A Team / DCM_AHRS

DCM Code ported from Arduino for FRDM-KL25Z

Dependents:   minimu_data_capture minimu_data_capture

Fork of DCM_AHRS by Kris Reynolds

LSM303.h@0:dc35364e2291, 2012-04-12 (annotated)

Committer:
krmreynolds
Date:
Thu Apr 12 13:47:23 2012 +0000
Revision:
0:dc35364e2291
Child:
1:3272ece36ce1
Added GNU Agreement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krmreynolds 0:dc35364e2291 1 /* mbed LSM303 Library version 0beta1
krmreynolds 0:dc35364e2291 2 * Copyright (c) 2012 bengo
krmreynolds 0:dc35364e2291 3 *
krmreynolds 0:dc35364e2291 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
krmreynolds 0:dc35364e2291 5 * of this software and associated documentation files (the "Software"), to deal
krmreynolds 0:dc35364e2291 6 * in the Software without restriction, including without limitation the rights
krmreynolds 0:dc35364e2291 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
krmreynolds 0:dc35364e2291 8 * copies of the Software, and to permit persons to whom the Software is
krmreynolds 0:dc35364e2291 9 * furnished to do so, subject to the following conditions:
krmreynolds 0:dc35364e2291 10 *
krmreynolds 0:dc35364e2291 11 * The above copyright notice and this permission notice shall be included in
krmreynolds 0:dc35364e2291 12 * all copies or substantial portions of the Software.
krmreynolds 0:dc35364e2291 13 *
krmreynolds 0:dc35364e2291 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
krmreynolds 0:dc35364e2291 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
krmreynolds 0:dc35364e2291 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
krmreynolds 0:dc35364e2291 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
krmreynolds 0:dc35364e2291 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
krmreynolds 0:dc35364e2291 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
krmreynolds 0:dc35364e2291 20 * THE SOFTWARE.
krmreynolds 0:dc35364e2291 21 */
krmreynolds 0:dc35364e2291 22
krmreynolds 0:dc35364e2291 23 #ifndef LSM303_h
krmreynolds 0:dc35364e2291 24 #define LSM303_h
krmreynolds 0:dc35364e2291 25
krmreynolds 0:dc35364e2291 26 #include "mbed.h"
krmreynolds 0:dc35364e2291 27 #include <vector>
krmreynolds 0:dc35364e2291 28
krmreynolds 0:dc35364e2291 29 class LSM303 {
krmreynolds 0:dc35364e2291 30
krmreynolds 0:dc35364e2291 31 public:
krmreynolds 0:dc35364e2291 32
krmreynolds 0:dc35364e2291 33 /**
krmreynolds 0:dc35364e2291 34 * Create an LSM303 object connected to the specified I2C pins
krmreynolds 0:dc35364e2291 35 * @param sda I2C SDA pin
krmreynolds 0:dc35364e2291 36 * @param scl I2C SCL pin
krmreynolds 0:dc35364e2291 37 */
krmreynolds 0:dc35364e2291 38 LSM303( PinName sda, PinName scl );
krmreynolds 0:dc35364e2291 39 LSM303( void );
krmreynolds 0:dc35364e2291 40
krmreynolds 0:dc35364e2291 41 /**
krmreynolds 0:dc35364e2291 42 * Return status code of prevoius function call
krmreynolds 0:dc35364e2291 43 */
krmreynolds 0:dc35364e2291 44 inline int getStatus( void ) {
krmreynolds 0:dc35364e2291 45 return( _status );
krmreynolds 0:dc35364e2291 46 }
krmreynolds 0:dc35364e2291 47
krmreynolds 0:dc35364e2291 48 /**
krmreynolds 0:dc35364e2291 49 * Read specified accelerometer register content
krmreynolds 0:dc35364e2291 50 * @param reg register address
krmreynolds 0:dc35364e2291 51 */
krmreynolds 0:dc35364e2291 52 int accRegisterRead( int reg );
krmreynolds 0:dc35364e2291 53
krmreynolds 0:dc35364e2291 54 /**
krmreynolds 0:dc35364e2291 55 * Write to specified accelerometer register
krmreynolds 0:dc35364e2291 56 * @param reg register address
krmreynolds 0:dc35364e2291 57 * @parma data data to be written
krmreynolds 0:dc35364e2291 58 */
krmreynolds 0:dc35364e2291 59 void accRegisterWrite( int reg, char data );
krmreynolds 0:dc35364e2291 60
krmreynolds 0:dc35364e2291 61 /**
krmreynolds 0:dc35364e2291 62 * Read specified magnetometer register content
krmreynolds 0:dc35364e2291 63 * @param reg register address
krmreynolds 0:dc35364e2291 64 */
krmreynolds 0:dc35364e2291 65 int magRegisterRead( int reg );
krmreynolds 0:dc35364e2291 66
krmreynolds 0:dc35364e2291 67 /**
krmreynolds 0:dc35364e2291 68 * Write to specified magnetometer register
krmreynolds 0:dc35364e2291 69 * @param reg register address
krmreynolds 0:dc35364e2291 70 * @parma data data to be written
krmreynolds 0:dc35364e2291 71 */
krmreynolds 0:dc35364e2291 72 void magRegisterWrite( int reg, char data );
krmreynolds 0:dc35364e2291 73
krmreynolds 0:dc35364e2291 74 /**
krmreynolds 0:dc35364e2291 75 * Read accelerometer vector
krmreynolds 0:dc35364e2291 76 */
krmreynolds 0:dc35364e2291 77 std::vector<short> accRead( void );
krmreynolds 0:dc35364e2291 78
krmreynolds 0:dc35364e2291 79 /**
krmreynolds 0:dc35364e2291 80 * Read acceleration
krmreynolds 0:dc35364e2291 81 */
krmreynolds 0:dc35364e2291 82 std::vector<float> acceleration( void );
krmreynolds 0:dc35364e2291 83
krmreynolds 0:dc35364e2291 84 /**
krmreynolds 0:dc35364e2291 85 * Read magnetometer vector
krmreynolds 0:dc35364e2291 86 */
krmreynolds 0:dc35364e2291 87 std::vector<short> magRead( void );
krmreynolds 0:dc35364e2291 88
krmreynolds 0:dc35364e2291 89 /**
krmreynolds 0:dc35364e2291 90 * Read magnetic field vector
krmreynolds 0:dc35364e2291 91 */
krmreynolds 0:dc35364e2291 92 std::vector<float> magneticField( void );
krmreynolds 0:dc35364e2291 93
krmreynolds 0:dc35364e2291 94 // Device registers addresses
krmreynolds 0:dc35364e2291 95 static const int ACC_CTRL_REG1;
krmreynolds 0:dc35364e2291 96 static const int ACC_CTRL_REG2;
krmreynolds 0:dc35364e2291 97 static const int ACC_CTRL_REC3;
krmreynolds 0:dc35364e2291 98 static const int ACC_CTRL_REG4;
krmreynolds 0:dc35364e2291 99 static const int ACC_CTRL_REG5;
krmreynolds 0:dc35364e2291 100 static const int ACC_HP_FILTER_RESET;
krmreynolds 0:dc35364e2291 101 static const int ACC_REFERENCE;
krmreynolds 0:dc35364e2291 102 static const int ACC_STATUS_REG;
krmreynolds 0:dc35364e2291 103 static const int ACC_OUT_X_L;
krmreynolds 0:dc35364e2291 104 static const int ACC_OUT_X_H;
krmreynolds 0:dc35364e2291 105 static const int ACC_OUT_Y_L;
krmreynolds 0:dc35364e2291 106 static const int ACC_OUT_Y_H;
krmreynolds 0:dc35364e2291 107 static const int ACC_OUT_Z_L;
krmreynolds 0:dc35364e2291 108 static const int ACC_OUT_Z_H;
krmreynolds 0:dc35364e2291 109 static const int ACC_INT1_CFG;
krmreynolds 0:dc35364e2291 110 static const int ACC_INT1_SOURCE;
krmreynolds 0:dc35364e2291 111 static const int ACC_INT1_THS;
krmreynolds 0:dc35364e2291 112 static const int ACC_INT1_DURATION;
krmreynolds 0:dc35364e2291 113 static const int ACC_INT2_CFG;
krmreynolds 0:dc35364e2291 114 static const int ACC_INT2_SOURCE;
krmreynolds 0:dc35364e2291 115 static const int ACC_INT2_THS;
krmreynolds 0:dc35364e2291 116 static const int ACC_INT2_DURATION;
krmreynolds 0:dc35364e2291 117 static const int MAG_CRA_REG;
krmreynolds 0:dc35364e2291 118 static const int MAG_CRB_REG;
krmreynolds 0:dc35364e2291 119 static const int MAG_MR_REG;
krmreynolds 0:dc35364e2291 120 static const int MAG_OUT_X_H;
krmreynolds 0:dc35364e2291 121 static const int MAG_OUT_X_L;
krmreynolds 0:dc35364e2291 122 static const int MAG_OUT_Y_H;
krmreynolds 0:dc35364e2291 123 static const int MAG_OUT_Y_L;
krmreynolds 0:dc35364e2291 124 static const int MAG_OUT_Z_H;
krmreynolds 0:dc35364e2291 125 static const int MAG_OUT_Z_L;
krmreynolds 0:dc35364e2291 126 static const int MAG_SR_REG;
krmreynolds 0:dc35364e2291 127 static const int MAG_IRA_REG;
krmreynolds 0:dc35364e2291 128 static const int MAG_IRB_REG;
krmreynolds 0:dc35364e2291 129 static const int MAG_IRC_REG;
krmreynolds 0:dc35364e2291 130 static const int MAG_WHO_AM_I;
krmreynolds 0:dc35364e2291 131
krmreynolds 0:dc35364e2291 132 private:
krmreynolds 0:dc35364e2291 133
krmreynolds 0:dc35364e2291 134 int _status;
krmreynolds 0:dc35364e2291 135 I2C _i2c;
krmreynolds 0:dc35364e2291 136 int _SA0Pad;
krmreynolds 0:dc35364e2291 137 char _bytes[7];
krmreynolds 0:dc35364e2291 138
krmreynolds 0:dc35364e2291 139 static const int ACC_ADDRESS;
krmreynolds 0:dc35364e2291 140 static const int MAG_ADDRESS;
krmreynolds 0:dc35364e2291 141
krmreynolds 0:dc35364e2291 142 };
krmreynolds 0:dc35364e2291 143
krmreynolds 0:dc35364e2291 144 #endif // LSM303_h