Adafruit_LSM303_U.h

00001 /***************************************************************************
00002   This is a library for the LSM303 Accelerometer and magnentometer/compass
00003 
00004   Designed specifically to work with the Adafruit LSM303DLHC Breakout
00005 
00006   These displays use I2C to communicate, 2 pins are required to interface.
00007 
00008   Adafruit invests time and resources providing this open source code,
00009   please support Adafruit andopen-source hardware by purchasing products
00010   from Adafruit!
00011 
00012   Written by Kevin Townsend for Adafruit Industries.  
00013   BSD license, all text above must be included in any redistribution
00014  ***************************************************************************/
00015 #ifndef __LSM303_H__
00016 #define __LSM303_H__
00017 
00018 #include <Adafruit_Sensor.h>
00019 #include "I2C_base.h"
00020 
00021 /*=========================================================================
00022     I2C ADDRESS/BITS
00023     -----------------------------------------------------------------------*/
00024     #define LSM303_ADDRESS_ACCEL          (0x32 >> 1)         // 0011001x
00025     #define LSM303_ADDRESS_MAG            (0x3C >> 1)         // 0011110x
00026 /*=========================================================================*/
00027 
00028 /*=========================================================================
00029     REGISTERS
00030     -----------------------------------------------------------------------*/
00031     typedef enum
00032     {                                                     // DEFAULT    TYPE
00033       LSM303_REGISTER_ACCEL_CTRL_REG1_A         = 0x20,   // 00000111   rw
00034       LSM303_REGISTER_ACCEL_CTRL_REG2_A         = 0x21,   // 00000000   rw
00035       LSM303_REGISTER_ACCEL_CTRL_REG3_A         = 0x22,   // 00000000   rw
00036       LSM303_REGISTER_ACCEL_CTRL_REG4_A         = 0x23,   // 00000000   rw
00037       LSM303_REGISTER_ACCEL_CTRL_REG5_A         = 0x24,   // 00000000   rw
00038       LSM303_REGISTER_ACCEL_CTRL_REG6_A         = 0x25,   // 00000000   rw
00039       LSM303_REGISTER_ACCEL_REFERENCE_A         = 0x26,   // 00000000   r
00040       LSM303_REGISTER_ACCEL_STATUS_REG_A        = 0x27,   // 00000000   r
00041       LSM303_REGISTER_ACCEL_OUT_X_L_A           = 0x28,
00042       LSM303_REGISTER_ACCEL_OUT_X_H_A           = 0x29,
00043       LSM303_REGISTER_ACCEL_OUT_Y_L_A           = 0x2A,
00044       LSM303_REGISTER_ACCEL_OUT_Y_H_A           = 0x2B,
00045       LSM303_REGISTER_ACCEL_OUT_Z_L_A           = 0x2C,
00046       LSM303_REGISTER_ACCEL_OUT_Z_H_A           = 0x2D,
00047       LSM303_REGISTER_ACCEL_FIFO_CTRL_REG_A     = 0x2E,
00048       LSM303_REGISTER_ACCEL_FIFO_SRC_REG_A      = 0x2F,
00049       LSM303_REGISTER_ACCEL_INT1_CFG_A          = 0x30,
00050       LSM303_REGISTER_ACCEL_INT1_SOURCE_A       = 0x31,
00051       LSM303_REGISTER_ACCEL_INT1_THS_A          = 0x32,
00052       LSM303_REGISTER_ACCEL_INT1_DURATION_A     = 0x33,
00053       LSM303_REGISTER_ACCEL_INT2_CFG_A          = 0x34,
00054       LSM303_REGISTER_ACCEL_INT2_SOURCE_A       = 0x35,
00055       LSM303_REGISTER_ACCEL_INT2_THS_A          = 0x36,
00056       LSM303_REGISTER_ACCEL_INT2_DURATION_A     = 0x37,
00057       LSM303_REGISTER_ACCEL_CLICK_CFG_A         = 0x38,
00058       LSM303_REGISTER_ACCEL_CLICK_SRC_A         = 0x39,
00059       LSM303_REGISTER_ACCEL_CLICK_THS_A         = 0x3A,
00060       LSM303_REGISTER_ACCEL_TIME_LIMIT_A        = 0x3B,
00061       LSM303_REGISTER_ACCEL_TIME_LATENCY_A      = 0x3C,
00062       LSM303_REGISTER_ACCEL_TIME_WINDOW_A       = 0x3D
00063     } lsm303AccelRegisters_t;
00064     
00065     typedef enum
00066     {
00067       LSM303_REGISTER_MAG_CRA_REG_M             = 0x00,
00068       LSM303_REGISTER_MAG_CRB_REG_M             = 0x01,
00069       LSM303_REGISTER_MAG_MR_REG_M              = 0x02,
00070       LSM303_REGISTER_MAG_OUT_X_H_M             = 0x03,
00071       LSM303_REGISTER_MAG_OUT_X_L_M             = 0x04,
00072       LSM303_REGISTER_MAG_OUT_Z_H_M             = 0x05,
00073       LSM303_REGISTER_MAG_OUT_Z_L_M             = 0x06,
00074       LSM303_REGISTER_MAG_OUT_Y_H_M             = 0x07,
00075       LSM303_REGISTER_MAG_OUT_Y_L_M             = 0x08,
00076       LSM303_REGISTER_MAG_SR_REG_Mg             = 0x09,
00077       LSM303_REGISTER_MAG_IRA_REG_M             = 0x0A,
00078       LSM303_REGISTER_MAG_IRB_REG_M             = 0x0B,
00079       LSM303_REGISTER_MAG_IRC_REG_M             = 0x0C,
00080       LSM303_REGISTER_MAG_TEMP_OUT_H_M          = 0x31,
00081       LSM303_REGISTER_MAG_TEMP_OUT_L_M          = 0x32
00082     } lsm303MagRegisters_t;
00083 /*=========================================================================*/
00084 
00085 /*=========================================================================
00086     MAGNETOMETER GAIN SETTINGS
00087     -----------------------------------------------------------------------*/
00088     typedef enum
00089     {
00090       LSM303_MAGGAIN_1_3                        = 0x20,  // +/- 1.3
00091       LSM303_MAGGAIN_1_9                        = 0x40,  // +/- 1.9
00092       LSM303_MAGGAIN_2_5                        = 0x60,  // +/- 2.5
00093       LSM303_MAGGAIN_4_0                        = 0x80,  // +/- 4.0
00094       LSM303_MAGGAIN_4_7                        = 0xA0,  // +/- 4.7
00095       LSM303_MAGGAIN_5_6                        = 0xC0,  // +/- 5.6
00096       LSM303_MAGGAIN_8_1                        = 0xE0   // +/- 8.1
00097     } lsm303MagGain;    
00098 /*=========================================================================*/
00099 
00100 /*=========================================================================
00101     INTERNAL MAGNETOMETER DATA TYPE
00102     -----------------------------------------------------------------------*/
00103     typedef struct lsm303MagData_s
00104     {
00105         float x;
00106         float y;
00107         float z;
00108       float orientation;
00109     } lsm303MagData;
00110 /*=========================================================================*/
00111 
00112 /*=========================================================================
00113     INTERNAL ACCELERATION DATA TYPE
00114     -----------------------------------------------------------------------*/
00115     typedef struct lsm303AccelData_s
00116     {
00117       float x;
00118       float y;
00119       float z;
00120     } lsm303AccelData;
00121 /*=========================================================================*/
00122     
00123 /*=========================================================================
00124     CHIP ID
00125     -----------------------------------------------------------------------*/
00126     #define LSM303_ID                     (0b11010100)
00127 /*=========================================================================*/
00128 
00129 /* Unified sensor driver for the accelerometer */
00130 class Adafruit_LSM303_Accel_Unified : public Adafruit_Sensor
00131 {
00132   public:
00133     Adafruit_LSM303_Accel_Unified(int32_t sensorID = -1);
00134   
00135     bool begin(void);
00136     void getEvent(sensors_event_t*);
00137     void getSensor(sensor_t*);
00138     void enableAutoRange(bool enable){}
00139 
00140   private:
00141     lsm303AccelData _accelData;   // Last read accelerometer data will be available here
00142     int32_t         _sensorID;
00143     
00144     void write8(byte address, byte reg, byte value);
00145     byte read8(byte address, byte reg);
00146     void read(void);
00147 };
00148 
00149 /* Unified sensor driver for the magnetometer */
00150 class Adafruit_LSM303_Mag_Unified : public Adafruit_Sensor
00151 {
00152   public:
00153     Adafruit_LSM303_Mag_Unified(int32_t sensorID = -1);
00154   
00155     bool begin(void);
00156     void enableAutoRange(bool enable);
00157     void setMagGain(lsm303MagGain gain);
00158     void getEvent(sensors_event_t*);
00159     void getSensor(sensor_t*);
00160 
00161   private:
00162     lsm303MagGain   _magGain;
00163     lsm303MagData   _magData;     // Last read magnetometer data will be available here
00164     int32_t         _sensorID;
00165     bool            _autoRangeEnabled;
00166     
00167     void write8(byte address, byte reg, byte value);
00168     byte read8(byte address, byte reg);
00169     void read(void);
00170 };
00171 
00172 #endif