Alexandre Salconi-Denis / LSM303DLH

My attempt to made a more useful lib. You can get the accelerator and magnetometer.

Fork of LSM303DLH by Michael Shimniok

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LSM303DLH Class Reference
Public Member Functions

LSM303DLH Class Reference

Tilt-compensated compass interface Library for the STMicro LSM303DLH 3-axis magnetometer, 3-axis acceleromter. More...

#include <LSM303DLH.h>

Public Member Functions

 LSM303DLH (PinName sda, PinName scl)
 Create a new interface for an LSM303DLH.
 LSM303DLH (I2C *ptrI2C)
 Create a new interface for an LSM303DLH.
 ~LSM303DLH ()
 Destructor of the class.
void setOffset (float x, float y, float z)
 sets the x, y, and z offset corrections for hard iron calibration
void setScale (float x, float y, float z)
 sets the scale factor for the x, y, and z axes
bool read (vector &a, vector &m)
 read the raw accelerometer and compass values
bool read_acc_raw (vector *a)
 read the raw accelerometer values
bool read_mag_raw (vector *m)
 read the raw compass values
float heading (void)
 returns the magnetic heading with respect to the y axis
float heading (vector from)
 returns the heading with respect to the specified vector
void frequency (int hz)
 sets the I2C bus frequency

Detailed Description

Tilt-compensated compass interface Library for the STMicro LSM303DLH 3-axis magnetometer, 3-axis acceleromter.

This file is subject to the terms and conditions of the GNU Lesser General Public License v2.1. See the file LICENSE in the top level directory for more details.

Base on the

See also:
doccumentation https://cdn-shop.adafruit.com/datasheets/LSM303DLHC.PDF 
 #include "mbed.h"
 #include "LSM303DLH.h"

 Serial debug(USBTX,USBRX);
 LSM303DLH compass(p28, p27);

 int main() {
   float hdg;
   debug.format(8,Serial::None,1);
   debug.baud(115200);
   debug.printf("LSM303DLH Test\x0d\x0a");
   compass.setOffset(29.50, -0.50, 4.00); // example calibration
   compass.setScale(1.00, 1.03, 1.21);    // example calibration
   while(1) {
     hdg = compass.heading();
     debug.printf("Heading: %.2f\n", hdg);
     wait(0.1);
   }
 }
Author:
Salco <JeSuisSalco@gmail.com> enable for MSB @ lower address

Definition at line 47 of file LSM303DLH.h.

Constructor & Destructor Documentation

LSM303DLH ( PinName  sda,
PinName  scl 
)

Create a new interface for an LSM303DLH.

Parameters:
sdais the pin for the I2C SDA line
sclis the pin for the I2C SCL line

Definition at line 119 of file LSM303DLH.cpp.

LSM303DLH ( I2C *  ptrI2C )

Create a new interface for an LSM303DLH.

Parameters:
ptrI2Cis a pointer from existing I2C

Definition at line 125 of file LSM303DLH.cpp.

~LSM303DLH (  )

Destructor of the class.

Definition at line 112 of file LSM303DLH.cpp.

Member Function Documentation

void frequency ( int  hz )

sets the I2C bus frequency

Parameters:
frequencyis the I2C bus/clock frequency, either standard (100000) or fast (400000)

Definition at line 306 of file LSM303DLH.cpp.

float heading ( void   )

returns the magnetic heading with respect to the y axis

Definition at line 272 of file LSM303DLH.cpp.

float heading ( vector  from )

returns the heading with respect to the specified vector

Definition at line 277 of file LSM303DLH.cpp.

bool read ( vector &  a,
vector &  m 
)

read the raw accelerometer and compass values

Parameters:
ais the accelerometer 3d vector, written by the function
mis the magnetometer 3d vector, written by the function

Definition at line 204 of file LSM303DLH.cpp.

bool read_acc_raw ( vector *  a )

read the raw accelerometer values

Parameters:
ais the accelerometer 3d vector, written by the function

Definition at line 324 of file LSM303DLH.cpp.

bool read_mag_raw ( vector *  m )

read the raw compass values

Parameters:
mis the magnetometer 3d vector, written by the function

Definition at line 374 of file LSM303DLH.cpp.

void setOffset ( float  x,
float  y,
float  z 
)

sets the x, y, and z offset corrections for hard iron calibration

Calibration details here: http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/

If you gather raw magnetometer data and find, for example, x is offset by hard iron by -20 then pass +20 to this member function to correct for hard iron.

Parameters:
xis the offset correction for the x axis
yis the offset correction for the y axis
zis the offset correction for the z axis

Definition at line 190 of file LSM303DLH.cpp.

void setScale ( float  x,
float  y,
float  z 
)

sets the scale factor for the x, y, and z axes

Calibratio details here: http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/

Sensitivity of the three axes is never perfectly identical and this function can help to correct differences in sensitivity. You're supplying a multipler such that x, y and z will be normalized to the same max/min values

Definition at line 197 of file LSM303DLH.cpp.

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