Bruno Manganelli
Port of Adafruit Arduino code
Diff: Header/Adafruit_LSM303_U.h
- Revision:
- 0:772bf4786416
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Header/Adafruit_LSM303_U.h Sat Mar 21 12:33:05 2015 +0000
@@ -0,0 +1,172 @@
+/***************************************************************************
+ This is a library for the LSM303 Accelerometer and magnentometer/compass
+
+ Designed specifically to work with the Adafruit LSM303DLHC Breakout
+
+ These displays use I2C to communicate, 2 pins are required to interface.
+
+ Adafruit invests time and resources providing this open source code,
+ please support Adafruit andopen-source hardware by purchasing products
+ from Adafruit!
+
+ Written by Kevin Townsend for Adafruit Industries.
+ BSD license, all text above must be included in any redistribution
+ ***************************************************************************/
+#ifndef __LSM303_H__
+#define __LSM303_H__
+
+#include <Adafruit_Sensor.h>
+#include "I2C_base.h"
+
+/*=========================================================================
+ I2C ADDRESS/BITS
+ -----------------------------------------------------------------------*/
+ #define LSM303_ADDRESS_ACCEL (0x32 >> 1) // 0011001x
+ #define LSM303_ADDRESS_MAG (0x3C >> 1) // 0011110x
+/*=========================================================================*/
+
+/*=========================================================================
+ REGISTERS
+ -----------------------------------------------------------------------*/
+ typedef enum
+ { // DEFAULT TYPE
+ LSM303_REGISTER_ACCEL_CTRL_REG1_A = 0x20, // 00000111 rw
+ LSM303_REGISTER_ACCEL_CTRL_REG2_A = 0x21, // 00000000 rw
+ LSM303_REGISTER_ACCEL_CTRL_REG3_A = 0x22, // 00000000 rw
+ LSM303_REGISTER_ACCEL_CTRL_REG4_A = 0x23, // 00000000 rw
+ LSM303_REGISTER_ACCEL_CTRL_REG5_A = 0x24, // 00000000 rw
+ LSM303_REGISTER_ACCEL_CTRL_REG6_A = 0x25, // 00000000 rw
+ LSM303_REGISTER_ACCEL_REFERENCE_A = 0x26, // 00000000 r
+ LSM303_REGISTER_ACCEL_STATUS_REG_A = 0x27, // 00000000 r
+ LSM303_REGISTER_ACCEL_OUT_X_L_A = 0x28,
+ LSM303_REGISTER_ACCEL_OUT_X_H_A = 0x29,
+ LSM303_REGISTER_ACCEL_OUT_Y_L_A = 0x2A,
+ LSM303_REGISTER_ACCEL_OUT_Y_H_A = 0x2B,
+ LSM303_REGISTER_ACCEL_OUT_Z_L_A = 0x2C,
+ LSM303_REGISTER_ACCEL_OUT_Z_H_A = 0x2D,
+ LSM303_REGISTER_ACCEL_FIFO_CTRL_REG_A = 0x2E,
+ LSM303_REGISTER_ACCEL_FIFO_SRC_REG_A = 0x2F,
+ LSM303_REGISTER_ACCEL_INT1_CFG_A = 0x30,
+ LSM303_REGISTER_ACCEL_INT1_SOURCE_A = 0x31,
+ LSM303_REGISTER_ACCEL_INT1_THS_A = 0x32,
+ LSM303_REGISTER_ACCEL_INT1_DURATION_A = 0x33,
+ LSM303_REGISTER_ACCEL_INT2_CFG_A = 0x34,
+ LSM303_REGISTER_ACCEL_INT2_SOURCE_A = 0x35,
+ LSM303_REGISTER_ACCEL_INT2_THS_A = 0x36,
+ LSM303_REGISTER_ACCEL_INT2_DURATION_A = 0x37,
+ LSM303_REGISTER_ACCEL_CLICK_CFG_A = 0x38,
+ LSM303_REGISTER_ACCEL_CLICK_SRC_A = 0x39,
+ LSM303_REGISTER_ACCEL_CLICK_THS_A = 0x3A,
+ LSM303_REGISTER_ACCEL_TIME_LIMIT_A = 0x3B,
+ LSM303_REGISTER_ACCEL_TIME_LATENCY_A = 0x3C,
+ LSM303_REGISTER_ACCEL_TIME_WINDOW_A = 0x3D
+ } lsm303AccelRegisters_t;
+
+ typedef enum
+ {
+ LSM303_REGISTER_MAG_CRA_REG_M = 0x00,
+ LSM303_REGISTER_MAG_CRB_REG_M = 0x01,
+ LSM303_REGISTER_MAG_MR_REG_M = 0x02,
+ LSM303_REGISTER_MAG_OUT_X_H_M = 0x03,
+ LSM303_REGISTER_MAG_OUT_X_L_M = 0x04,
+ LSM303_REGISTER_MAG_OUT_Z_H_M = 0x05,
+ LSM303_REGISTER_MAG_OUT_Z_L_M = 0x06,
+ LSM303_REGISTER_MAG_OUT_Y_H_M = 0x07,
+ LSM303_REGISTER_MAG_OUT_Y_L_M = 0x08,
+ LSM303_REGISTER_MAG_SR_REG_Mg = 0x09,
+ LSM303_REGISTER_MAG_IRA_REG_M = 0x0A,
+ LSM303_REGISTER_MAG_IRB_REG_M = 0x0B,
+ LSM303_REGISTER_MAG_IRC_REG_M = 0x0C,
+ LSM303_REGISTER_MAG_TEMP_OUT_H_M = 0x31,
+ LSM303_REGISTER_MAG_TEMP_OUT_L_M = 0x32
+ } lsm303MagRegisters_t;
+/*=========================================================================*/
+
+/*=========================================================================
+ MAGNETOMETER GAIN SETTINGS
+ -----------------------------------------------------------------------*/
+ typedef enum
+ {
+ LSM303_MAGGAIN_1_3 = 0x20, // +/- 1.3
+ LSM303_MAGGAIN_1_9 = 0x40, // +/- 1.9
+ LSM303_MAGGAIN_2_5 = 0x60, // +/- 2.5
+ LSM303_MAGGAIN_4_0 = 0x80, // +/- 4.0
+ LSM303_MAGGAIN_4_7 = 0xA0, // +/- 4.7
+ LSM303_MAGGAIN_5_6 = 0xC0, // +/- 5.6
+ LSM303_MAGGAIN_8_1 = 0xE0 // +/- 8.1
+ } lsm303MagGain;
+/*=========================================================================*/
+
+/*=========================================================================
+ INTERNAL MAGNETOMETER DATA TYPE
+ -----------------------------------------------------------------------*/
+ typedef struct lsm303MagData_s
+ {
+ float x;
+ float y;
+ float z;
+ float orientation;
+ } lsm303MagData;
+/*=========================================================================*/
+
+/*=========================================================================
+ INTERNAL ACCELERATION DATA TYPE
+ -----------------------------------------------------------------------*/
+ typedef struct lsm303AccelData_s
+ {
+ float x;
+ float y;
+ float z;
+ } lsm303AccelData;
+/*=========================================================================*/
+
+/*=========================================================================
+ CHIP ID
+ -----------------------------------------------------------------------*/
+ #define LSM303_ID (0b11010100)
+/*=========================================================================*/
+
+/* Unified sensor driver for the accelerometer */
+class Adafruit_LSM303_Accel_Unified : public Adafruit_Sensor
+{
+ public:
+ Adafruit_LSM303_Accel_Unified(int32_t sensorID = -1);
+
+ bool begin(void);
+ void getEvent(sensors_event_t*);
+ void getSensor(sensor_t*);
+ void enableAutoRange(bool enable){}
+
+ private:
+ lsm303AccelData _accelData; // Last read accelerometer data will be available here
+ int32_t _sensorID;
+
+ void write8(byte address, byte reg, byte value);
+ byte read8(byte address, byte reg);
+ void read(void);
+};
+
+/* Unified sensor driver for the magnetometer */
+class Adafruit_LSM303_Mag_Unified : public Adafruit_Sensor
+{
+ public:
+ Adafruit_LSM303_Mag_Unified(int32_t sensorID = -1);
+
+ bool begin(void);
+ void enableAutoRange(bool enable);
+ void setMagGain(lsm303MagGain gain);
+ void getEvent(sensors_event_t*);
+ void getSensor(sensor_t*);
+
+ private:
+ lsm303MagGain _magGain;
+ lsm303MagData _magData; // Last read magnetometer data will be available here
+ int32_t _sensorID;
+ bool _autoRangeEnabled;
+
+ void write8(byte address, byte reg, byte value);
+ byte read8(byte address, byte reg);
+ void read(void);
+};
+
+#endif