Nikhilesh Behera
/
Adafruit9-DOf
Port of Adafruit Arduino code
Fork of Adafruit9-DOf by
Header/Adafruit_LSM303_U.h
- Committer:
- jatinsha
- Date:
- 2015-11-29
- Revision:
- 2:fe10a40b42e8
- Parent:
- 0:772bf4786416
File content as of revision 2:fe10a40b42e8:
/*************************************************************************** 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