File content as of revision 2:85214374e094:

#ifndef LSM303_h
#define LSM303_h

#include "mbed.h"

// device types

#define LSM303DLH_DEVICE   0
#define LSM303DLM_DEVICE   1
#define LSM303DLHC_DEVICE  2
#define LSM303_DEVICE_AUTO 3

// SA0_A states

#define LSM303_SA0_A_LOW  0
#define LSM303_SA0_A_HIGH 1
#define LSM303_SA0_A_AUTO 2

// register addresses

#define LSM303_CTRL_REG1_A       0x20
#define LSM303_CTRL_REG2_A       0x21
#define LSM303_CTRL_REG3_A       0x22
#define LSM303_CTRL_REG4_A       0x23
#define LSM303_CTRL_REG5_A       0x24
#define LSM303_CTRL_REG6_A       0x25 // DLHC only
#define LSM303_HP_FILTER_RESET_A 0x25 // DLH, DLM only
#define LSM303_REFERENCE_A       0x26
#define LSM303_STATUS_REG_A      0x27

#define LSM303_OUT_X_L_A         0x28
#define LSM303_OUT_X_H_A         0x29
#define LSM303_OUT_Y_L_A         0x2A
#define LSM303_OUT_Y_H_A         0x2B
#define LSM303_OUT_Z_L_A         0x2C
#define LSM303_OUT_Z_H_A         0x2D

#define LSM303_FIFO_CTRL_REG_A   0x2E // DLHC only
#define LSM303_FIFO_SRC_REG_A    0x2F // DLHC only

#define LSM303_INT1_CFG_A        0x30
#define LSM303_INT1_SRC_A        0x31
#define LSM303_INT1_THS_A        0x32
#define LSM303_INT1_DURATION_A   0x33
#define LSM303_INT2_CFG_A        0x34
#define LSM303_INT2_SRC_A        0x35
#define LSM303_INT2_THS_A        0x36
#define LSM303_INT2_DURATION_A   0x37

#define LSM303_CLICK_CFG_A       0x38 // DLHC only
#define LSM303_CLICK_SRC_A       0x39 // DLHC only
#define LSM303_CLICK_THS_A       0x3A // DLHC only
#define LSM303_TIME_LIMIT_A      0x3B // DLHC only
#define LSM303_TIME_LATENCY_A    0x3C // DLHC only
#define LSM303_TIME_WINDOW_A     0x3D // DLHC only

#define LSM303_CRA_REG_M         0x00
#define LSM303_CRB_REG_M         0x01
#define LSM303_MR_REG_M          0x02

#define LSM303_OUT_X_H_M         0x03
#define LSM303_OUT_X_L_M         0x04
#define LSM303_OUT_Y_H_M         -1   // The addresses of the Y and Z magnetometer output registers 
#define LSM303_OUT_Y_L_M         -2   // are reversed on the DLM and DLHC relative to the DLH.
#define LSM303_OUT_Z_H_M         -3   // These four defines have dummy values so the library can 
#define LSM303_OUT_Z_L_M         -4   // determine the correct address based on the device type.

#define LSM303_SR_REG_M          0x09
#define LSM303_IRA_REG_M         0x0A
#define LSM303_IRB_REG_M         0x0B
#define LSM303_IRC_REG_M         0x0C

#define LSM303_WHO_AM_I_M        0x0F // DLM only

#define LSM303_TEMP_OUT_H_M      0x31 // DLHC only
#define LSM303_TEMP_OUT_L_M      0x32 // DLHC only

#define LSM303DLH_OUT_Y_H_M      0x05
#define LSM303DLH_OUT_Y_L_M      0x06
#define LSM303DLH_OUT_Z_H_M      0x07
#define LSM303DLH_OUT_Z_L_M      0x08

#define LSM303DLM_OUT_Z_H_M      0x05
#define LSM303DLM_OUT_Z_L_M      0x06
#define LSM303DLM_OUT_Y_H_M      0x07
#define LSM303DLM_OUT_Y_L_M      0x08

#define LSM303DLHC_OUT_Z_H_M     0x05
#define LSM303DLHC_OUT_Z_L_M     0x06
#define LSM303DLHC_OUT_Y_H_M     0x07
#define LSM303DLHC_OUT_Y_L_M     0x08

#define MAG_ADDRESS            0x3C
#define ACC_ADDRESS_SA0_A_LOW  0x30
#define ACC_ADDRESS_SA0_A_HIGH 0x32

#define M_PI                    3.14159265

typedef unsigned char byte;

class LSM303 {
public:
    typedef struct Plane {
        float x, y, z;
    } Plane;
    
    I2C i2c;
    
    Plane a; // accelerometer readings
    Plane m; // magnetometer readings
    Plane m_max; // maximum magnetometer values, used for calibration
    Plane m_min; // minimum magnetometer values, used for calibration

    LSM303(PinName, PinName);

    void init(byte device = LSM303_DEVICE_AUTO, byte sa0_a = LSM303_SA0_A_AUTO);

    void enableDefault(void);

    void writeAccReg(byte reg, byte value);
    int readAccReg(byte reg);
    void writeMagReg(byte reg, byte value);
    int readMagReg(int reg);

    void readAcc(void);
    void readMag(void);
    void read(void);

    int heading(void);
    int heading(Plane from);

    // Plane functions
    static void vector_cross(const Plane *a, const Plane *b, Plane *out);
    static float vector_dot(const Plane *a,const Plane *b);
    static void vector_normalize(Plane *a);

private:
    byte _device; // chip type (DLH, DLM, or DLHC)
    byte acc_address;

    byte detectSA0_A(void);
};

#endif