File content as of revision 25:bb5356402687:

#ifndef __LSM303DLM_H
#define __LSM303DLM_H

#include "mbed.h"

// register addresses

#define CTRL_REG1_A       0x20
#define CTRL_REG2_A       0x21
#define CTRL_REG3_A       0x22
#define CTRL_REG4_A       0x23
#define CTRL_REG5_A       0x24
#define CTRL_REG6_A       0x25 // DLHC only
#define HP_FILTER_RESET_A 0x25 // DLH, DLM only
#define REFERENCE_A       0x26
#define STATUS_REG_A      0x27

#define OUT_X_L_A         0x28
#define OUT_X_H_A         0x29
#define OUT_Y_L_A         0x2A
#define OUT_Y_H_A         0x2B
#define OUT_Z_L_A         0x2C
#define OUT_Z_H_A         0x2D

#define INT1_CFG_A        0x30
#define INT1_SRC_A        0x31
#define INT1_THS_A        0x32
#define INT1_DURATION_A   0x33
#define INT2_CFG_A        0x34
#define INT2_SRC_A        0x35
#define INT2_THS_A        0x36
#define INT2_DURATION_A   0x37

#define CRA_REG_M         0x00
#define CRB_REG_M         0x01
#define MR_REG_M          0x02

#define OUT_X_H_M         0x03
#define OUT_X_L_M         0x04
#define OUT_Y_H_M         0x07
#define OUT_Y_L_M         0x08
#define OUT_Z_H_M         0x05
#define OUT_Z_L_M         0x06

#define SR_REG_M          0x09
#define IRA_REG_M         0x0A
#define IRB_REG_M         0x0B
#define IRC_REG_M         0x0C

#define WHO_AM_I_M        0x0F

#define OUT_Z_H_M         0x05
#define OUT_Z_L_M         0x06
#define OUT_Y_H_M         0x07
#define OUT_Y_L_M         0x08

/** Tilt-compensated compass interface Library for the STMicro LSM303DLm 3-axis magnetometer, 3-axis acceleromter
 * @author Michael Shimniok http://www.bot-thoughts.com/
 *
 * This is an early revision; I've not yet implemented heading calculation and the interface differs from my
 * earlier LSM303DLH; I hope to make this library drop in compatible at some point in the future.
 * setScale() and setOffset() have no effect at this time.
 *
 * @code
 * #include "mbed.h"
 * #include "LSM303DLM.h"
 *
 * LSM303DLM compass(p28, p27);
 * ...
 * int a[3], m[3];
 * ...
 * compass.readAcc(a);
 * compass.readMag(m);
 *
 * @endcode
 */
class LSM303DLM {

    public:
        /** Create a new interface for an LSM303DLM
         *
         * @param sda is the pin for the I2C SDA line
         * @param scl is the pin for the I2C SCL line
         */
        LSM303DLM(PinName sda, PinName scl);

        /** 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.
         *
         * @param x is the offset correction for the x axis
         * @param y is the offset correction for the y axis
         * @param z is the offset correction for the z axis
         */
        void setOffset(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
         */
        void setScale(float x, float y, float z);

        /** read the calibrated accelerometer and magnetometer values
         *
         * @param a is the accelerometer 3d vector, written by the function
         * @param m is the magnetometer 3d vector, written by the function
         */
        void read(int a[3], int m[3]);
        
        /** read the calibrated accelerometer values
         *
         * @param a is the accelerometer 3d vector, written by the function
         */
        void readAcc(int a[3]);

        /** read the calibrated magnetometer values
         *
         * @param m is the magnetometer 3d vector, written by the function
         */
        void readMag(int m[3]);

        /** sets the I2C bus frequency
         *
         * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000)
         */
        void frequency(int hz);
     
    private:
        I2C _device;
        char _data[6];
        int offset[3];
        int scale[3];
        void init();
};

#endif