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lsm303: make code alot more robust and fix getHeading() call

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Note that from this UPM release libmraa 0.5.2+ is required

Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Brendan Le Foll 2014-11-07 10:53:42 +00:00
parent e9da4719fb
commit 44b1ff7f75
3 changed files with 35 additions and 30 deletions
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2
CMakeLists.txt
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@ -9,7 +9,7 @@ endif ()
find_package (Threads REQUIRED) find_package (Threads REQUIRED)
find_package (PkgConfig REQUIRED) find_package (PkgConfig REQUIRED)
# force the libmraa version to be the required version # force the libmraa version to be the required version
pkg_check_modules (MRAA REQUIRED mraa>=0.4.5) pkg_check_modules (MRAA REQUIRED mraa>=0.5.2)
message (INFO " found libmraa version: ${MRAA_VERSION}") message (INFO " found libmraa version: ${MRAA_VERSION}")
# Appends the cmake/modules path to MAKE_MODULE_PATH variable. # Appends the cmake/modules path to MAKE_MODULE_PATH variable.

62
src/lsm303/lsm303.cxx
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@ -42,40 +42,22 @@ LSM303::LSM303(int bus, int addrMag, int addrAcc)
m_i2c = mraa_i2c_init(bus); m_i2c = mraa_i2c_init(bus);
buf[0] = CTRL_REG1_A; // 0x27 is the 'normal' mode with X/Y/Z enable
buf[1] = 0x27; setRegisterSafe(m_addrAcc, CTRL_REG1_A, 0x27);
ret = mraa_i2c_address(m_i2c, m_addrAcc);
ret = mraa_i2c_write(m_i2c, buf, 2);
// 0x27 = normal power mode, all accel axes on
buf[0] = CTRL_REG1_A;
buf[1] = 0x27;
ret = mraa_i2c_address(m_i2c, m_addrAcc);
ret = mraa_i2c_write(m_i2c, buf, 2);
// scale == 2, can be 4 or 8 // scale == 2, can be 4 or 8
buf[0] = CTRL_REG4_A; setRegisterSafe(m_addrAcc, CTRL_REG4_A, 0x00);
buf[1] = 0x00;
ret = mraa_i2c_address(m_i2c, m_addrAcc);
ret = mraa_i2c_write(m_i2c, buf, 2);
// 0x14 = mag 30Hz output rate // 0x10 = minimum datarate ~15Hz output rate
buf[0] = CRA_REG_M; setRegisterSafe(m_addrMag, CRA_REG_M, 0x10);
buf[1] = 0x14;
ret = mraa_i2c_address(m_i2c, m_addrMag);
ret = mraa_i2c_write(m_i2c, buf, 2);
// magnetic scale = +/-1.3Gaussmagnetic scale = +/-1.3Gauss // magnetic scale = +/-1.3
buf[0] = CRB_REG_M; // Gaussmagnetic scale = +/-1.3Gauss (0x20)
buf[1] = 0x20; // MAG_SCALE_1_3; // +-8.1Gauss (0xe0)
ret = mraa_i2c_address(m_i2c, m_addrMag); setRegisterSafe(m_addrMag, CRB_REG_M, 0xe0);
ret = mraa_i2c_write(m_i2c, buf, 2);
// 0x00 = continouous conversion mode // 0x00 = continouous conversion mode
buf[0] = MR_REG_M; setRegisterSafe(m_addrMag, MR_REG_M, 0x00);
buf[1] = 0x00;
ret = mraa_i2c_address(m_i2c, m_addrMag);
ret = mraa_i2c_write(m_i2c, buf, 2);
} }
LSM303::~LSM303() { LSM303::~LSM303() {
@ -142,7 +124,7 @@ LSM303::getCoordinates()
} }
// convert to coordinates // convert to coordinates
for (int i=0; i<3; i++) { for (int i=0; i<3; i++) {
coor[i] = (buf[0*i] << 8) | buf[1*i]; coor[i] = (buf[2*i] << 8) | buf[(2*i)+1];
} }
// note that coor array is in XZY order // note that coor array is in XZY order
//printf("X=%x, Y=%x, Z=%x\n", coor[X], coor[Y], coor[Z]); //printf("X=%x, Y=%x, Z=%x\n", coor[X], coor[Y], coor[Z]);
@ -172,3 +154,25 @@ LSM303::getAcceleration()
return ret; return ret;
} }
// helper function that sets a register and then checks the set was succesful
mraa_result_t
LSM303::setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data)
{
buf[0] = sregister;
buf[1] = data;
if (mraa_i2c_address(m_i2c, slave) != MRAA_SUCCESS) {
fprintf(stderr, "lsm303: Failed to connect to slave\n");
return MRAA_ERROR_INVALID_HANDLE;
}
if (mraa_i2c_write(m_i2c, buf, 2) != MRAA_SUCCESS) {
fprintf(stderr, "lsm303: Failed to write to register\n");
return MRAA_ERROR_INVALID_HANDLE;
}
uint8_t val = mraa_i2c_read_byte_data(m_i2c, sregister);
if (val != data) {
fprintf(stderr, "lsm303: Failed to set register correctly\n");
return MRAA_ERROR_UNSPECIFIED;
}
return MRAA_SUCCESS;
}

1
src/lsm303/lsm303.h
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@ -129,6 +129,7 @@ class LSM303 {
private: private:
int readThenWrite(uint8_t reg); int readThenWrite(uint8_t reg);
mraa_result_t setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data);
mraa_i2c_context m_i2c; mraa_i2c_context m_i2c;
int m_addrMag; int m_addrMag;