Revision 11:0bb2931123d0, committed 2021-02-17

Comitter:

ajp109

Date:

Wed Feb 17 13:13:13 2021 +0000

Parent:

10:392fa35ca17c

Commit message:

Capitalise filenames to match class name

Changed in this revision

diff -r 392fa35ca17c -r 0bb2931123d0 LSM303D.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303D.cpp	Wed Feb 17 13:13:13 2021 +0000
@@ -0,0 +1,156 @@
+#include "LSM303D.h"
+
+static unsigned char const accel_lookup[] = {2, 4, 6, 8, 16};
+static unsigned char const mag_lookup[] = {2, 4, 8, 12};
+
+LSM303D::LSM303D(PinName sda, PinName scl, unsigned char i2c_addr) :
+    i2c_(sda, scl), addr_8bit_(i2c_addr << 1),
+    TEMP_OUT    (*this, 0x05),
+    STATUS_M    (*this, 0x07),
+    OUT_X_M     (*this, 0x08),
+    OUT_Y_M     (*this, 0x0A),
+    OUT_Z_M     (*this, 0x0C),
+    OUT_M       (*this, 0x08),
+    WHO_AM_I    (*this, 0x0F),
+    INT_CTRL_M  (*this, 0x12),
+    INT_SRC_M   (*this, 0x13),
+    INT_THS_M   (*this, 0x14),
+    OFFSET_X_M  (*this, 0x16),
+    OFFSET_Y_M  (*this, 0x18),
+    OFFSET_Z_M  (*this, 0x1A),
+    OFFSET_M    (*this, 0x16),
+    REFERENCE_X (*this, 0x1C),
+    REFERENCE_Y (*this, 0x1D),
+    REFERENCE_Z (*this, 0x1E),
+    REFERENCE   (*this, 0x1C),
+    CTRL0       (*this, 0x1F),
+    CTRL1       (*this, 0x20),
+    CTRL2       (*this, 0x21),
+    CTRL3       (*this, 0x22),
+    CTRL4       (*this, 0x23),
+    CTRL5       (*this, 0x24),
+    CTRL6       (*this, 0x25),
+    CTRL7       (*this, 0x26),
+    STATUS_A    (*this, 0x27),
+    OUT_X_A     (*this, 0x28),
+    OUT_Y_A     (*this, 0x2A),
+    OUT_Z_A     (*this, 0x2C),
+    OUT_A       (*this, 0x28),
+    FIFO_CTRL   (*this, 0x2E),
+    FIFO_SRC    (*this, 0x2F),
+    IG_CFG1     (*this, 0x30),
+    IG_SRC1     (*this, 0x31),
+    IG_THS1     (*this, 0x32),
+    IG_DUR1     (*this, 0x33),
+    IG_CFG2     (*this, 0x34),
+    IG_SRC2     (*this, 0x35),
+    IG_THS2     (*this, 0x36),
+    IG_DUR2     (*this, 0x37),
+    CLICK_CFG   (*this, 0x38),
+    CLICK_SRC   (*this, 0x39),
+    CLICK_THS   (*this, 0x3A),
+    TIME_LIMIT  (*this, 0x3B),
+    TIME_LATENCY(*this, 0x3C),
+    TIME_WINDOW (*this, 0x3D),
+    Act_THS     (*this, 0x3E),
+    Act_DUR     (*this, 0x3F),
+
+    accel_enableX   (CTRL1, 0x01),
+    accel_enableY   (CTRL1, 0x02),
+    accel_enableZ   (CTRL1, 0x04),
+    accel_enableAll (CTRL1, 0x07),
+
+    INT1_enable_BOOT     (CTRL3, 0x80),
+    INT1_enable_CLICK    (CTRL3, 0x40),
+    INT1_enable_IG1      (CTRL3, 0x20),
+    INT1_enable_IG2      (CTRL3, 0x10),
+    INT1_enable_IGM      (CTRL3, 0x08),
+    INT1_enable_DRDY_A   (CTRL3, 0x04),
+    INT1_enable_DRDY_M   (CTRL3, 0x02),
+    INT1_enable_EMPTY    (CTRL3, 0x01),
+
+    temp_enable         (CTRL5, 0x80),
+    LIR1_enable         (CTRL5, 0x01)
+
+ {
+    // Check device responds correctly
+    MBED_ASSERT(WHO_AM_I == 0x49);
+
+    // Grab current accelerometer and magnetometer scales from registers
+    accel_scale_ = accel_lookup[(CTRL2 & 0x3E) >> 3];
+    mag_scale_ = mag_lookup[(CTRL6 & 0x60) >> 5];
+    
+    // Useful default config
+    accel_enableAll();
+    setAccelRate(AccelRate::rate_50Hz);
+    temp_enable();
+    setMagRate(MagRate::rate_50Hz);
+    setMagMode(MagMode::continuous);
+}
+
+void LSM303D::getRawAccelInto(short &x, short &y, short &z) {
+    i16_3 xyz = OUT_A;
+    x = xyz.x;
+    y = xyz.y;
+    z = xyz.z;
+}
+
+void LSM303D::getAccelInto(float &x, float &y, float &z) {
+    i16_3 xyz = OUT_A;
+    float scale = accel_scale_ / 32768.0;
+    x = xyz.x * scale;
+    y = xyz.y * scale;
+    z = xyz.z * scale;
+}
+
+void LSM303D::getRawMagInto(short &x, short &y, short &z) {
+    i16_3 xyz = OUT_M;
+    x = xyz.x;
+    y = xyz.y;
+    z = xyz.z;
+}
+
+void LSM303D::getMagInto(float &x, float &y, float &z) {
+    i16_3 xyz = OUT_M;
+    float scale = mag_scale_ / 32768.0;
+    x = xyz.x * scale;
+    y = xyz.y * scale;
+    z = xyz.z * scale;        
+}
+
+void LSM303D::setAccelRate(AccelRate const &rate) {
+    u8 set = static_cast<u8>(rate);
+    CTRL1 = (CTRL1 & ~0xF0) | set;
+}
+
+void LSM303D::setAccelFilterFreq(AccelFilter const &freq) {
+    u8 set = static_cast<u8>(freq);
+    CTRL2 = (CTRL2 & ~0xC0) | set;
+}
+
+void LSM303D::setAccelScale(AccelScale const &scale) {
+    u8 set = static_cast<u8>(scale);
+    CTRL2 = (CTRL2 & ~0x38) | set;
+    accel_scale_ = accel_lookup[set >> 3];
+}
+
+void LSM303D::setMagRes(MagRes const &res) {
+    u8 set = static_cast<u8>(res);
+    CTRL5 = (CTRL5 & ~0x60) | set;
+}
+
+void LSM303D::setMagRate(MagRate const &rate) {
+    u8 set = static_cast<u8>(rate);
+    CTRL5 = (CTRL5 & ~0x1C) | set;
+}
+
+void LSM303D::setMagScale(MagScale const &scale) {
+    u8 set = static_cast<u8>(scale);
+    CTRL6 = (CTRL6 & ~0x60) | set;
+    mag_scale_ = mag_lookup[set >> 5];
+}
+
+void LSM303D::setMagMode(MagMode const &mode) {
+    u8 set = static_cast<u8>(mode);
+    CTRL7 = (CTRL7 & ~0x03) | set;
+}

diff -r 392fa35ca17c -r 0bb2931123d0 LSM303D.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303D.h	Wed Feb 17 13:13:13 2021 +0000
@@ -0,0 +1,530 @@
+#include "mbed.h"
+
+typedef unsigned char u8;
+typedef signed short i16;
+typedef unsigned short u16;
+
+#pragma pack(push)
+#pragma pack(1)
+typedef struct {
+    u8 x;
+    u8 y;
+    u8 z;
+} u8_3;
+typedef struct {
+    i16 x;
+    i16 y;
+    i16 z;
+} i16_3;
+#pragma pack(pop)
+
+/** LSM303D class.
+ * Communicates with LSM303D electronic compass over I<sup>2</sup>C.  Accelerometer,
+ * magnetometer and temperature sensor supported.  Configurable sample rates
+ * and full-scale ranges.  All LSM303D config registers available for raw
+ * reads and writes if needed.
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "lsm303d.h"
+ *
+ * LSM303D lsm303d(SDA, SCL);
+ * lsm303d.setAccelRate(LSM303D::AccelRate::rate_25Hz);
+ * lsm303d.setAccelScale(LSM303D::AccelScale::scale_8g);
+ * 
+ * int main() {
+ *     short x, y, z;
+ *     lsm303d.getRawAccelInto(x, y, z); // 16-bit signed, unscaled
+ *     float xf, yf, zf;
+ *     lsm303d.getAccelInto(xf, yf, zf); // floats, in g
+ * }
+ * @endcode
+ */
+class LSM303D {
+    
+    friend class AccelScaleOption;
+    friend class MagScaleOption;
+    
+    unsigned char const addr_8bit_;
+    unsigned char accel_scale_;
+    unsigned char mag_scale_;
+    I2C i2c_;
+
+protected:
+    // These classes are protected (rather than private) for inlusion in docs.
+    // Wouldn't be necessary if mbed online toolchain allowed local Doxyfiles.
+
+    template <class T>
+    class RWRegister;
+
+    /** Read-only register class.
+     * @tparam T The underlying data type of the register.
+     * Provides an interface onto the read-only registers of the LSM303D.
+     * Operator overloading means that it can be treated as a const variable of
+     * type T for most purposes.  Every read initiates an explicit
+     * I<sup>2</sup>C transfer.
+     */
+    template <class T>
+    class Register {
+        friend class LSM303D;
+        friend class RWRegister<T>;
+    private:
+        unsigned char addr_;
+        LSM303D &parent_;
+        Register(LSM303D &parent, unsigned char addr) :
+            parent_(parent),
+            addr_(addr | (sizeof(T)>1 ? 0x80 : 0x00)) {}
+        /// Explicit read method.
+        /// \return The current value of the register.
+        virtual T read() const {
+            T result;
+            parent_.i2c_.lock();
+            parent_.i2c_.write(parent_.addr_8bit_, (char *)&addr_, 1);
+            parent_.i2c_.read(parent_.addr_8bit_, (char *)&result, sizeof(T));
+            parent_.i2c_.unlock();
+            return result;
+        }
+        /// Explicit cast to type T
+        inline operator T() const {
+            return read();
+        }
+    };
+    
+    /** Read-write register class.
+     * @tparam T The underlying data type of the register.
+     * Provides an interface onto the writable registers of the LSM303D.
+     * Operator overloading means that it can be treated as a variable of type
+     * T for most purposes.  Assignment from int is also explicitly supported
+     * to allow integer literals to be used without qualification or casting.
+     * The register value is cached on first read and updated on write, so read
+     * accesses do not use the I<sup>2</sup>C bus.
+     */
+    template<class T>
+    class RWRegister : public Register<T> {
+        friend class LSM303D;
+        using Register<T>::parent_;
+        using Register<T>::addr_;
+    private:
+        mutable T cache_;
+        mutable bool cached_;
+    protected:
+        RWRegister(LSM303D &parent, unsigned char addr) :
+            Register<T>(parent, addr), cached_(false) {}
+        /// Explicit write method.
+        /// @param data The new value to write to the register.
+        void write(T const &data) {
+            char packet[sizeof(T)+1];
+            packet[0] = addr_;
+            memcpy(&packet[1], &data, sizeof(T));
+            cache_ = data;
+            cached_ = true;
+            parent_.i2c_.lock();
+            parent_.i2c_.write(parent_.addr_8bit_, packet, sizeof(T)+1);
+            parent_.i2c_.unlock();
+        }
+        /// Explicit read method with cache.
+        /// @return The current value of the register, from cache if available.
+        virtual T read() const {
+            if (!cached_) {
+                cache_ = Register<T>::read();
+                cached_ = true;
+            }
+            return cache_;
+        }
+        /// Equivalent to write().
+        /// @param data The new value to write to the register.
+        /// @return A reference to this object.
+        inline RWRegister & operator= (T const &data) {
+            write(data);
+            return *this;
+        }
+        /// Equivalent to write(), with an explicit int parameter.
+        /// @param data The new value to write to the register.
+        /// @return A reference to this object.
+        inline RWRegister & operator= (int const &data) {
+            write(T(data));
+            return *this;
+        }
+        /// Or-assignment operator.
+        /// @param data The value to OR with the register's existing contents.
+        /// @return A reference to this object.
+        inline RWRegister & operator|= (T const &data) {
+            write(read() | data);
+            return *this;
+        }
+        /// Or-assignment operator, with an explicit int parameter.
+        /// @param data The value to OR with the register's existing contents.
+        /// @return A reference to this object.
+        inline RWRegister & operator|= (int const &data) {
+            write(read() | T(data));
+            return *this;
+        }
+        /// And-assignment operator.
+        /// @param data The value to AND with the register's existing contents.
+        /// @return A reference to this object.
+        inline RWRegister & operator&= (T const &data) {
+            write(read() & data);
+            return *this;
+        }
+        /// And-assignment operator, with an explicit int parameter.
+        /// @param data The value to AND with the register's existing contents.
+        /// @return A reference to this object.
+        inline RWRegister & operator&= (int const &data) {
+            write(read() & T(data));
+            return *this;
+        }
+    };
+
+    /** Class representing binary (on/off) options.
+     * @tparam T The underlying data type of the register used to set the option.
+     * Provides a user-friendly interface onto LSM303D options.
+     */
+    template <class T>
+    class Option {
+        friend class LSM303D;
+    protected:
+        T const bits_;
+        RWRegister<T> & reg_;
+        Option(RWRegister<T> & reg, int bits) :
+            reg_(reg), bits_(T(bits)) {}
+    public:
+        /// Set the option 'on'.
+        inline void operator() () const { reg_ |= bits_; };
+        /// Set the option 'on' or 'off'.
+        /// @param sr Option status: set to true for 'on', false for 'off'.
+        inline void operator() (bool sr) const
+            { if (sr) reg_ |= bits_; else reg_ &= ~bits_; };
+    };
+        
+    const Register   <i16_3> OUT_M;         ///< Triple magnetometer register
+    const Register   <i16_3> OFFSET_M;      ///< Triple magnetometer offset register
+    const Register   <u8_3>  REFERENCE;     ///< Triple reference register
+    const Register   <i16_3> OUT_A;         ///< Triple accelerometer register
+
+public:
+    const Register   <i16>   TEMP_OUT;      ///< TEMP_OUT register, read-only
+    const Register   <u8>    STATUS_M;      ///< STATUS_M register, read-only
+    const Register   <i16>   OUT_X_M;       ///< OUT_X_M register, read-only
+    const Register   <i16>   OUT_Y_M;       ///< OUT_Y_M register, read-only
+    const Register   <i16>   OUT_Z_M;       ///< OUT_Z_M register, read-only
+    const Register   <u8>    WHO_AM_I;      ///< WHO_AM_I register, read-only
+    const Register   <u8>    INT_SRC_M;     ///< INT_SRC_M register, read-only
+    const Register   <i16>   OFFSET_X_M;    ///< OFFSET_X_M register, read-only
+    const Register   <i16>   OFFSET_Y_M;    ///< OFFSET_Y_M register, read-only
+    const Register   <i16>   OFFSET_Z_M;    ///< OFFSET_Z_M register, read-only
+    const Register   <u8>    STATUS_A;      ///< STATUS_A register, read-only
+    const Register   <i16>   OUT_X_A;       ///< OUT_X_A register, read-only
+    const Register   <i16>   OUT_Y_A;       ///< OUT_Y_A register, read-only
+    const Register   <i16>   OUT_Z_A;       ///< OUT_Z_A register, read-only
+    const Register   <u8>    FIFO_SRC;      ///< FIFO_SRC register, read-only
+    const Register   <u8>    IG_SRC1;       ///< IG_SRC1 register, read-only
+    const Register   <u8>    IG_SRC2;       ///< IG_SRC2 register, read-only
+    const Register   <u8>    CLICK_SRC;     ///< CLICK_SRC register, read-only
+
+    RWRegister <u8>    INT_CTRL_M;  ///< INT_CTRL_M register, read-write
+    RWRegister <u16>   INT_THS_M;   ///< INT_THS_M register, read-write
+    RWRegister <u8>    REFERENCE_X; ///< REFERENCE_X register, read-write
+    RWRegister <u8>    REFERENCE_Y; ///< REFERENCE_Y register, read-write
+    RWRegister <u8>    REFERENCE_Z; ///< REFERENCE_Z register, read-write
+    RWRegister <u8>    CTRL0;       ///< CTRL0 register, read-write
+    RWRegister <u8>    CTRL1;       ///< CTRL1 register, read-write
+    RWRegister <u8>    CTRL2;       ///< CTRL2 register, read-write
+    RWRegister <u8>    CTRL3;       ///< CTRL3 register, read-write
+    RWRegister <u8>    CTRL4;       ///< CTRL4 register, read-write
+    RWRegister <u8>    CTRL5;       ///< CTRL5 register, read-write
+    RWRegister <u8>    CTRL6;       ///< CTRL6 register, read-write
+    RWRegister <u8>    CTRL7;       ///< CTRL7 register, read-write
+    RWRegister <u8>    FIFO_CTRL;   ///< FIFO_CTRL register, read-write
+    RWRegister <u8>    IG_CFG1;     ///< IG_CFG1 register, read-write
+    RWRegister <u8>    IG_THS1;     ///< IG_THS1 register, read-write
+    RWRegister <u8>    IG_DUR1;     ///< IG_DUR1 register, read-write
+    RWRegister <u8>    IG_CFG2;     ///< IG_CFG2 register, read-write
+    RWRegister <u8>    IG_THS2;     ///< IG_THS2 register, read-write
+    RWRegister <u8>    IG_DUR2;     ///< IG_DUR2 register, read-write
+    RWRegister <u8>    CLICK_CFG;   ///< CLICK_CFG register, read-write
+    RWRegister <u8>    CLICK_THS;   ///< CLICK_THS register, read-write
+    RWRegister <u8>    TIME_LIMIT;  ///< TIME_LIMIT register, read-write
+    RWRegister <u8>    TIME_LATENCY;///< TIME_LATENCY register, read-write
+    RWRegister <u8>    TIME_WINDOW; ///< TIME_WINDOW register, read-write
+    RWRegister <u8>    Act_THS;     ///< Act_THS register, read-write
+    RWRegister <u8>    Act_DUR;     ///< Act_DUR register, read-write
+    
+    // CTRL1
+    /** AccelRate enum.
+     * Provides friendly names for the accelerometer update rates
+     * that are provided by the device.
+     */
+    enum class AccelRate {
+        powerdown    = 0x00,    ///< power-down mode
+        rate_3_125Hz = 0x10,    ///< 3.125Hz update rate
+        rate_6_25Hz  = 0x20,    ///< 6.25Hz update rate
+        rate_12_5Hz  = 0x30,    ///< 12.5Hz update rate
+        rate_25Hz    = 0x40,    ///< 25Hz update rate
+        rate_50Hz    = 0x50,    ///< 50Hz update rate
+        rate_100Hz   = 0x60,    ///< 100Hz update rate
+        rate_200Hz   = 0x70,    ///< 200Hz update rate
+        rate_400Hz   = 0x80,    ///< 400Hz update rate
+        rate_800Hz   = 0x90,    ///< 800Hz update rate
+        rate_1600Hz  = 0xA0     ///< 1600Hz update rate
+    };
+    /** Sets the accelerometer update rate.
+     * @param rate The new update rate.
+     * Available values are:
+     * - AccelRate::powerdown (power-down mode)
+     * - AccelRate::rate_3_125Hz (3.125Hz)
+     * - AccelRate::rate_6_25Hz (6.25Hz)
+     * - AccelRate::rate_12_5Hz (12.5Hz)
+     * - AccelRate::rate_25Hz (25Hz)
+     * - AccelRate::rate_50Hz (50Hz)
+     * - AccelRate::rate_100Hz (100Hz)
+     * - AccelRate::rate_200Hz (200Hz)
+     * - AccelRate::rate_400Hz (400Hz)
+     * - AccelRate::rate_800Hz (800Hz)
+     * - AccelRate::rate_1600Hz (1600Hz)
+     */
+    void setAccelRate(AccelRate const &rate);
+
+    
+    const Option<u8> accel_enableX;     ///< Enable or disable x-axis accelerometer
+    const Option<u8> accel_enableY;     ///< Enable or disable y-axis accelerometer
+    const Option<u8> accel_enableZ;     ///< Enable or disable z-axis accelerometer
+    const Option<u8> accel_enableAll;   ///< Enable or disable all accelerometers
+
+    // CTRL2
+    /** AccelFilter enum.
+     * Provides friendly names for the accelerometer antialiasing filter
+     * frequencies that are provided by the device.
+     */
+    enum class AccelFilter {
+        filter_773Hz = 0x00,    ///< 773Hz corner frequency
+        filter_194Hz = 0x40,    ///< 194Hz corner frequency
+        filter_362Hz = 0x80,    ///< 362Hz corner frequency
+        filter_50Hz  = 0xC0     ///< 50Hz corner frequency
+    };
+    /** Sets the accelerometer antialiasing filter frequency.
+     * @param freq The new frequency.
+     * Available values are:
+     * - AccelFilter::filter_773Hz
+     * - AccelFilter::filter_194Hz
+     * - AccelFilter::filter_362Hz
+     * - AccelFilter::filter_50Hz
+     */
+    void setAccelFilterFreq(AccelFilter const &freq);
+    /** AccelScale enum.
+     * Provides friendly names for the accelerometer scale ranges
+     * that are provided by the device.
+     */
+    enum class AccelScale {
+        scale_2g  = 0x00,   ///< +-2g full scale
+        scale_4g  = 0x08,   ///< +-4g full scale
+        scale_6g  = 0x10,   ///< +-6g full scale
+        scale_8g  = 0x18,   ///< +-8g full scale
+        scale_16g = 0x20    ///< +-16g full scale
+    };
+    /** Sets the accelerometer scale range.
+     * @param scale The new scale.
+     * Available values are:
+     * - AccelScale::scale_2g (+-2g)
+     * - AccelScale::scale_4g (+-4g)
+     * - AccelScale::scale_6g (+-6g)
+     * - AccelScale::scale_8g (+-8g)
+     * - AccelScale::scale_16g (+-16g)
+     */
+    void setAccelScale(AccelScale const &scale);
+
+    // CTRL3
+    const Option<u8> INT1_enable_BOOT;  ///< Enable or disable "boot" source for INT1
+    const Option<u8> INT1_enable_CLICK; ///< Enable or disable "click" source for INT1
+    const Option<u8> INT1_enable_IG1;   ///< Enable or disable "inertial 1" source for INT1
+    const Option<u8> INT1_enable_IG2;   ///< Enable or disable "inertial 2" source for INT1
+    const Option<u8> INT1_enable_IGM;   ///< Enable or disable "magnetic" source for INT1
+    const Option<u8> INT1_enable_DRDY_A;///< Enable or disable "accelerometer data ready" source for INT1
+    const Option<u8> INT1_enable_DRDY_M;///< Enable or disable "magnetometer data ready" source for INT1
+    const Option<u8> INT1_enable_EMPTY; ///< Enable or disable "FIFO empty" source for INT1
+    
+    // CTRL4 concerns INT2 which is not broken out on the Pimoroni board
+    
+    // CTRL5
+    const Option<u8> temp_enable;   ///< Enable or disable temperature sensor
+    const Option<u8> LIR1_enable;   ///< Enable or disable latching interrupt requests for INT1
+    
+    /** MagRes enum.
+     * Provides friendly names for the magnetometer resolution options
+     * that are provided by the device.
+     */
+    enum class MagRes {
+        high = 0x60,    ///< High resolution
+        low  = 0x00,    ///< Low resolution
+    };
+    /** Sets the magnetometer resolution.
+     * @param res The new resolution.
+     * Available values are:
+     * - MagRes::high (high resolution)
+     * - MagRes::low (low resolution)
+     */
+    void setMagRes(MagRes const &res);
+
+    /** MagRate enum.
+     * Provides friendly names for the magnetometer update rates
+     * that are provided by the device.
+     */
+    enum class MagRate {
+        rate_3_125Hz = 0x00,    ///< 3.125Hz update rate
+        rate_6_25Hz  = 0x04,    ///< 6.25Hz update rate
+        rate_12_5Hz  = 0x08,    ///< 12.5Hz update rate
+        rate_25Hz    = 0x0C,    ///< 25Hz update rate
+        rate_50Hz    = 0x10,    ///< 50Hz update rate
+        rate_100Hz   = 0x14     ///< 100Hz update rate
+    };    
+    /** Sets the magnetometer update rate.
+     * @param rate The new update rate.
+     * Available values are:
+     * - MagRate::rate_3_125Hz (3.125Hz)
+     * - MagRate::rate_6_25Hz (6.25Hz)
+     * - MagRate::rate_12_5Hz (12.5Hz)
+     * - MagRate::rate_25Hz (25Hz)
+     * - MagRate::rate_50Hz (50Hz)
+     * - MagRate::rate_100Hz (100Hz)
+     * Note that the 100Hz update rate is available only if the accelerometer
+     * update rate is set to 50Hz or higher or the accelerometer is set to
+     * power-down mode (see setAccelRate()).  Failing to meet these conditions
+     * will lead to undefined behaviour.
+     */
+    void setMagRate(MagRate const &rate);
+
+    // CTRL6
+    /** MagScale enum.
+     * Provides friendly names for the magnetometer scale ranges
+     * that are provided by the device.
+     */
+    enum class MagScale {
+        scale_2G  = 0x00,   ///< +-2 Gauss
+        scale_4G  = 0x20,   ///< +-4 Gauss
+        scale_8G  = 0x40,   ///< +-8 Gauss
+        scale_12G = 0x60    ///< +-12 Gauss
+    };
+    /** Sets the magnetometer scale range.
+     * @param scale The new scale.
+     * Available values are:
+     * - MagScale::scale_2G (+-2 Gauss)
+     * - MagScale::scale_4G (+-4 Gauss)
+     * - MagScale::scale_8G (+-8 Gauss)
+     * - MagScale::scale_12G (+-16 Gauss)
+     */
+    void setMagScale(MagScale const &scale);
+
+    // CTRL7
+    /** MagScale enum.
+     * Provides friendly names for the magnetometer modes that are supported
+     * by the device.
+     */
+    enum class MagMode {
+        continuous  = 0x00, ///< Continous conversion mode
+        single      = 0x01, ///< Single conversion mode
+        powerdown   = 0x02  ///< Magnetometer power-down mode
+    };
+    /** Sets the magnetometer mode.
+     * @param mode The new mode.
+     * Available values are:
+     * - MagMode::continuous (continuous conversion mode)
+     * - MagMode::single (single-conversion mode)
+     * - MagMode::powerdown (power-down mode)
+     */
+    void setMagMode(MagMode const &mode);
+
+    /** Constructor.
+     * @param sda The pin to use for the I^^2^^C SDA signal.
+     * @param scl The pin to use for the I^^2^^C SCL signal.
+     * @param i2c_addr The 7-bit I<sup>2</sup>C address.  Defaults to 0x1D, but
+     * this can be overridden to 0x1E with a jumper setting on the device allowing
+     * two LSM303D devices to coexist on a bus.
+     */
+    LSM303D(PinName sda, PinName scl, unsigned char i2c_addr = 0x1D);
+    
+    /** Gets the raw (signed 16-bit integer) X-axis acceleration value.
+     * @return The raw acceleration value.
+     */
+    inline i16 getRawAccelX() { return OUT_X_A; };
+    /** Gets the raw (signed 16-bit integer) Y-axis acceleration value.
+     * @return The raw acceleration value.
+     */
+    inline i16 getRawAccelY() { return OUT_Y_A; };
+    /** Gets the raw (signed 16-bit integer) Z-axis acceleration value.
+     * @return The raw acceleration value.
+     */
+    inline i16 getRawAccelZ() { return OUT_Z_A; };
+    /** Gets the scaled (float) X-axis acceleration value in g.
+     * @return The scaled acceleration value in g.
+     */
+    inline float getAccelX() { return (float)OUT_X_A / accel_scale_ / 32768; };
+    /** Gets the scaled (float) Y-axis acceleration value in g.
+     * @return The scaled acceleration value in g.
+     */
+    inline float getAccelY() { return (float)OUT_Y_A / accel_scale_ / 32768; };
+    /** Gets the scaled (float) Z-axis acceleration value in g.
+     * @return The scaled acceleration value in g.
+     */
+    inline float getAccelZ() { return (float)OUT_Z_A / accel_scale_ / 32768; };
+    /** Reads the raw (signed 16-bit integer) acceleration values into the three
+     * axis value containers provided.
+     * @param x Container for the X value.
+     * @param y Container for the Y value.
+     * @param z Container for the Z value.
+     */
+    void getRawAccelInto(short &x, short &y, short &z);
+    /** Reads the scaled (float) acceleration values in g into the three
+     * axis value containers provided.
+     * @param x Container for the X value.
+     * @param y Container for the Y value.
+     * @param z Container for the Z value.
+     */
+    void getAccelInto(float &x, float &y, float &z);
+    
+    /** Gets the raw (signed 16-bit integer) X-axis magnetometer value.
+     * @return The raw magnetometer value.
+     */
+    inline i16 getRawMagX() { return OUT_X_M; };
+    /** Gets the raw (signed 16-bit integer) Y-axis magnetometer value.
+     * @return The raw magnetometer value.
+     */
+    inline i16 getRawMagY() { return OUT_Y_M; };
+    /** Gets the raw (signed 16-bit integer) Z-axis magnetometer value.
+     * @return The raw magnetometer value.
+     */
+    inline i16 getRawMagZ() { return OUT_Z_M; };
+    /** Gets the scaled (float) X-axis magnetometer value in Gauss.
+     * @return The scaled magnetometer value in Gauss.
+     */
+    inline float getMagX() { return (float)OUT_X_M / mag_scale_ / 32768; };
+    /** Gets the scaled (float) Y-axis magnetometer value in Gauss.
+     * @return The scaled magnetometer value in Gauss.
+     */
+    inline float getMagY() { return (float)OUT_Y_M / mag_scale_ / 32768; };
+    /** Gets the scaled (float) Z-axis magnetometer value in Gauss.
+     * @return The scaled magnetometer value in Gauss.
+     */
+    inline float getMagZ() { return (float)OUT_Z_M / mag_scale_ / 32768; };
+    /** Reads the raw (signed 16-bit integer) magnetometer values into the three
+     * axis value containers provided.
+     * @param x Container for the X value.
+     * @param y Container for the Y value.
+     * @param z Container for the Z value.
+     */
+    void getRawMagInto(short &x, short &y, short &z);
+    /** Reads the scaled (float) magnetometer values in Gauss into the three
+     * axis value containers provided.
+     * @param x Container for the X value.
+     * @param y Container for the Y value.
+     * @param z Container for the Z value.
+     */
+    void getMagInto(float &x, float &y, float &z);
+    
+    /** Reads the scaled (float) temperature values in &deg; C.
+     * @return The current temperature.
+     * Note that testing suggests this to be an inaccurate temperature sensor!
+     * To read the raw temperature value, simply use the TEMP_OUT register directly.
+     */
+    inline float getTemp() { return TEMP_OUT / 8.0 + 25; };
+    
+};

diff -r 392fa35ca17c -r 0bb2931123d0 lsm303d.cpp
--- a/lsm303d.cpp	Wed Feb 10 21:27:54 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,156 +0,0 @@
-#include "lsm303d.h"
-
-static unsigned char const accel_lookup[] = {2, 4, 6, 8, 16};
-static unsigned char const mag_lookup[] = {2, 4, 8, 12};
-
-LSM303D::LSM303D(PinName sda, PinName scl, unsigned char i2c_addr) :
-    i2c_(sda, scl), addr_8bit_(i2c_addr << 1),
-    TEMP_OUT    (*this, 0x05),
-    STATUS_M    (*this, 0x07),
-    OUT_X_M     (*this, 0x08),
-    OUT_Y_M     (*this, 0x0A),
-    OUT_Z_M     (*this, 0x0C),
-    OUT_M       (*this, 0x08),
-    WHO_AM_I    (*this, 0x0F),
-    INT_CTRL_M  (*this, 0x12),
-    INT_SRC_M   (*this, 0x13),
-    INT_THS_M   (*this, 0x14),
-    OFFSET_X_M  (*this, 0x16),
-    OFFSET_Y_M  (*this, 0x18),
-    OFFSET_Z_M  (*this, 0x1A),
-    OFFSET_M    (*this, 0x16),
-    REFERENCE_X (*this, 0x1C),
-    REFERENCE_Y (*this, 0x1D),
-    REFERENCE_Z (*this, 0x1E),
-    REFERENCE   (*this, 0x1C),
-    CTRL0       (*this, 0x1F),
-    CTRL1       (*this, 0x20),
-    CTRL2       (*this, 0x21),
-    CTRL3       (*this, 0x22),
-    CTRL4       (*this, 0x23),
-    CTRL5       (*this, 0x24),
-    CTRL6       (*this, 0x25),
-    CTRL7       (*this, 0x26),
-    STATUS_A    (*this, 0x27),
-    OUT_X_A     (*this, 0x28),
-    OUT_Y_A     (*this, 0x2A),
-    OUT_Z_A     (*this, 0x2C),
-    OUT_A       (*this, 0x28),
-    FIFO_CTRL   (*this, 0x2E),
-    FIFO_SRC    (*this, 0x2F),
-    IG_CFG1     (*this, 0x30),
-    IG_SRC1     (*this, 0x31),
-    IG_THS1     (*this, 0x32),
-    IG_DUR1     (*this, 0x33),
-    IG_CFG2     (*this, 0x34),
-    IG_SRC2     (*this, 0x35),
-    IG_THS2     (*this, 0x36),
-    IG_DUR2     (*this, 0x37),
-    CLICK_CFG   (*this, 0x38),
-    CLICK_SRC   (*this, 0x39),
-    CLICK_THS   (*this, 0x3A),
-    TIME_LIMIT  (*this, 0x3B),
-    TIME_LATENCY(*this, 0x3C),
-    TIME_WINDOW (*this, 0x3D),
-    Act_THS     (*this, 0x3E),
-    Act_DUR     (*this, 0x3F),
-
-    accel_enableX   (CTRL1, 0x01),
-    accel_enableY   (CTRL1, 0x02),
-    accel_enableZ   (CTRL1, 0x04),
-    accel_enableAll (CTRL1, 0x07),
-
-    INT1_enable_BOOT     (CTRL3, 0x80),
-    INT1_enable_CLICK    (CTRL3, 0x40),
-    INT1_enable_IG1      (CTRL3, 0x20),
-    INT1_enable_IG2      (CTRL3, 0x10),
-    INT1_enable_IGM      (CTRL3, 0x08),
-    INT1_enable_DRDY_A   (CTRL3, 0x04),
-    INT1_enable_DRDY_M   (CTRL3, 0x02),
-    INT1_enable_EMPTY    (CTRL3, 0x01),
-
-    temp_enable         (CTRL5, 0x80),
-    LIR1_enable         (CTRL5, 0x01)
-
- {
-    // Check device responds correctly
-    MBED_ASSERT(WHO_AM_I == 0x49);
-
-    // Grab current accelerometer and magnetometer scales from registers
-    accel_scale_ = accel_lookup[(CTRL2 & 0x3E) >> 3];
-    mag_scale_ = mag_lookup[(CTRL6 & 0x60) >> 5];
-    
-    // Useful default config
-    accel_enableAll();
-    setAccelRate(AccelRate::rate_50Hz);
-    temp_enable();
-    setMagRate(MagRate::rate_50Hz);
-    setMagMode(MagMode::continuous);
-}
-
-void LSM303D::getRawAccelInto(short &x, short &y, short &z) {
-    i16_3 xyz = OUT_A;
-    x = xyz.x;
-    y = xyz.y;
-    z = xyz.z;
-}
-
-void LSM303D::getAccelInto(float &x, float &y, float &z) {
-    i16_3 xyz = OUT_A;
-    float scale = accel_scale_ / 32768.0;
-    x = xyz.x * scale;
-    y = xyz.y * scale;
-    z = xyz.z * scale;
-}
-
-void LSM303D::getRawMagInto(short &x, short &y, short &z) {
-    i16_3 xyz = OUT_M;
-    x = xyz.x;
-    y = xyz.y;
-    z = xyz.z;
-}
-
-void LSM303D::getMagInto(float &x, float &y, float &z) {
-    i16_3 xyz = OUT_M;
-    float scale = mag_scale_ / 32768.0;
-    x = xyz.x * scale;
-    y = xyz.y * scale;
-    z = xyz.z * scale;        
-}
-
-void LSM303D::setAccelRate(AccelRate const &rate) {
-    u8 set = static_cast<u8>(rate);
-    CTRL1 = (CTRL1 & ~0xF0) | set;
-}
-
-void LSM303D::setAccelFilterFreq(AccelFilter const &freq) {
-    u8 set = static_cast<u8>(freq);
-    CTRL2 = (CTRL2 & ~0xC0) | set;
-}
-
-void LSM303D::setAccelScale(AccelScale const &scale) {
-    u8 set = static_cast<u8>(scale);
-    CTRL2 = (CTRL2 & ~0x38) | set;
-    accel_scale_ = accel_lookup[set >> 3];
-}
-
-void LSM303D::setMagRes(MagRes const &res) {
-    u8 set = static_cast<u8>(res);
-    CTRL5 = (CTRL5 & ~0x60) | set;
-}
-
-void LSM303D::setMagRate(MagRate const &rate) {
-    u8 set = static_cast<u8>(rate);
-    CTRL5 = (CTRL5 & ~0x1C) | set;
-}
-
-void LSM303D::setMagScale(MagScale const &scale) {
-    u8 set = static_cast<u8>(scale);
-    CTRL6 = (CTRL6 & ~0x60) | set;
-    mag_scale_ = mag_lookup[set >> 5];
-}
-
-void LSM303D::setMagMode(MagMode const &mode) {
-    u8 set = static_cast<u8>(mode);
-    CTRL7 = (CTRL7 & ~0x03) | set;
-}

diff -r 392fa35ca17c -r 0bb2931123d0 lsm303d.h
--- a/lsm303d.h	Wed Feb 10 21:27:54 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,530 +0,0 @@
-#include "mbed.h"
-
-typedef unsigned char u8;
-typedef signed short i16;
-typedef unsigned short u16;
-
-#pragma pack(push)
-#pragma pack(1)
-typedef struct {
-    u8 x;
-    u8 y;
-    u8 z;
-} u8_3;
-typedef struct {
-    i16 x;
-    i16 y;
-    i16 z;
-} i16_3;
-#pragma pack(pop)
-
-/** LSM303D class.
- * Communicates with LSM303D electronic compass over I<sup>2</sup>C.  Accelerometer,
- * magnetometer and temperature sensor supported.  Configurable sample rates
- * and full-scale ranges.  All LSM303D config registers available for raw
- * reads and writes if needed.
- *
- * Example:
- * @code
- * #include "mbed.h"
- * #include "lsm303d.h"
- *
- * LSM303D lsm303d(SDA, SCL);
- * lsm303d.setAccelRate(LSM303D::AccelRate::rate_25Hz);
- * lsm303d.setAccelScale(LSM303D::AccelScale::scale_8g);
- * 
- * int main() {
- *     short x, y, z;
- *     lsm303d.getRawAccelInto(x, y, z); // 16-bit signed, unscaled
- *     float xf, yf, zf;
- *     lsm303d.getAccelInto(xf, yf, zf); // floats, in g
- * }
- * @endcode
- */
-class LSM303D {
-    
-    friend class AccelScaleOption;
-    friend class MagScaleOption;
-    
-    unsigned char const addr_8bit_;
-    unsigned char accel_scale_;
-    unsigned char mag_scale_;
-    I2C i2c_;
-
-protected:
-    // These classes are protected (rather than private) for inlusion in docs.
-    // Wouldn't be necessary if mbed online toolchain allowed local Doxyfiles.
-
-    template <class T>
-    class RWRegister;
-
-    /** Read-only register class.
-     * @tparam T The underlying data type of the register.
-     * Provides an interface onto the read-only registers of the LSM303D.
-     * Operator overloading means that it can be treated as a const variable of
-     * type T for most purposes.  Every read initiates an explicit
-     * I<sup>2</sup>C transfer.
-     */
-    template <class T>
-    class Register {
-        friend class LSM303D;
-        friend class RWRegister<T>;
-    private:
-        unsigned char addr_;
-        LSM303D &parent_;
-        Register(LSM303D &parent, unsigned char addr) :
-            parent_(parent),
-            addr_(addr | (sizeof(T)>1 ? 0x80 : 0x00)) {}
-        /// Explicit read method.
-        /// \return The current value of the register.
-        virtual T read() const {
-            T result;
-            parent_.i2c_.lock();
-            parent_.i2c_.write(parent_.addr_8bit_, (char *)&addr_, 1);
-            parent_.i2c_.read(parent_.addr_8bit_, (char *)&result, sizeof(T));
-            parent_.i2c_.unlock();
-            return result;
-        }
-        /// Explicit cast to type T
-        inline operator T() const {
-            return read();
-        }
-    };
-    
-    /** Read-write register class.
-     * @tparam T The underlying data type of the register.
-     * Provides an interface onto the writable registers of the LSM303D.
-     * Operator overloading means that it can be treated as a variable of type
-     * T for most purposes.  Assignment from int is also explicitly supported
-     * to allow integer literals to be used without qualification or casting.
-     * The register value is cached on first read and updated on write, so read
-     * accesses do not use the I<sup>2</sup>C bus.
-     */
-    template<class T>
-    class RWRegister : public Register<T> {
-        friend class LSM303D;
-        using Register<T>::parent_;
-        using Register<T>::addr_;
-    private:
-        mutable T cache_;
-        mutable bool cached_;
-    protected:
-        RWRegister(LSM303D &parent, unsigned char addr) :
-            Register<T>(parent, addr), cached_(false) {}
-        /// Explicit write method.
-        /// @param data The new value to write to the register.
-        void write(T const &data) {
-            char packet[sizeof(T)+1];
-            packet[0] = addr_;
-            memcpy(&packet[1], &data, sizeof(T));
-            cache_ = data;
-            cached_ = true;
-            parent_.i2c_.lock();
-            parent_.i2c_.write(parent_.addr_8bit_, packet, sizeof(T)+1);
-            parent_.i2c_.unlock();
-        }
-        /// Explicit read method with cache.
-        /// @return The current value of the register, from cache if available.
-        virtual T read() const {
-            if (!cached_) {
-                cache_ = Register<T>::read();
-                cached_ = true;
-            }
-            return cache_;
-        }
-        /// Equivalent to write().
-        /// @param data The new value to write to the register.
-        /// @return A reference to this object.
-        inline RWRegister & operator= (T const &data) {
-            write(data);
-            return *this;
-        }
-        /// Equivalent to write(), with an explicit int parameter.
-        /// @param data The new value to write to the register.
-        /// @return A reference to this object.
-        inline RWRegister & operator= (int const &data) {
-            write(T(data));
-            return *this;
-        }
-        /// Or-assignment operator.
-        /// @param data The value to OR with the register's existing contents.
-        /// @return A reference to this object.
-        inline RWRegister & operator|= (T const &data) {
-            write(read() | data);
-            return *this;
-        }
-        /// Or-assignment operator, with an explicit int parameter.
-        /// @param data The value to OR with the register's existing contents.
-        /// @return A reference to this object.
-        inline RWRegister & operator|= (int const &data) {
-            write(read() | T(data));
-            return *this;
-        }
-        /// And-assignment operator.
-        /// @param data The value to AND with the register's existing contents.
-        /// @return A reference to this object.
-        inline RWRegister & operator&= (T const &data) {
-            write(read() & data);
-            return *this;
-        }
-        /// And-assignment operator, with an explicit int parameter.
-        /// @param data The value to AND with the register's existing contents.
-        /// @return A reference to this object.
-        inline RWRegister & operator&= (int const &data) {
-            write(read() & T(data));
-            return *this;
-        }
-    };
-
-    /** Class representing binary (on/off) options.
-     * @tparam T The underlying data type of the register used to set the option.
-     * Provides a user-friendly interface onto LSM303D options.
-     */
-    template <class T>
-    class Option {
-        friend class LSM303D;
-    protected:
-        T const bits_;
-        RWRegister<T> & reg_;
-        Option(RWRegister<T> & reg, int bits) :
-            reg_(reg), bits_(T(bits)) {}
-    public:
-        /// Set the option 'on'.
-        inline void operator() () const { reg_ |= bits_; };
-        /// Set the option 'on' or 'off'.
-        /// @param sr Option status: set to true for 'on', false for 'off'.
-        inline void operator() (bool sr) const
-            { if (sr) reg_ |= bits_; else reg_ &= ~bits_; };
-    };
-        
-    const Register   <i16_3> OUT_M;         ///< Triple magnetometer register
-    const Register   <i16_3> OFFSET_M;      ///< Triple magnetometer offset register
-    const Register   <u8_3>  REFERENCE;     ///< Triple reference register
-    const Register   <i16_3> OUT_A;         ///< Triple accelerometer register
-
-public:
-    const Register   <i16>   TEMP_OUT;      ///< TEMP_OUT register, read-only
-    const Register   <u8>    STATUS_M;      ///< STATUS_M register, read-only
-    const Register   <i16>   OUT_X_M;       ///< OUT_X_M register, read-only
-    const Register   <i16>   OUT_Y_M;       ///< OUT_Y_M register, read-only
-    const Register   <i16>   OUT_Z_M;       ///< OUT_Z_M register, read-only
-    const Register   <u8>    WHO_AM_I;      ///< WHO_AM_I register, read-only
-    const Register   <u8>    INT_SRC_M;     ///< INT_SRC_M register, read-only
-    const Register   <i16>   OFFSET_X_M;    ///< OFFSET_X_M register, read-only
-    const Register   <i16>   OFFSET_Y_M;    ///< OFFSET_Y_M register, read-only
-    const Register   <i16>   OFFSET_Z_M;    ///< OFFSET_Z_M register, read-only
-    const Register   <u8>    STATUS_A;      ///< STATUS_A register, read-only
-    const Register   <i16>   OUT_X_A;       ///< OUT_X_A register, read-only
-    const Register   <i16>   OUT_Y_A;       ///< OUT_Y_A register, read-only
-    const Register   <i16>   OUT_Z_A;       ///< OUT_Z_A register, read-only
-    const Register   <u8>    FIFO_SRC;      ///< FIFO_SRC register, read-only
-    const Register   <u8>    IG_SRC1;       ///< IG_SRC1 register, read-only
-    const Register   <u8>    IG_SRC2;       ///< IG_SRC2 register, read-only
-    const Register   <u8>    CLICK_SRC;     ///< CLICK_SRC register, read-only
-
-    RWRegister <u8>    INT_CTRL_M;  ///< INT_CTRL_M register, read-write
-    RWRegister <u16>   INT_THS_M;   ///< INT_THS_M register, read-write
-    RWRegister <u8>    REFERENCE_X; ///< REFERENCE_X register, read-write
-    RWRegister <u8>    REFERENCE_Y; ///< REFERENCE_Y register, read-write
-    RWRegister <u8>    REFERENCE_Z; ///< REFERENCE_Z register, read-write
-    RWRegister <u8>    CTRL0;       ///< CTRL0 register, read-write
-    RWRegister <u8>    CTRL1;       ///< CTRL1 register, read-write
-    RWRegister <u8>    CTRL2;       ///< CTRL2 register, read-write
-    RWRegister <u8>    CTRL3;       ///< CTRL3 register, read-write
-    RWRegister <u8>    CTRL4;       ///< CTRL4 register, read-write
-    RWRegister <u8>    CTRL5;       ///< CTRL5 register, read-write
-    RWRegister <u8>    CTRL6;       ///< CTRL6 register, read-write
-    RWRegister <u8>    CTRL7;       ///< CTRL7 register, read-write
-    RWRegister <u8>    FIFO_CTRL;   ///< FIFO_CTRL register, read-write
-    RWRegister <u8>    IG_CFG1;     ///< IG_CFG1 register, read-write
-    RWRegister <u8>    IG_THS1;     ///< IG_THS1 register, read-write
-    RWRegister <u8>    IG_DUR1;     ///< IG_DUR1 register, read-write
-    RWRegister <u8>    IG_CFG2;     ///< IG_CFG2 register, read-write
-    RWRegister <u8>    IG_THS2;     ///< IG_THS2 register, read-write
-    RWRegister <u8>    IG_DUR2;     ///< IG_DUR2 register, read-write
-    RWRegister <u8>    CLICK_CFG;   ///< CLICK_CFG register, read-write
-    RWRegister <u8>    CLICK_THS;   ///< CLICK_THS register, read-write
-    RWRegister <u8>    TIME_LIMIT;  ///< TIME_LIMIT register, read-write
-    RWRegister <u8>    TIME_LATENCY;///< TIME_LATENCY register, read-write
-    RWRegister <u8>    TIME_WINDOW; ///< TIME_WINDOW register, read-write
-    RWRegister <u8>    Act_THS;     ///< Act_THS register, read-write
-    RWRegister <u8>    Act_DUR;     ///< Act_DUR register, read-write
-    
-    // CTRL1
-    /** AccelRate enum.
-     * Provides friendly names for the accelerometer update rates
-     * that are provided by the device.
-     */
-    enum class AccelRate {
-        powerdown    = 0x00,    ///< power-down mode
-        rate_3_125Hz = 0x10,    ///< 3.125Hz update rate
-        rate_6_25Hz  = 0x20,    ///< 6.25Hz update rate
-        rate_12_5Hz  = 0x30,    ///< 12.5Hz update rate
-        rate_25Hz    = 0x40,    ///< 25Hz update rate
-        rate_50Hz    = 0x50,    ///< 50Hz update rate
-        rate_100Hz   = 0x60,    ///< 100Hz update rate
-        rate_200Hz   = 0x70,    ///< 200Hz update rate
-        rate_400Hz   = 0x80,    ///< 400Hz update rate
-        rate_800Hz   = 0x90,    ///< 800Hz update rate
-        rate_1600Hz  = 0xA0     ///< 1600Hz update rate
-    };
-    /** Sets the accelerometer update rate.
-     * @param rate The new update rate.
-     * Available values are:
-     * - AccelRate::powerdown (power-down mode)
-     * - AccelRate::rate_3_125Hz (3.125Hz)
-     * - AccelRate::rate_6_25Hz (6.25Hz)
-     * - AccelRate::rate_12_5Hz (12.5Hz)
-     * - AccelRate::rate_25Hz (25Hz)
-     * - AccelRate::rate_50Hz (50Hz)
-     * - AccelRate::rate_100Hz (100Hz)
-     * - AccelRate::rate_200Hz (200Hz)
-     * - AccelRate::rate_400Hz (400Hz)
-     * - AccelRate::rate_800Hz (800Hz)
-     * - AccelRate::rate_1600Hz (1600Hz)
-     */
-    void setAccelRate(AccelRate const &rate);
-
-    
-    const Option<u8> accel_enableX;     ///< Enable or disable x-axis accelerometer
-    const Option<u8> accel_enableY;     ///< Enable or disable y-axis accelerometer
-    const Option<u8> accel_enableZ;     ///< Enable or disable z-axis accelerometer
-    const Option<u8> accel_enableAll;   ///< Enable or disable all accelerometers
-
-    // CTRL2
-    /** AccelFilter enum.
-     * Provides friendly names for the accelerometer antialiasing filter
-     * frequencies that are provided by the device.
-     */
-    enum class AccelFilter {
-        filter_773Hz = 0x00,    ///< 773Hz corner frequency
-        filter_194Hz = 0x40,    ///< 194Hz corner frequency
-        filter_362Hz = 0x80,    ///< 362Hz corner frequency
-        filter_50Hz  = 0xC0     ///< 50Hz corner frequency
-    };
-    /** Sets the accelerometer antialiasing filter frequency.
-     * @param freq The new frequency.
-     * Available values are:
-     * - AccelFilter::filter_773Hz
-     * - AccelFilter::filter_194Hz
-     * - AccelFilter::filter_362Hz
-     * - AccelFilter::filter_50Hz
-     */
-    void setAccelFilterFreq(AccelFilter const &freq);
-    /** AccelScale enum.
-     * Provides friendly names for the accelerometer scale ranges
-     * that are provided by the device.
-     */
-    enum class AccelScale {
-        scale_2g  = 0x00,   ///< +-2g full scale
-        scale_4g  = 0x08,   ///< +-4g full scale
-        scale_6g  = 0x10,   ///< +-6g full scale
-        scale_8g  = 0x18,   ///< +-8g full scale
-        scale_16g = 0x20    ///< +-16g full scale
-    };
-    /** Sets the accelerometer scale range.
-     * @param scale The new scale.
-     * Available values are:
-     * - AccelScale::scale_2g (+-2g)
-     * - AccelScale::scale_4g (+-4g)
-     * - AccelScale::scale_6g (+-6g)
-     * - AccelScale::scale_8g (+-8g)
-     * - AccelScale::scale_16g (+-16g)
-     */
-    void setAccelScale(AccelScale const &scale);
-
-    // CTRL3
-    const Option<u8> INT1_enable_BOOT;  ///< Enable or disable "boot" source for INT1
-    const Option<u8> INT1_enable_CLICK; ///< Enable or disable "click" source for INT1
-    const Option<u8> INT1_enable_IG1;   ///< Enable or disable "inertial 1" source for INT1
-    const Option<u8> INT1_enable_IG2;   ///< Enable or disable "inertial 2" source for INT1
-    const Option<u8> INT1_enable_IGM;   ///< Enable or disable "magnetic" source for INT1
-    const Option<u8> INT1_enable_DRDY_A;///< Enable or disable "accelerometer data ready" source for INT1
-    const Option<u8> INT1_enable_DRDY_M;///< Enable or disable "magnetometer data ready" source for INT1
-    const Option<u8> INT1_enable_EMPTY; ///< Enable or disable "FIFO empty" source for INT1
-    
-    // CTRL4 concerns INT2 which is not broken out on the Pimoroni board
-    
-    // CTRL5
-    const Option<u8> temp_enable;   ///< Enable or disable temperature sensor
-    const Option<u8> LIR1_enable;   ///< Enable or disable latching interrupt requests for INT1
-    
-    /** MagRes enum.
-     * Provides friendly names for the magnetometer resolution options
-     * that are provided by the device.
-     */
-    enum class MagRes {
-        high = 0x60,    ///< High resolution
-        low  = 0x00,    ///< Low resolution
-    };
-    /** Sets the magnetometer resolution.
-     * @param res The new resolution.
-     * Available values are:
-     * - MagRes::high (high resolution)
-     * - MagRes::low (low resolution)
-     */
-    void setMagRes(MagRes const &res);
-
-    /** MagRate enum.
-     * Provides friendly names for the magnetometer update rates
-     * that are provided by the device.
-     */
-    enum class MagRate {
-        rate_3_125Hz = 0x00,    ///< 3.125Hz update rate
-        rate_6_25Hz  = 0x04,    ///< 6.25Hz update rate
-        rate_12_5Hz  = 0x08,    ///< 12.5Hz update rate
-        rate_25Hz    = 0x0C,    ///< 25Hz update rate
-        rate_50Hz    = 0x10,    ///< 50Hz update rate
-        rate_100Hz   = 0x14     ///< 100Hz update rate
-    };    
-    /** Sets the magnetometer update rate.
-     * @param rate The new update rate.
-     * Available values are:
-     * - MagRate::rate_3_125Hz (3.125Hz)
-     * - MagRate::rate_6_25Hz (6.25Hz)
-     * - MagRate::rate_12_5Hz (12.5Hz)
-     * - MagRate::rate_25Hz (25Hz)
-     * - MagRate::rate_50Hz (50Hz)
-     * - MagRate::rate_100Hz (100Hz)
-     * Note that the 100Hz update rate is available only if the accelerometer
-     * update rate is set to 50Hz or higher or the accelerometer is set to
-     * power-down mode (see setAccelRate()).  Failing to meet these conditions
-     * will lead to undefined behaviour.
-     */
-    void setMagRate(MagRate const &rate);
-
-    // CTRL6
-    /** MagScale enum.
-     * Provides friendly names for the magnetometer scale ranges
-     * that are provided by the device.
-     */
-    enum class MagScale {
-        scale_2G  = 0x00,   ///< +-2 Gauss
-        scale_4G  = 0x20,   ///< +-4 Gauss
-        scale_8G  = 0x40,   ///< +-8 Gauss
-        scale_12G = 0x60    ///< +-12 Gauss
-    };
-    /** Sets the magnetometer scale range.
-     * @param scale The new scale.
-     * Available values are:
-     * - MagScale::scale_2G (+-2 Gauss)
-     * - MagScale::scale_4G (+-4 Gauss)
-     * - MagScale::scale_8G (+-8 Gauss)
-     * - MagScale::scale_12G (+-16 Gauss)
-     */
-    void setMagScale(MagScale const &scale);
-
-    // CTRL7
-    /** MagScale enum.
-     * Provides friendly names for the magnetometer modes that are supported
-     * by the device.
-     */
-    enum class MagMode {
-        continuous  = 0x00, ///< Continous conversion mode
-        single      = 0x01, ///< Single conversion mode
-        powerdown   = 0x02  ///< Magnetometer power-down mode
-    };
-    /** Sets the magnetometer mode.
-     * @param mode The new mode.
-     * Available values are:
-     * - MagMode::continuous (continuous conversion mode)
-     * - MagMode::single (single-conversion mode)
-     * - MagMode::powerdown (power-down mode)
-     */
-    void setMagMode(MagMode const &mode);
-
-    /** Constructor.
-     * @param sda The pin to use for the I^^2^^C SDA signal.
-     * @param scl The pin to use for the I^^2^^C SCL signal.
-     * @param i2c_addr The 7-bit I<sup>2</sup>C address.  Defaults to 0x1D, but
-     * this can be overridden to 0x1E with a jumper setting on the device allowing
-     * two LSM303D devices to coexist on a bus.
-     */
-    LSM303D(PinName sda, PinName scl, unsigned char i2c_addr = 0x1D);
-    
-    /** Gets the raw (signed 16-bit integer) X-axis acceleration value.
-     * @return The raw acceleration value.
-     */
-    inline i16 getRawAccelX() { return OUT_X_A; };
-    /** Gets the raw (signed 16-bit integer) Y-axis acceleration value.
-     * @return The raw acceleration value.
-     */
-    inline i16 getRawAccelY() { return OUT_Y_A; };
-    /** Gets the raw (signed 16-bit integer) Z-axis acceleration value.
-     * @return The raw acceleration value.
-     */
-    inline i16 getRawAccelZ() { return OUT_Z_A; };
-    /** Gets the scaled (float) X-axis acceleration value in g.
-     * @return The scaled acceleration value in g.
-     */
-    inline float getAccelX() { return (float)OUT_X_A / accel_scale_ / 32768; };
-    /** Gets the scaled (float) Y-axis acceleration value in g.
-     * @return The scaled acceleration value in g.
-     */
-    inline float getAccelY() { return (float)OUT_Y_A / accel_scale_ / 32768; };
-    /** Gets the scaled (float) Z-axis acceleration value in g.
-     * @return The scaled acceleration value in g.
-     */
-    inline float getAccelZ() { return (float)OUT_Z_A / accel_scale_ / 32768; };
-    /** Reads the raw (signed 16-bit integer) acceleration values into the three
-     * axis value containers provided.
-     * @param x Container for the X value.
-     * @param y Container for the Y value.
-     * @param z Container for the Z value.
-     */
-    void getRawAccelInto(short &x, short &y, short &z);
-    /** Reads the scaled (float) acceleration values in g into the three
-     * axis value containers provided.
-     * @param x Container for the X value.
-     * @param y Container for the Y value.
-     * @param z Container for the Z value.
-     */
-    void getAccelInto(float &x, float &y, float &z);
-    
-    /** Gets the raw (signed 16-bit integer) X-axis magnetometer value.
-     * @return The raw magnetometer value.
-     */
-    inline i16 getRawMagX() { return OUT_X_M; };
-    /** Gets the raw (signed 16-bit integer) Y-axis magnetometer value.
-     * @return The raw magnetometer value.
-     */
-    inline i16 getRawMagY() { return OUT_Y_M; };
-    /** Gets the raw (signed 16-bit integer) Z-axis magnetometer value.
-     * @return The raw magnetometer value.
-     */
-    inline i16 getRawMagZ() { return OUT_Z_M; };
-    /** Gets the scaled (float) X-axis magnetometer value in Gauss.
-     * @return The scaled magnetometer value in Gauss.
-     */
-    inline float getMagX() { return (float)OUT_X_M / mag_scale_ / 32768; };
-    /** Gets the scaled (float) Y-axis magnetometer value in Gauss.
-     * @return The scaled magnetometer value in Gauss.
-     */
-    inline float getMagY() { return (float)OUT_Y_M / mag_scale_ / 32768; };
-    /** Gets the scaled (float) Z-axis magnetometer value in Gauss.
-     * @return The scaled magnetometer value in Gauss.
-     */
-    inline float getMagZ() { return (float)OUT_Z_M / mag_scale_ / 32768; };
-    /** Reads the raw (signed 16-bit integer) magnetometer values into the three
-     * axis value containers provided.
-     * @param x Container for the X value.
-     * @param y Container for the Y value.
-     * @param z Container for the Z value.
-     */
-    void getRawMagInto(short &x, short &y, short &z);
-    /** Reads the scaled (float) magnetometer values in Gauss into the three
-     * axis value containers provided.
-     * @param x Container for the X value.
-     * @param y Container for the Y value.
-     * @param z Container for the Z value.
-     */
-    void getMagInto(float &x, float &y, float &z);
-    
-    /** Reads the scaled (float) temperature values in &deg; C.
-     * @return The current temperature.
-     * Note that testing suggests this to be an inaccurate temperature sensor!
-     * To read the raw temperature value, simply use the TEMP_OUT register directly.
-     */
-    inline float getTemp() { return TEMP_OUT / 8.0 + 25; };
-    
-};