149 lines
4.7 KiB
C++
149 lines
4.7 KiB
C++
// I2C device class (I2Cdev) demonstration Arduino sketch for LSM303DLHC class
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// 3/10/2015 by Nate Costello <natecostello at gmail dot com>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Changelog:
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// 2015-03-10 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2011 Jonathan Arnett, Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
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// is used in I2Cdev.h
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#include <Wire.h>
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// I2Cdev and LSM303DLHC must be installed as libraries, or else the .cpp/.h files
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// for both classes must be in the include path of your project
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#include <I2Cdev.h>
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#include <LSM303DLHC.h>
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// default address is 105
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// specific I2C address may be passed here
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LSM303DLHC accelMag;
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int16_t ax, ay, az;
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int16_t mx, my, mz;
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#define LED_PIN 13 // (Arduino is 13, Teensy is 6)
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bool blinkState = false;
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void setup() {
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// join I2C bus (I2Cdev library doesn't do this automatically)
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Wire.begin();
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// initialize serial communication
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// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
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// it's really up to you depending on your project)
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Serial.begin(9600);
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// initialize device
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Serial.println("Initializing I2C devices...");
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accelMag.initialize();
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// verify connection
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Serial.println("Testing device connections...");
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Serial.println(accelMag.testConnection() ? "LSM303DLHC connection successful" : "LSM303DLHC connection failed");
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// configure LED for output
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pinMode(LED_PIN, OUTPUT);
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// set scale to 2Gs
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accelMag.setAccelFullScale(2);
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// set accel data rate to 200hz
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accelMag.setAccelOutputDataRate(200);
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// test scale
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Serial.print("Accel Scale: ");
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Serial.println(accelMag.getAccelFullScale());
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// test data rate
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Serial.print("Accel Output Data Rate: ");
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Serial.println(accelMag.getAccelOutputDataRate());
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// set mag data rate to 220hz
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accelMag.setMagOutputDataRate(220);
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// test mag data rate
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Serial.print("Mag Output Data Rate: ");
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Serial.println(accelMag.getMagOutputDataRate());
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//set mag gain
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accelMag.setMagGain(1100);
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// test mag gain
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Serial.print("Mag Gain: ");
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Serial.println(accelMag.getMagGain());
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//enable mag
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accelMag.setMagMode(LSM303DLHC_MD_CONTINUOUS);
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Serial.println(accelMag.getMagMode());
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}
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void loop() {
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// read raw angular velocity measurements from device
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accelMag.getAcceleration(&ax, &ay, &az);
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accelMag.getMag(&mx, &my, &mz);
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// Serial.print("Accelation:\t");
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// Serial.print(ax,HEX); Serial.print("\t");
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// Serial.print(ay,HEX); Serial.print("\t");
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// Serial.print(az,HEX);
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// Serial.print(" Magnetic Field:\t");
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// Serial.print(mx,HEX); Serial.print("\t");
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// Serial.print(my,HEX); Serial.print("\t");
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// Serial.println(mz,HEX);
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// Serial.print("Accelation:\t");
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// Serial.print(ax); Serial.print("\t");
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// Serial.print(ay); Serial.print("\t");
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// Serial.print(az);
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// Serial.print(" Magnetic Field:\t");
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// Serial.print(mx); Serial.print("\t");
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// Serial.print(my); Serial.print("\t");
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// Serial.println(mz);
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Serial.print("Accelation:\t");
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Serial.print(ax*0.0000625F,4); Serial.print("\t");
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Serial.print(ay*0.0000625F,4); Serial.print("\t");
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Serial.print(az*0.0000625F,4);
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Serial.print(" Magnetic Field:\t");
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Serial.print(mx); Serial.print("\t");
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Serial.print(my); Serial.print("\t");
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Serial.println(mz);
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// blink LED to indicate activity
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blinkState = !blinkState;
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digitalWrite(LED_PIN, blinkState);
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delay(1000);
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}
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