIME_WINDOW, 1, @dctime)
return (dctime * _accel_time_res)
PUB dbl_click_set_win(dctime)
' Set maximum elapsed interval between two consecutive clicks, in uSec
' Valid values:
' accel_data_rate() Min time (uS/step size) Max time (uS) (equiv. range in mS)
' 1 1_000_000 255_000_000 1,000 .. 255,000
' 10 100_000 25_500_000 100 .. 25,500
' 25 40_000 10_200_000 40.0 .. 10,200
' 50 20_000 5_100_000 20.0 .. 5,100
' 100 10_000 2_550_000 10.0 .. 2,550
' 200 5_000 1_275_000 5.0 .. 1,275
' 400 2_500 637_500 2.5 .. 637.5
' 1344 744 189_732 0.744 .. 189.732
' 1600 625 159_375 0.625 .. 159.375
' Any other value polls the chip and returns the current setting
' NOTE: Minimum unit is dependent on the current accel_data_rate()
' NOTE: ST application note example uses accel_data_rate(400)
dctime := ((0 #> dctime <# (_accel_time_res * 255)) / _accel_time_res)
writereg(core.TIME_WINDOW, 1, @dctime)
PUB fifo_ena(state=-2): curr_state
' Enable FIFO memory
' Valid values: FALSE (0), TRUE(1 or -1)
' Any other value polls the chip and returns the current setting
curr_state := 0
readreg(core.CTRL_REG5, 1, @curr_state)
case ||(state)
0, 1:
state := ||(state) << core.FIFO_EN
other:
return (((curr_state >> core.FIFO_EN) & 1) == 1)
state := ((curr_state & core.FIFO_EN_MASK) | state)
writereg(core.CTRL_REG5, 1, @state)
PUB fifo_empty(): flag
' Flag indicating FIFO is empty
' Returns: FALSE (0): FIFO contains at least one sample, TRUE(-1): FIFO is empty
flag := 0
readreg(core.FIFO_SRC_REG, 1, @flag)
return (((flag >> core.EMPTY) & 1) == 1)
PUB fifo_full(): flag
' Flag indicating FIFO is full
' Returns: FALSE (0): FIFO contains less than 32 samples, TRUE(-1): FIFO contains 32 samples
flag := 0
readreg(core.FIFO_SRC_REG, 1, @flag)
return (((flag >> core.OVRN_FIFO) & 1) == 1)
PUB fifo_mode(mode=-2): curr_mode
' Set FIFO behavior
' Valid values:
' BYPASS (%00) - Bypass mode - FIFO off
' FIFO (%01) - FIFO mode
' STREAM (%10) - Stream mode
' STREAM2FIFO (%11) - Stream-to-FIFO mode
' Any other value polls the chip and returns the current setting
curr_mode := 0
readreg(core.FIFO_CTRL_REG, 1, @curr_mode)
case mode
BYPASS, FIFO, STREAM, STREAM2FIFO:
mode <<= core.FM
other:
return ((curr_mode >> core.FM) & core.FM_BITS)
mode := ((curr_mode & core.FM_MASK) | mode)
writereg(core.FIFO_CTRL_REG, 1, @mode)
PUB fifo_thresh(thresh=-2): curr_thr
' Set FIFO threshold thresh
' Valid values: 1..32
' Any other value polls the chip and returns the current setting
curr_thr := 0
readreg(core.FIFO_CTRL_REG, 1, @curr_thr)
case thresh
1..32:
thresh -= 1
other:
return ((curr_thr & core.FTH_BITS) + 1)
thresh := ((curr_thr & core.FTH_MASK) | thresh)
writereg(core.FIFO_CTRL_REG, 1, @thresh)
PUB fifo_nr_unread(): nr_samples
' Number of unread samples stored in FIFO
' Returns: 1..32
nr_samples := 0
readreg(core.FIFO_SRC_REG, 1, @nr_samples)
return ((nr_samples & core.FSS_BITS) + 1)
#ifdef LSM303AGR
{ LSM303AGR }
PUB mag_bias(x, y, z) | tmp[2]
' Read Magnetometer calibration offset values
' x, y, z: pointers to long-sized variables
longfill(@tmp, 0, 2)
readreg(core.OFFSET_X_REG_L_M, 6, @tmp)
{ copy bias values to destination variables, and cache them in RAM, too }
long[x] := _mbias[X_AXIS] := ~~tmp.word[0]
long[y] := _mbias[Y_AXIS] := ~~tmp.word[1]
long[z] := _mbias[Z_AXIS] := ~~tmp.word[2]
PUB mag_block_data_update_ena(en): c
' Enable magnetometer output data block update
' en:
' TRUE (non-zero values): output registers not updated until MSB and LSB have been read
' (ensures that both MSB and LSB are from the same sample)
' FALSE (0): continuous update
' Returns:
' current setting if called with other values
c := 0
readreg(core.CFG_REG_C_M, 1, @c)
if ( en => -1 )
en := (c & core.MAG_BDU_MASK) | ( ((c <> 0) & 1) << core.MAG_BDU )
writereg(core.CFG_REG_C_M, 1, @en)
else
return ( ((c >> core.MAG_BDU) & 1) == 1 )
PUB mag_data(mx, my, mz) | tmp[2]
' Read the Magnetometer output registers
longfill(@tmp, 0, 2)
readreg(core.OUTX_L_REG_M, 6, @tmp)
long[mx] := ~~tmp.word[0]
long[my] := ~~tmp.word[1]
long[mz] := ~~tmp.word[2]
PUB mag_data_rate(r=-2): c
' Set magnetometer output data rate
' r: data rate in Hz
' 10, 20, 50, 100 (default: 10)
' Returns:
' none, if parameter value passed is in the above list
' current data rate, if other values are given
c := 0
readreg(core.CFG_REG_A_M, 1, @c)
case r
10, 20, 50, 100:
r := (c & core.MAG_ODR_MASK) | (lookdownz(r: 10, 20, 50, 100) << core.MAG_ODR)
writereg(core.CFG_REG_A_M, 1, @r)
other:
{ map MAG_ODR bitfield 0, 1, 2, 3 to 10, 20, 50, 100 }
return ( lookupz(((c >> core.MAG_ODR) & core.MAG_ODR_BITS): 10, 20, 50, 100) )
PUB mag_data_rdy(): f
' Flag indicating new magnetometer data is ready
' Returns:
' TRUE (-1) or FALSE (0)
f := 0
readreg(core.STATUS_REG_M, 1, @f)
return ( (f & core.DATA_READY) <> 0 )
PUB mag_dev_id(): id
' Read the sensor's device identification
' Returns:
' $40 on success
' other values on failure
id := 0
readreg(core.WHO_AM_I_M, 1, @id)
PUB mag_lpf_ena(en=-2): c
' Enable magnetometer output data low-pass filter
' en:
' TRUE (non-zero values -1 or greater): enable
' FALSE (0): disable
' Returns:
' current setting if called with other values
c := 0
readreg(core.CFG_REG_B_M, 1, @c)
if ( en => true )
en := (c & core.LPF_MASK) | ((en <> 0) & 1)
writereg(core.CFG_REG_B_M, 1, @en)
else
return ( (c & 1) == 1 )
PUB mag_opmode(m=-2): c
' Set magnetometer operating mode
' m:
' CONT (0)
' SINGLE (1)
' IDLE (2)
' Returns:
' none, if parameter value passed is in the above list
' current data rate, if other values are given
c := 0
readreg(core.CFG_REG_A_M, 1, @c)
case m
CONT, SINGLE, IDLE:
m := (c & core.MD_MASK) | m
writereg(core.CFG_REG_A_M, 1, @m)
other:
return (c & core.MD_BITS)
PUB mag_scale(s=-2): c
' Set magnetometer full-scale range
' LSM303AGR: N/A (device has no selectable range). Provided for API compatibility only
' Returns:
' full-scale range, in Gauss
longfill(@_mres, 1_500, 3) ' set LSM303AGR sensitivity: 1.5mGs/LSB
return 50 ' LSM303AGR mag FSR is 49.152Gs
PUB mag_set_bias(x, y, z)
' Write Magnetometer calibration offset values
' Valid values:
writereg(core.OFFSET_X_REG_L_M, 2, @x) ' write the new bias values
writereg(core.OFFSET_Y_REG_L_M, 2, @y)
writereg(core.OFFSET_Z_REG_L_M, 2, @z)
longmove(@_mbias, @x, 3) ' copy the values just set to RAM
PUB mag_temp_comp_ena(en=-2): c
' Enable magnetometer temperature compensation
' en:
' TRUE (non-zero values -1 or greater): enable
' FALSE (0): disable
' Returns:
' current setting when called with other values
c := 0
readreg(core.CFG_REG_A_M, 1, @c)
if ( en => -1 )
en := (c & core.COMP_TEMP_EN_MASK) | (((en <> 0) & 1) << core.COMP_TEMP_EN)
writereg(core.CFG_REG_A_M, 1, @en)
else
return ( ((c >> core.COMP_TEMP_EN) & 1) == 1 )
#else
{ LSM303DLHC }
PUB mag_bias(x, y, z)
' Read Magnetometer calibration offset values
long[x] := _mbias[X_AXIS]
long[y] := _mbias[Y_AXIS]
long[z] := _mbias[Z_AXIS]
PUB mag_set_bias(x, y, z)
' Write Magnetometer calibration offset values
' Valid values:
' -2048..2047 (clamped to range)
_mbias[X_AXIS] := -2048 #> x <# 2047
_mbias[Y_AXIS] := -2048 #> y <# 2047
_mbias[Z_AXIS] := -2048 #> z <# 2047
PUB mag_data(mx, my, mz) | tmp[2]
' Read the Magnetometer output registers
longfill(@tmp, 0, 2)
readreg(core.OUT_X_H_M, 6, @tmp)
long[mx] := ~~tmp.word[0] - _mbias[X_AXIS]
long[my] := ~~tmp.word[2] - _mbias[Y_AXIS]
long[mz] := ~~tmp.word[1] - _mbias[Z_AXIS]
PUB mag_data_rate(rate=-2): curr_rate
' Set Magnetometer Output Data Rate, in Hz
' Valid values: 0 (0.75), 1 (1.5), 3, 7 (7.5), *15, 30, 75, 220
' Any other value polls the chip and returns the current setting
curr_rate := 0
readreg(core.CRA_REG_M, 1, @curr_rate)
case rate
0, 1, 3, 7, 15, 30, 75, 220:
rate := lookdownz(rate: 0, 1, 3, 7, 15, 30, 75, 220) << core.DO
other:
curr_rate := ((curr_rate >> core.DO) & core.DO_BITS)
return lookupz(curr_rate: 0, 1, 3, 7, 15, 30, 75, 220)
rate := ((curr_rate & core.DO_MASK) | rate)
writereg(core.CRA_REG_M, 1, @rate)
PUB mag_data_rdy(): flag
' Flag indicating new magnetometer data available
' Returns: TRUE(-1) if data available, FALSE otherwise
flag := 0
readreg(core.SR_REG_M, 1, @flag)
return ((flag & core.DRDY_BITS) == 0)
PUB mag_opmode(mode=-2): curr_mode
' Set magnetometer operating mode
' Valid values:
' CONT (0): Continuous conversion
' SINGLE (1): Single conversion
' SLEEP (2, 3): Power down
case mode
CONT, SINGLE, SLEEP, 3:
mode &= core.MR_REG_M_MASK
writereg(core.MR_REG_M, 1, @mode)
other:
curr_mode := 0
readreg(core.MR_REG_M, 1, @curr_mode)
return (curr_mode & core.MD_BITS)
PUB mag_scale(scale=-2): curr_scl
' Set full scale of Magnetometer, in Gauss
' Valid values: *1 (1.3), 2 (1.9), 3 (2.5), 4, 5 (4.7), 6 (5.6), 8 (8.1)
' Any other value polls the chip and returns the current setting
case scale
1, 2, 3, 4, 5, 6, 8:
scale := lookdown(scale: 1, 2, 3, 4, 5, 6, 8)
_mres[X_AXIS] := lookup(scale: 0_000909, 0_001169, 0_001492, 0_002222, 0_002500, ...
0_003030, 0_004347)
_mres[Y_AXIS] := lookup(scale: 0_000909, 0_001169, 0_001492, 0_002222, 0_002500, ...
0_003030, 0_004347)
_mres[Z_AXIS] := lookup(scale: 0_001020, 0_001315, 0_001666, 0_002500, 0_002816, ...
0_003389, 0_004878)
scale <<= core.GN
writereg(core.CRB_REG_M, 1, @scale)
other:
curr_scl := 0
readreg(core.CRB_REG_M, 1, @curr_scl)
curr_scl := (curr_scl >> core.GN) & core.GN_BITS
return lookup(curr_scl: 1, 2, 3, 4, 5, 6, 8)
#endif
PRI readreg(reg_nr, nr_bytes, ptr_buff) | cmd_pkt, byte_ord
' Read nr_bytes from slave device into ptr_buff
case reg_nr ' validate reg #
$32_20..$32_27, $32_2E..$32_3D: ' Accel regs
byte_ord := LSBF
$32_28..$32_2D: ' Accel data output regs
reg_nr |= core.RD_MULTI
byte_ord := LSBF
#ifdef LSM303AGR
$3c_45..$3c4a, $3c_4f, $3c_60..$3c6d:
byte_ord := LSBF
#else
$3C_00..$3C_0C, $3C_31, $3C_32: ' Mag regs
byte_ord := MSBF
#endif
other:
return
cmd_pkt.byte[0] := reg_nr.byte[1] ' slave address embedded in
cmd_pkt.byte[1] := reg_nr.byte[0] ' the upper byte of reg_nr
i2c.start()
i2c.wrblock_lsbf(@cmd_pkt, 2)
i2c.start()
i2c.write(reg_nr.byte[1] | 1)
if (byte_ord == LSBF) ' accelerometer data is LSBf
i2c.rdblock_lsbf(ptr_buff, nr_bytes, i2c.NAK)
elseif (byte_ord == MSBF) ' mag is MSBf
i2c.rdblock_msbf(ptr_buff, nr_bytes, i2c.NAK)
i2c.stop()
PRI writereg(reg_nr, nr_bytes, ptr_buff) | cmd_pkt, tmp
' Write nr_bytes from ptr_buff to slave device
case reg_nr ' validate reg #
$32_20..$32_26, $32_2E, $32_30, $32_32..$32_34, $32_36..$32_3D:
#ifdef LSM303AGR
$3c_45..$3c_4a, $3c_60..$3c_63, $3c_66:
#else
$3C_00..$3C_02:
#endif
other:
return
cmd_pkt.byte[0] := reg_nr.byte[1]
cmd_pkt.byte[1] := reg_nr.byte[0]
i2c.start()
i2c.wrblock_lsbf(@cmd_pkt, 2)
i2c.wrblock_lsbf(ptr_buff, nr_bytes)
i2c.stop()
DAT
{
Copyright 2024 Jesse Burt
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.
}