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Accelerometer_Compass_LSM303D.cpp

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+/*
+ * A library for LSM303D based Acc&Compass Grove
+ *
+ * Copyright (c) 2012 Seeed Technology Limited
+ * Website    : www.seeed.cc
+ * Author     : Jacky Zhang
+ * Create Time: Dec 2014
+ * Change Log :
+ *
+ * The MIT License (MIT)
+ *
+ * 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 <Accelerometer_Compass_LSM303D.h>
+#include <Wire.h>
+
+/* LSM303 Address definitions */
+#define LSM303D_ADDR  0x1E  // assuming SA0 grounded
+
+/* LSM303 Register definitions */
+#define TEMP_OUT_L		0x05
+#define TEMP_OUT_H		0x06
+#define	STATUS_REG_M	0x07
+#define OUT_X_L_M 		0x08
+#define OUT_X_H_M 		0x09
+#define OUT_Y_L_M 		0x0A
+#define OUT_Y_H_M 		0x0B
+#define OUT_Z_L_M 		0x0C
+#define OUT_Z_H_M 		0x0D
+#define	WHO_AM_I		0x0F
+#define	INT_CTRL_M		0x12
+#define	INT_SRC_M		0x13
+#define	INT_THS_L_M		0x14
+#define	INT_THS_H_M		0x15
+#define	OFFSET_X_L_M	0x16
+#define	OFFSET_X_H_M	0x17
+#define	OFFSET_Y_L_M	0x18
+#define	OFFSET_Y_H_M	0x19
+#define	OFFSET_Z_L_M	0x1A
+#define	OFFSET_Z_H_M	0x1B
+#define REFERENCE_X 	0x1C
+#define REFERENCE_Y 	0x1D
+#define REFERENCE_Z 	0x1E
+#define CTRL_REG0 		0x1F
+#define CTRL_REG1 		0x20
+#define CTRL_REG2		0x21
+#define CTRL_REG3 		0x22
+#define CTRL_REG4 		0x23
+#define CTRL_REG5 		0x24
+#define CTRL_REG6 		0x25
+#define CTRL_REG7 		0x26
+#define	STATUS_REG_A	0x27
+#define OUT_X_L_A 		0x28
+#define OUT_X_H_A 		0x29
+#define OUT_Y_L_A 		0x2A
+#define OUT_Y_H_A 		0x2B
+#define OUT_Z_L_A 		0x2C
+#define OUT_Z_H_A 		0x2D
+#define	FIFO_CTRL		0x2E
+#define	FIFO_SRC		0x2F
+#define	IG_CFG1			0x30
+#define	IG_SRC1			0x31
+#define	IG_THS1			0x32
+#define	IG_DUR1			0x33
+#define	IG_CFG2			0x34
+#define	IG_SRC2			0x35
+#define	IG_THS2			0x36
+#define	IG_DUR2			0x37
+#define	CLICK_CFG		0x38
+#define	CLICK_SRC		0x39
+#define	CLICK_THS		0x3A
+#define	TIME_LIMIT		0x3B
+#define	TIME_LATENCY	0x3C
+#define	TIME_WINDOW		0x3D
+#define	ACT_THS			0x3E
+#define	ACT_DUR			0x3F
+
+#define MAG_SCALE_2 	0x00//full-scale is +/-2Gauss
+#define MAG_SCALE_4 	0x20//+/-4Gauss
+#define MAG_SCALE_8 	0x40//+/-8Gauss
+#define MAG_SCALE_12 	0x60//+/-12Gauss
+ 
+char LSM303D::init()
+{
+	char rtn = -1;
+	
+	Wire.begin();  // Start up I2C, required for LSM303 communication
+	if(read(WHO_AM_I) != 0x49) return rtn; // return wrong if no LSM303D was found 
+	write(0x57, CTRL_REG1);  // 0x57 = ODR=50hz, all accel axes on
+	write((3<<6)|(0<<3), CTRL_REG2);  // set full-scale
+	write(0x00, CTRL_REG3);  // no interrupt
+	write(0x00, CTRL_REG4);  // no interrupt
+	write((4<<2), CTRL_REG5);  // 0x10 = mag 50Hz output rate
+	write(MAG_SCALE_2, CTRL_REG6); //magnetic scale = +/-1.3Gauss
+	write(0x00, CTRL_REG7);  // 0x00 = continouous conversion mode
+	rtn = 0;
+	return rtn;
+}
+
+unsigned char LSM303D::read(unsigned char address)
+{
+	char temp;
+
+	Wire.beginTransmission(LSM303D_ADDR);
+	Wire.write(address);
+	Wire.endTransmission();
+
+	Wire.requestFrom(LSM303D_ADDR, 1);
+	while(!Wire.available());
+	temp = Wire.read();
+	Wire.endTransmission();
+
+	return temp;
+}
+
+void LSM303D::write(unsigned char data, unsigned char address)
+{
+	Wire.beginTransmission(LSM303D_ADDR); 
+	Wire.write(address);
+	Wire.write(data);
+	Wire.endTransmission();
+}
+
+char LSM303D::isMagReady()
+{
+	char temp;
+	temp = read(STATUS_REG_M) & 0x03;
+	return temp;
+}
+
+void LSM303D::getMag(int * rawValues)
+{
+	rawValues[X] = ((int)read(OUT_X_H_M) << 8) | (read(OUT_X_L_M));
+	rawValues[Y] = ((int)read(OUT_Y_H_M) << 8) | (read(OUT_Y_L_M));
+	rawValues[Z] = ((int)read(OUT_Z_H_M) << 8) | (read(OUT_Z_L_M));
+}
+
+void LSM303D::getAccel(int * rawValues)
+{
+	rawValues[X] = ((int)read(OUT_X_H_A) << 8) | (read(OUT_X_L_A));
+	rawValues[Y] = ((int)read(OUT_Y_H_A) << 8) | (read(OUT_Y_L_A));
+	rawValues[Z] = ((int)read(OUT_Z_H_A) << 8) | (read(OUT_Z_L_A));
+}
+
+float LSM303D::getHeading(int * magValue)
+{
+	// see section 1.2 in app note AN3192
+	float heading = 180*atan2(magValue[Y], magValue[X])/PI;  // assume pitch, roll are 0
+
+	if (heading <0)
+	heading += 360;
+
+	return heading;
+}
+
+float LSM303D::getTiltHeading(int * magValue, float * accelValue)
+{
+	// see appendix A in app note AN3192 
+	float pitch = asin(-accelValue[X]);
+	float roll = asin(accelValue[Y]/cos(pitch));
+
+	float xh = magValue[X] * cos(pitch) + magValue[Z] * sin(pitch);
+	float yh = magValue[X] * sin(roll) * sin(pitch) + magValue[Y] * cos(roll) - magValue[Z] * sin(roll) * cos(pitch);
+	float zh = -magValue[X] * cos(roll) * sin(pitch) + magValue[Y] * sin(roll) + magValue[Z] * cos(roll) * cos(pitch);
+	float heading = 180 * atan2(yh, xh)/PI;
+
+	if (yh >= 0)
+		return heading;
+	else
+		return (360 + heading);
+}
+
+LSM303D Lsm303d;
+

Accelerometer_Compass_LSM303D.h

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+/*
+ * A library for LSM303D based Acc&Compass Grove
+ *
+ * Copyright (c) 2012 Seeed Technology Limited
+ * Website    : www.seeed.cc
+ * Author     : Jacky Zhang
+ * Create Time: Dec 2014
+ * Change Log :
+ *
+ * The MIT License (MIT)
+ *
+ * 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.
+ */
+ 
+#ifndef Accelerometer_Compass_LSM303D_H
+#define Accelerometer_Compass_LSM303D_H
+
+#include <Arduino.h>
+
+#define ACCELE_SCALE 2  // accelerometer full-scale, should be 2, 4, or 8
+
+#define X 0
+#define Y 1
+#define Z 2
+
+class LSM303D
+{
+	public:
+
+		char init();
+		unsigned char read(unsigned char address);
+		void write(unsigned char data, unsigned char address);
+		char isMagReady();
+		void getMag(int * rawValues);
+		void getAccel(int * rawValues);
+		float getHeading(int * magValue);
+		float getTiltHeading(int * magValue, float * accelValue);
+	private:
+};
+
+extern  LSM303D Lsm303d;
+
+#endif
+

README.md

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+##6Axis_Accelerometer_And_Compass
+![image](http://www.seeedstudio.com/wiki/images/9/9d/6Axis_Compass_01.jpg)
+
+The Grove 6-Axis Accelerometer & Compass is a 3-axis accelerometer combined with a 3-axis magnetic sensor.  It is based on the sensor module LSM303DLH which has a selectable linear acceleration full scale range of ±2g / ±4g / ±8g and a selectable magnetic field full scale range of ±1.3 /±1.9 / ±2.5 / ±4.0 / ±4.7 / ±5.6 / ±8.1 gauss. Both the magnetic parts and the accelerometer parts can be powered down separately to reduce the power consumption. The Arduino can get these data via the I2C interface.
+
+For more information, please refer to [Grove_6Axis_Accelerometer_And_Compass][1]
+See also: [LSM303DLH Sensor Module Datasheet][2]
+
+----
+This software is written by Frankie Chu for [Seeed Technology Inc.](http://www.seeed.cc) and is licensed under [The MIT License](http://opensource.org/licenses/mit-license.php). Check License.txt/LICENSE for the details of MIT license.<br>
+
+Contributing to this software is warmly welcomed. You can do this basically by<br>
+[forking](https://help.github.com/articles/fork-a-repo), committing modifications and then [pulling requests](https://help.github.com/articles/using-pull-requests) (follow the links above<br>
+for operating guide). Adding change log and your contact into file header is encouraged.<br>
+Thanks for your contribution.
+
+Seeed is a hardware innovation platform for makers to grow inspirations into differentiating products. By working closely with technology providers of all scale, Seeed provides accessible technologies with quality, speed and supply chain knowledge. When prototypes are ready to iterate, Seeed helps productize 1 to 1,000 pcs using in-house engineering, supply chain management and agile manufacture forces. Seeed also team up with incubators, Chinese tech ecosystem, investors and distribution channels to portal Maker startups beyond.
+
+
+[1]:http://www.seeedstudio.com/wiki/Grove_-_6-Axis_Accelerometer%26Compass
+[2]:http://www.st.com/web/en/resource/technical/document/datasheet/CD00260288.pdf
+
+[![Analytics](https://ga-beacon.appspot.com/UA-46589105-3/6Axis_Accelerometer_And_Compass_v2)](https://github.com/igrigorik/ga-beacon)

examples/Accelerometer_Compass/Accelerometer_Compass.ino

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+/*
+ * LSM303D test demo
+ *
+ * Copyright (c) 2012 Seeed Technology Limited
+ * Website    : www.seeed.cc
+ * Author     : Jacky Zhang
+ * Create Time: Dec 2014
+ * Change Log :
+ *
+ * The MIT License (MIT)
+ *
+ * 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 <Accelerometer_Compass_LSM303D.h>
+#include <Wire.h>
+
+/* Global variables */
+int accel[3];  // we'll store the raw acceleration values here
+int mag[3];  // raw magnetometer values stored here
+float realAccel[3];  // calculated acceleration values here
+float heading, titleHeading;
+
+void setup()
+{
+	Serial.begin(9600);  // Serial is used for debugging
+	if(Lsm303d.init() != 0)  // Initialize the LSM303, using a SCALE full-scale range
+	{
+		Serial.println("\r\nLSM303D is not found");
+		while(1);
+	}
+	else
+	{
+		Serial.println("\r\nLSM303D is found");
+	}
+}
+
+void loop()
+{
+	Serial.println("\r\n**************");
+	//getLSM303_accel(accel);  // get the acceleration values and store them in the accel array
+	Lsm303d.getAccel(accel);
+	while(!Lsm303d.isMagReady());// wait for the magnetometer readings to be ready
+	Lsm303d.getMag(mag);  // get the magnetometer values, store them in mag
+	
+	for (int i=0; i<3; i++)
+	{
+		realAccel[i] = accel[i] / pow(2, 15) * ACCELE_SCALE;  // calculate real acceleration values, in units of g
+	}
+	heading = Lsm303d.getHeading(mag);
+	titleHeading = Lsm303d.getTiltHeading(mag, realAccel);
+	
+	printValues();
+	
+	delay(200);  // delay for serial readability
+}
+
+void printValues()
+{  
+	Serial.println("Acceleration of X,Y,Z is");
+	for (int i=0; i<3; i++)
+	{
+		Serial.print(realAccel[i]);
+		Serial.println("g");
+	}
+	/* print both the level, and tilt-compensated headings below to compare */
+	Serial.println("The clockwise angle between the magnetic north and x-axis: ");
+	Serial.print(heading, 3); // this only works if the sensor is level
+	Serial.println(" degrees");
+	Serial.print("The clockwise angle between the magnetic north and the projection");
+	Serial.println(" of the positive x-axis in the horizontal plane: ");
+	Serial.print(titleHeading, 3);  // see how awesome tilt compensation is?!
+	Serial.println(" degrees");
+}