Andy Pomfret / lsm303d

Driver for the LSM303D digital compass. Permits access to all LSM303D registers by name, including multi-byte register sets, and has convenience methods for floating-point accelerometer and magnetometer reads scaled according to the device settings. Written from scratch for Mbed 6.0

Dependents:   UoY-32C-lab8-exercise UoY-32C-lab5-lsm303d

Driver for the LSM303D digital compass

Permits access to all LSM303D registers by name, including multi-byte register sets. Convenience methods are included for sensor reads, including floating-point accelerometer and magnetometer reads scaled according to the device settings, and for the more common settings (data rates and scales).

I²C connection only. Written from scratch for Mbed 6.0.

The interface is subject to minor changes with each version. Deprecation warnings will be issued where possible.

Defaults

The class constructor checks that an LSM303D is present on the I²C bus, then enables all sensors. The accelerometer and magnetometer update rates are both set to 50Hz, and the scales are left at their device defaults of +-2g for the accelerometer and +-4gauss for the magnetometer.

Basic usage

#include "lsm303d.h"

LSM303D lsm303d(D14, D15);  // SDA and SCL pins for I2C

lsm303d.setAccelScale(LSM303D::AccelScale::scale_4g); // set +-4g range

lsm303d.INT1_enable_DRDY_A(); // set DRDY_A bit in CTRL3 register (enable INT1 on accel data ready)

short rawX = lsm303d.getAccelX(); // returns 16-bit signed result, unscaled

float x, y, z;
lsm303d.getAccelInto(x, y, z); // overwrites parameters, values in g

float mX = lsm303d.getMagX(); // returns value in gauss