Diff: LSM303.h

Revision:

0:6ee4ef99c382

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303.h	Tue Feb 21 13:34:27 2012 +0000
@@ -0,0 +1,141 @@
+/* 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 );
+
+   /**
+    * 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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