Gal Yaroslavsky / LSM303DLHC

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Fork of LSM303DLHC by brian claus

Diff: LSM303DLHC.cpp

Revision:
5:aa4b323655dc
Parent:
3:4d9465e7e10e
--- a/LSM303DLHC.cpp	Thu Feb 21 00:20:17 2013 +0000
+++ b/LSM303DLHC.cpp	Sat Mar 29 03:06:36 2014 +0000
@@ -126,6 +126,21 @@
     return false;
 }
 
+bool LSM303DLHC::read(float *ax, float *ay, float *az) {
+    char acc[6];
+ 
+    if (recv(addr_acc, OUT_X_A, acc, 6)) {
+        *ax = float(short(acc[1] << 8 | acc[0]))/8192;  //32768/4=8192
+        *ay =  float(short(acc[3] << 8 | acc[2]))/8192;
+        *az =  float(short(acc[5] << 8 | acc[4]))/8192;
+        //full scale magnetic readings are from -2048 to 2047
+        //gain is x,y =1100; z = 980 LSB/gauss
+ 
+        return true;
+    }
+ 
+    return false;
+}
 
 bool LSM303DLHC::recv(char sad, char sub, char *buf, int length) {
     if (length > 1) sub |= 0x80;