Benigno Gobbo / minimu9

Pololu Minimu-9 library

LSM303.h@0:6ee4ef99c382, 2012-02-21 (annotated)

Committer:
bengo
Date:
Tue Feb 21 13:34:27 2012 +0000
Revision:
0:6ee4ef99c382
first release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bengo 0:6ee4ef99c382 1 /* mbed LSM303 Library version 0beta1
bengo 0:6ee4ef99c382 2 * Copyright (c) 2012 bengo
bengo 0:6ee4ef99c382 3 *
bengo 0:6ee4ef99c382 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
bengo 0:6ee4ef99c382 5 * of this software and associated documentation files (the "Software"), to deal
bengo 0:6ee4ef99c382 6 * in the Software without restriction, including without limitation the rights
bengo 0:6ee4ef99c382 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
bengo 0:6ee4ef99c382 8 * copies of the Software, and to permit persons to whom the Software is
bengo 0:6ee4ef99c382 9 * furnished to do so, subject to the following conditions:
bengo 0:6ee4ef99c382 10 *
bengo 0:6ee4ef99c382 11 * The above copyright notice and this permission notice shall be included in
bengo 0:6ee4ef99c382 12 * all copies or substantial portions of the Software.
bengo 0:6ee4ef99c382 13 *
bengo 0:6ee4ef99c382 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
bengo 0:6ee4ef99c382 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
bengo 0:6ee4ef99c382 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
bengo 0:6ee4ef99c382 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
bengo 0:6ee4ef99c382 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
bengo 0:6ee4ef99c382 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
bengo 0:6ee4ef99c382 20 * THE SOFTWARE.
bengo 0:6ee4ef99c382 21 */
bengo 0:6ee4ef99c382 22
bengo 0:6ee4ef99c382 23 #ifndef LSM303_h
bengo 0:6ee4ef99c382 24 #define LSM303_h
bengo 0:6ee4ef99c382 25
bengo 0:6ee4ef99c382 26 #include "mbed.h"
bengo 0:6ee4ef99c382 27 #include <vector>
bengo 0:6ee4ef99c382 28
bengo 0:6ee4ef99c382 29 class LSM303 {
bengo 0:6ee4ef99c382 30
bengo 0:6ee4ef99c382 31 public:
bengo 0:6ee4ef99c382 32
bengo 0:6ee4ef99c382 33 /**
bengo 0:6ee4ef99c382 34 * Create an LSM303 object connected to the specified I2C pins
bengo 0:6ee4ef99c382 35 * @param sda I2C SDA pin
bengo 0:6ee4ef99c382 36 * @param scl I2C SCL pin
bengo 0:6ee4ef99c382 37 */
bengo 0:6ee4ef99c382 38 LSM303( PinName sda, PinName scl );
bengo 0:6ee4ef99c382 39
bengo 0:6ee4ef99c382 40 /**
bengo 0:6ee4ef99c382 41 * Return status code of prevoius function call
bengo 0:6ee4ef99c382 42 */
bengo 0:6ee4ef99c382 43 inline int getStatus( void ) { return( _status ); }
bengo 0:6ee4ef99c382 44
bengo 0:6ee4ef99c382 45 /**
bengo 0:6ee4ef99c382 46 * Read specified accelerometer register content
bengo 0:6ee4ef99c382 47 * @param reg register address
bengo 0:6ee4ef99c382 48 */
bengo 0:6ee4ef99c382 49 int accRegisterRead( int reg );
bengo 0:6ee4ef99c382 50
bengo 0:6ee4ef99c382 51 /**
bengo 0:6ee4ef99c382 52 * Write to specified accelerometer register
bengo 0:6ee4ef99c382 53 * @param reg register address
bengo 0:6ee4ef99c382 54 * @parma data data to be written
bengo 0:6ee4ef99c382 55 */
bengo 0:6ee4ef99c382 56 void accRegisterWrite( int reg, char data );
bengo 0:6ee4ef99c382 57
bengo 0:6ee4ef99c382 58 /**
bengo 0:6ee4ef99c382 59 * Read specified magnetometer register content
bengo 0:6ee4ef99c382 60 * @param reg register address
bengo 0:6ee4ef99c382 61 */
bengo 0:6ee4ef99c382 62 int magRegisterRead( int reg );
bengo 0:6ee4ef99c382 63
bengo 0:6ee4ef99c382 64 /**
bengo 0:6ee4ef99c382 65 * Write to specified magnetometer register
bengo 0:6ee4ef99c382 66 * @param reg register address
bengo 0:6ee4ef99c382 67 * @parma data data to be written
bengo 0:6ee4ef99c382 68 */
bengo 0:6ee4ef99c382 69 void magRegisterWrite( int reg, char data );
bengo 0:6ee4ef99c382 70
bengo 0:6ee4ef99c382 71 /**
bengo 0:6ee4ef99c382 72 * Read accelerometer vector
bengo 0:6ee4ef99c382 73 */
bengo 0:6ee4ef99c382 74 std::vector<short> accRead( void );
bengo 0:6ee4ef99c382 75
bengo 0:6ee4ef99c382 76 /**
bengo 0:6ee4ef99c382 77 * Read acceleration
bengo 0:6ee4ef99c382 78 */
bengo 0:6ee4ef99c382 79 std::vector<float> acceleration( void );
bengo 0:6ee4ef99c382 80
bengo 0:6ee4ef99c382 81 /**
bengo 0:6ee4ef99c382 82 * Read magnetometer vector
bengo 0:6ee4ef99c382 83 */
bengo 0:6ee4ef99c382 84 std::vector<short> magRead( void );
bengo 0:6ee4ef99c382 85
bengo 0:6ee4ef99c382 86 /**
bengo 0:6ee4ef99c382 87 * Read magnetic field vector
bengo 0:6ee4ef99c382 88 */
bengo 0:6ee4ef99c382 89 std::vector<float> magneticField( void );
bengo 0:6ee4ef99c382 90
bengo 0:6ee4ef99c382 91 // Device registers addresses
bengo 0:6ee4ef99c382 92 static const int ACC_CTRL_REG1;
bengo 0:6ee4ef99c382 93 static const int ACC_CTRL_REG2;
bengo 0:6ee4ef99c382 94 static const int ACC_CTRL_REC3;
bengo 0:6ee4ef99c382 95 static const int ACC_CTRL_REG4;
bengo 0:6ee4ef99c382 96 static const int ACC_CTRL_REG5;
bengo 0:6ee4ef99c382 97 static const int ACC_HP_FILTER_RESET;
bengo 0:6ee4ef99c382 98 static const int ACC_REFERENCE;
bengo 0:6ee4ef99c382 99 static const int ACC_STATUS_REG;
bengo 0:6ee4ef99c382 100 static const int ACC_OUT_X_L;
bengo 0:6ee4ef99c382 101 static const int ACC_OUT_X_H;
bengo 0:6ee4ef99c382 102 static const int ACC_OUT_Y_L;
bengo 0:6ee4ef99c382 103 static const int ACC_OUT_Y_H;
bengo 0:6ee4ef99c382 104 static const int ACC_OUT_Z_L;
bengo 0:6ee4ef99c382 105 static const int ACC_OUT_Z_H;
bengo 0:6ee4ef99c382 106 static const int ACC_INT1_CFG;
bengo 0:6ee4ef99c382 107 static const int ACC_INT1_SOURCE;
bengo 0:6ee4ef99c382 108 static const int ACC_INT1_THS;
bengo 0:6ee4ef99c382 109 static const int ACC_INT1_DURATION;
bengo 0:6ee4ef99c382 110 static const int ACC_INT2_CFG;
bengo 0:6ee4ef99c382 111 static const int ACC_INT2_SOURCE;
bengo 0:6ee4ef99c382 112 static const int ACC_INT2_THS;
bengo 0:6ee4ef99c382 113 static const int ACC_INT2_DURATION;
bengo 0:6ee4ef99c382 114 static const int MAG_CRA_REG;
bengo 0:6ee4ef99c382 115 static const int MAG_CRB_REG;
bengo 0:6ee4ef99c382 116 static const int MAG_MR_REG;
bengo 0:6ee4ef99c382 117 static const int MAG_OUT_X_H;
bengo 0:6ee4ef99c382 118 static const int MAG_OUT_X_L;
bengo 0:6ee4ef99c382 119 static const int MAG_OUT_Y_H;
bengo 0:6ee4ef99c382 120 static const int MAG_OUT_Y_L;
bengo 0:6ee4ef99c382 121 static const int MAG_OUT_Z_H;
bengo 0:6ee4ef99c382 122 static const int MAG_OUT_Z_L;
bengo 0:6ee4ef99c382 123 static const int MAG_SR_REG;
bengo 0:6ee4ef99c382 124 static const int MAG_IRA_REG;
bengo 0:6ee4ef99c382 125 static const int MAG_IRB_REG;
bengo 0:6ee4ef99c382 126 static const int MAG_IRC_REG;
bengo 0:6ee4ef99c382 127 static const int MAG_WHO_AM_I;
bengo 0:6ee4ef99c382 128
bengo 0:6ee4ef99c382 129 private:
bengo 0:6ee4ef99c382 130
bengo 0:6ee4ef99c382 131 int _status;
bengo 0:6ee4ef99c382 132 I2C _i2c;
bengo 0:6ee4ef99c382 133 int _SA0Pad;
bengo 0:6ee4ef99c382 134 char _bytes[7];
bengo 0:6ee4ef99c382 135
bengo 0:6ee4ef99c382 136 static const int ACC_ADDRESS;
bengo 0:6ee4ef99c382 137 static const int MAG_ADDRESS;
bengo 0:6ee4ef99c382 138
bengo 0:6ee4ef99c382 139 };
bengo 0:6ee4ef99c382 140
bengo 0:6ee4ef99c382 141 #endif // LSM303_h