AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
Diff: LSM303.h
- Revision:
- 0:dc35364e2291
- Child:
- 1:3272ece36ce1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM303.h Thu Apr 12 13:47:23 2012 +0000 @@ -0,0 +1,144 @@ +/* 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 ); + LSM303( void ); + + /** + * 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 \ No newline at end of file