AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
LSM303.h@0:dc35364e2291, 2012-04-12 (annotated)
- Committer:
- krmreynolds
- Date:
- Thu Apr 12 13:47:23 2012 +0000
- Revision:
- 0:dc35364e2291
- Child:
- 1:3272ece36ce1
Added GNU Agreement
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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krmreynolds | 0:dc35364e2291 | 1 | /* mbed LSM303 Library version 0beta1 |
krmreynolds | 0:dc35364e2291 | 2 | * Copyright (c) 2012 bengo |
krmreynolds | 0:dc35364e2291 | 3 | * |
krmreynolds | 0:dc35364e2291 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
krmreynolds | 0:dc35364e2291 | 5 | * of this software and associated documentation files (the "Software"), to deal |
krmreynolds | 0:dc35364e2291 | 6 | * in the Software without restriction, including without limitation the rights |
krmreynolds | 0:dc35364e2291 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
krmreynolds | 0:dc35364e2291 | 8 | * copies of the Software, and to permit persons to whom the Software is |
krmreynolds | 0:dc35364e2291 | 9 | * furnished to do so, subject to the following conditions: |
krmreynolds | 0:dc35364e2291 | 10 | * |
krmreynolds | 0:dc35364e2291 | 11 | * The above copyright notice and this permission notice shall be included in |
krmreynolds | 0:dc35364e2291 | 12 | * all copies or substantial portions of the Software. |
krmreynolds | 0:dc35364e2291 | 13 | * |
krmreynolds | 0:dc35364e2291 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
krmreynolds | 0:dc35364e2291 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
krmreynolds | 0:dc35364e2291 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
krmreynolds | 0:dc35364e2291 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
krmreynolds | 0:dc35364e2291 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
krmreynolds | 0:dc35364e2291 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
krmreynolds | 0:dc35364e2291 | 20 | * THE SOFTWARE. |
krmreynolds | 0:dc35364e2291 | 21 | */ |
krmreynolds | 0:dc35364e2291 | 22 | |
krmreynolds | 0:dc35364e2291 | 23 | #ifndef LSM303_h |
krmreynolds | 0:dc35364e2291 | 24 | #define LSM303_h |
krmreynolds | 0:dc35364e2291 | 25 | |
krmreynolds | 0:dc35364e2291 | 26 | #include "mbed.h" |
krmreynolds | 0:dc35364e2291 | 27 | #include <vector> |
krmreynolds | 0:dc35364e2291 | 28 | |
krmreynolds | 0:dc35364e2291 | 29 | class LSM303 { |
krmreynolds | 0:dc35364e2291 | 30 | |
krmreynolds | 0:dc35364e2291 | 31 | public: |
krmreynolds | 0:dc35364e2291 | 32 | |
krmreynolds | 0:dc35364e2291 | 33 | /** |
krmreynolds | 0:dc35364e2291 | 34 | * Create an LSM303 object connected to the specified I2C pins |
krmreynolds | 0:dc35364e2291 | 35 | * @param sda I2C SDA pin |
krmreynolds | 0:dc35364e2291 | 36 | * @param scl I2C SCL pin |
krmreynolds | 0:dc35364e2291 | 37 | */ |
krmreynolds | 0:dc35364e2291 | 38 | LSM303( PinName sda, PinName scl ); |
krmreynolds | 0:dc35364e2291 | 39 | LSM303( void ); |
krmreynolds | 0:dc35364e2291 | 40 | |
krmreynolds | 0:dc35364e2291 | 41 | /** |
krmreynolds | 0:dc35364e2291 | 42 | * Return status code of prevoius function call |
krmreynolds | 0:dc35364e2291 | 43 | */ |
krmreynolds | 0:dc35364e2291 | 44 | inline int getStatus( void ) { |
krmreynolds | 0:dc35364e2291 | 45 | return( _status ); |
krmreynolds | 0:dc35364e2291 | 46 | } |
krmreynolds | 0:dc35364e2291 | 47 | |
krmreynolds | 0:dc35364e2291 | 48 | /** |
krmreynolds | 0:dc35364e2291 | 49 | * Read specified accelerometer register content |
krmreynolds | 0:dc35364e2291 | 50 | * @param reg register address |
krmreynolds | 0:dc35364e2291 | 51 | */ |
krmreynolds | 0:dc35364e2291 | 52 | int accRegisterRead( int reg ); |
krmreynolds | 0:dc35364e2291 | 53 | |
krmreynolds | 0:dc35364e2291 | 54 | /** |
krmreynolds | 0:dc35364e2291 | 55 | * Write to specified accelerometer register |
krmreynolds | 0:dc35364e2291 | 56 | * @param reg register address |
krmreynolds | 0:dc35364e2291 | 57 | * @parma data data to be written |
krmreynolds | 0:dc35364e2291 | 58 | */ |
krmreynolds | 0:dc35364e2291 | 59 | void accRegisterWrite( int reg, char data ); |
krmreynolds | 0:dc35364e2291 | 60 | |
krmreynolds | 0:dc35364e2291 | 61 | /** |
krmreynolds | 0:dc35364e2291 | 62 | * Read specified magnetometer register content |
krmreynolds | 0:dc35364e2291 | 63 | * @param reg register address |
krmreynolds | 0:dc35364e2291 | 64 | */ |
krmreynolds | 0:dc35364e2291 | 65 | int magRegisterRead( int reg ); |
krmreynolds | 0:dc35364e2291 | 66 | |
krmreynolds | 0:dc35364e2291 | 67 | /** |
krmreynolds | 0:dc35364e2291 | 68 | * Write to specified magnetometer register |
krmreynolds | 0:dc35364e2291 | 69 | * @param reg register address |
krmreynolds | 0:dc35364e2291 | 70 | * @parma data data to be written |
krmreynolds | 0:dc35364e2291 | 71 | */ |
krmreynolds | 0:dc35364e2291 | 72 | void magRegisterWrite( int reg, char data ); |
krmreynolds | 0:dc35364e2291 | 73 | |
krmreynolds | 0:dc35364e2291 | 74 | /** |
krmreynolds | 0:dc35364e2291 | 75 | * Read accelerometer vector |
krmreynolds | 0:dc35364e2291 | 76 | */ |
krmreynolds | 0:dc35364e2291 | 77 | std::vector<short> accRead( void ); |
krmreynolds | 0:dc35364e2291 | 78 | |
krmreynolds | 0:dc35364e2291 | 79 | /** |
krmreynolds | 0:dc35364e2291 | 80 | * Read acceleration |
krmreynolds | 0:dc35364e2291 | 81 | */ |
krmreynolds | 0:dc35364e2291 | 82 | std::vector<float> acceleration( void ); |
krmreynolds | 0:dc35364e2291 | 83 | |
krmreynolds | 0:dc35364e2291 | 84 | /** |
krmreynolds | 0:dc35364e2291 | 85 | * Read magnetometer vector |
krmreynolds | 0:dc35364e2291 | 86 | */ |
krmreynolds | 0:dc35364e2291 | 87 | std::vector<short> magRead( void ); |
krmreynolds | 0:dc35364e2291 | 88 | |
krmreynolds | 0:dc35364e2291 | 89 | /** |
krmreynolds | 0:dc35364e2291 | 90 | * Read magnetic field vector |
krmreynolds | 0:dc35364e2291 | 91 | */ |
krmreynolds | 0:dc35364e2291 | 92 | std::vector<float> magneticField( void ); |
krmreynolds | 0:dc35364e2291 | 93 | |
krmreynolds | 0:dc35364e2291 | 94 | // Device registers addresses |
krmreynolds | 0:dc35364e2291 | 95 | static const int ACC_CTRL_REG1; |
krmreynolds | 0:dc35364e2291 | 96 | static const int ACC_CTRL_REG2; |
krmreynolds | 0:dc35364e2291 | 97 | static const int ACC_CTRL_REC3; |
krmreynolds | 0:dc35364e2291 | 98 | static const int ACC_CTRL_REG4; |
krmreynolds | 0:dc35364e2291 | 99 | static const int ACC_CTRL_REG5; |
krmreynolds | 0:dc35364e2291 | 100 | static const int ACC_HP_FILTER_RESET; |
krmreynolds | 0:dc35364e2291 | 101 | static const int ACC_REFERENCE; |
krmreynolds | 0:dc35364e2291 | 102 | static const int ACC_STATUS_REG; |
krmreynolds | 0:dc35364e2291 | 103 | static const int ACC_OUT_X_L; |
krmreynolds | 0:dc35364e2291 | 104 | static const int ACC_OUT_X_H; |
krmreynolds | 0:dc35364e2291 | 105 | static const int ACC_OUT_Y_L; |
krmreynolds | 0:dc35364e2291 | 106 | static const int ACC_OUT_Y_H; |
krmreynolds | 0:dc35364e2291 | 107 | static const int ACC_OUT_Z_L; |
krmreynolds | 0:dc35364e2291 | 108 | static const int ACC_OUT_Z_H; |
krmreynolds | 0:dc35364e2291 | 109 | static const int ACC_INT1_CFG; |
krmreynolds | 0:dc35364e2291 | 110 | static const int ACC_INT1_SOURCE; |
krmreynolds | 0:dc35364e2291 | 111 | static const int ACC_INT1_THS; |
krmreynolds | 0:dc35364e2291 | 112 | static const int ACC_INT1_DURATION; |
krmreynolds | 0:dc35364e2291 | 113 | static const int ACC_INT2_CFG; |
krmreynolds | 0:dc35364e2291 | 114 | static const int ACC_INT2_SOURCE; |
krmreynolds | 0:dc35364e2291 | 115 | static const int ACC_INT2_THS; |
krmreynolds | 0:dc35364e2291 | 116 | static const int ACC_INT2_DURATION; |
krmreynolds | 0:dc35364e2291 | 117 | static const int MAG_CRA_REG; |
krmreynolds | 0:dc35364e2291 | 118 | static const int MAG_CRB_REG; |
krmreynolds | 0:dc35364e2291 | 119 | static const int MAG_MR_REG; |
krmreynolds | 0:dc35364e2291 | 120 | static const int MAG_OUT_X_H; |
krmreynolds | 0:dc35364e2291 | 121 | static const int MAG_OUT_X_L; |
krmreynolds | 0:dc35364e2291 | 122 | static const int MAG_OUT_Y_H; |
krmreynolds | 0:dc35364e2291 | 123 | static const int MAG_OUT_Y_L; |
krmreynolds | 0:dc35364e2291 | 124 | static const int MAG_OUT_Z_H; |
krmreynolds | 0:dc35364e2291 | 125 | static const int MAG_OUT_Z_L; |
krmreynolds | 0:dc35364e2291 | 126 | static const int MAG_SR_REG; |
krmreynolds | 0:dc35364e2291 | 127 | static const int MAG_IRA_REG; |
krmreynolds | 0:dc35364e2291 | 128 | static const int MAG_IRB_REG; |
krmreynolds | 0:dc35364e2291 | 129 | static const int MAG_IRC_REG; |
krmreynolds | 0:dc35364e2291 | 130 | static const int MAG_WHO_AM_I; |
krmreynolds | 0:dc35364e2291 | 131 | |
krmreynolds | 0:dc35364e2291 | 132 | private: |
krmreynolds | 0:dc35364e2291 | 133 | |
krmreynolds | 0:dc35364e2291 | 134 | int _status; |
krmreynolds | 0:dc35364e2291 | 135 | I2C _i2c; |
krmreynolds | 0:dc35364e2291 | 136 | int _SA0Pad; |
krmreynolds | 0:dc35364e2291 | 137 | char _bytes[7]; |
krmreynolds | 0:dc35364e2291 | 138 | |
krmreynolds | 0:dc35364e2291 | 139 | static const int ACC_ADDRESS; |
krmreynolds | 0:dc35364e2291 | 140 | static const int MAG_ADDRESS; |
krmreynolds | 0:dc35364e2291 | 141 | |
krmreynolds | 0:dc35364e2291 | 142 | }; |
krmreynolds | 0:dc35364e2291 | 143 | |
krmreynolds | 0:dc35364e2291 | 144 | #endif // LSM303_h |