Diff: Header/Adafruit_LSM303_U.h

Revision:

0:772bf4786416

diff -r 000000000000 -r 772bf4786416 Header/Adafruit_LSM303_U.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Header/Adafruit_LSM303_U.h	Sat Mar 21 12:33:05 2015 +0000
@@ -0,0 +1,172 @@
+/***************************************************************************
+  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