Diff: LSM303.h

Revision:

0:dc35364e2291

Child:

1:3272ece36ce1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303.h	Thu Apr 12 13:47:23 2012 +0000
@@ -0,0 +1,144 @@
+/* mbed LSM303 Library version 0beta1
+ * Copyright (c) 2012 bengo
+ *
+ * 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 LSM303_h
+#define LSM303_h
+
+#include "mbed.h"
+#include <vector>
+
+class LSM303 {
+
+public:
+
+    /**
+     * Create an LSM303 object connected to the specified I2C pins
+     * @param sda I2C SDA pin
+     * @param scl I2C SCL pin
+     */
+    LSM303( PinName sda, PinName scl );
+    LSM303( void );
+
+    /**
+     * Return status code of prevoius function call
+     */
+    inline int getStatus( void ) {
+        return( _status );
+    }
+
+    /**
+     * Read specified accelerometer register content
+     * @param reg register address
+     */
+    int accRegisterRead( int reg );
+
+    /**
+     * Write to specified accelerometer register
+     * @param reg register address
+     * @parma data data to be written
+     */
+    void accRegisterWrite( int reg, char data );
+
+    /**
+     * Read specified magnetometer register content
+     * @param reg register address
+     */
+    int magRegisterRead( int reg );
+
+    /**
+     * Write to specified magnetometer register
+     * @param reg register address
+     * @parma data data to be written
+     */
+    void magRegisterWrite( int reg, char data );
+
+    /**
+     * Read accelerometer vector
+     */
+    std::vector<short> accRead( void );
+
+    /**
+    * Read acceleration
+    */
+    std::vector<float> acceleration( void );
+
+    /**
+     * Read magnetometer vector
+     */
+    std::vector<short> magRead( void );
+
+    /**
+     * Read magnetic field vector
+     */
+    std::vector<float> magneticField( void );
+
+    // Device registers addresses
+    static const int ACC_CTRL_REG1;
+    static const int ACC_CTRL_REG2;
+    static const int ACC_CTRL_REC3;
+    static const int ACC_CTRL_REG4;
+    static const int ACC_CTRL_REG5;
+    static const int ACC_HP_FILTER_RESET;
+    static const int ACC_REFERENCE;
+    static const int ACC_STATUS_REG;
+    static const int ACC_OUT_X_L;
+    static const int ACC_OUT_X_H;
+    static const int ACC_OUT_Y_L;
+    static const int ACC_OUT_Y_H;
+    static const int ACC_OUT_Z_L;
+    static const int ACC_OUT_Z_H;
+    static const int ACC_INT1_CFG;
+    static const int ACC_INT1_SOURCE;
+    static const int ACC_INT1_THS;
+    static const int ACC_INT1_DURATION;
+    static const int ACC_INT2_CFG;
+    static const int ACC_INT2_SOURCE;
+    static const int ACC_INT2_THS;
+    static const int ACC_INT2_DURATION;
+    static const int MAG_CRA_REG;
+    static const int MAG_CRB_REG;
+    static const int MAG_MR_REG;
+    static const int MAG_OUT_X_H;
+    static const int MAG_OUT_X_L;
+    static const int MAG_OUT_Y_H;
+    static const int MAG_OUT_Y_L;
+    static const int MAG_OUT_Z_H;
+    static const int MAG_OUT_Z_L;
+    static const int MAG_SR_REG;
+    static const int MAG_IRA_REG;
+    static const int MAG_IRB_REG;
+    static const int MAG_IRC_REG;
+    static const int MAG_WHO_AM_I;
+
+private:
+
+    int _status;
+    I2C _i2c;
+    int _SA0Pad;
+    char _bytes[7];
+
+    static const int ACC_ADDRESS;
+    static const int MAG_ADDRESS;
+
+};
+
+#endif // LSM303_h
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