Adafruit_LSM303_U.h

00001 /***************************************************************************
00002   This is a library for the LSM303 Accelerometer and magnentometer/compass
00003 
00004   Designed specifically to work with the Adafruit LSM303DLHC Breakout
00005 
00006   These displays use I2C to communicate, 2 pins are required to interface.
00007 
00008   Adafruit invests time and resources providing this open source code,
00009   please support Adafruit andopen-source hardware by purchasing products
00010   from Adafruit!
00011 
00012   Written by Kevin Townsend for Adafruit Industries.  
00013   BSD license, all text above must be included in any redistribution
00014  ***************************************************************************/
00015 #ifndef __LSM303_H__
00016 #define __LSM303_H__
00017 
00018 #include <Adafruit_Sensor.h>
00019 
00020 
00021 /*=========================================================================
00022     I2C ADDRESS/BITS
00023     -----------------------------------------------------------------------*/
00024     #define LSM303_ADDRESS_ACCEL          (0x32)// >> 1)         // 0011001x
00025     #define LSM303_ADDRESS_MAG            (0x3C)// >> 1)         // 0011110x
00026     #define LSM303_WRITE                  (0x00)
00027     #define LSM303_READ                   (0x01)
00028 /*=========================================================================*/
00029 
00030 /*=========================================================================
00031     REGISTERS
00032     -----------------------------------------------------------------------*/
00033     typedef enum
00034     {                                                     // DEFAULT    TYPE
00035       LSM303_REGISTER_ACCEL_CTRL_REG1_A         = 0x20,   // 00000111   rw
00036       LSM303_REGISTER_ACCEL_CTRL_REG2_A         = 0x21,   // 00000000   rw
00037       LSM303_REGISTER_ACCEL_CTRL_REG3_A         = 0x22,   // 00000000   rw
00038       LSM303_REGISTER_ACCEL_CTRL_REG4_A         = 0x23,   // 00000000   rw
00039       LSM303_REGISTER_ACCEL_CTRL_REG5_A         = 0x24,   // 00000000   rw
00040       LSM303_REGISTER_ACCEL_CTRL_REG6_A         = 0x25,   // 00000000   rw
00041       LSM303_REGISTER_ACCEL_REFERENCE_A         = 0x26,   // 00000000   r
00042       LSM303_REGISTER_ACCEL_STATUS_REG_A        = 0x27,   // 00000000   r
00043       LSM303_REGISTER_ACCEL_OUT_X_L_A           = 0x28,
00044       LSM303_REGISTER_ACCEL_OUT_X_H_A           = 0x29,
00045       LSM303_REGISTER_ACCEL_OUT_Y_L_A           = 0x2A,
00046       LSM303_REGISTER_ACCEL_OUT_Y_H_A           = 0x2B,
00047       LSM303_REGISTER_ACCEL_OUT_Z_L_A           = 0x2C,
00048       LSM303_REGISTER_ACCEL_OUT_Z_H_A           = 0x2D,
00049       LSM303_REGISTER_ACCEL_FIFO_CTRL_REG_A     = 0x2E,
00050       LSM303_REGISTER_ACCEL_FIFO_SRC_REG_A      = 0x2F,
00051       LSM303_REGISTER_ACCEL_INT1_CFG_A          = 0x30,
00052       LSM303_REGISTER_ACCEL_INT1_SOURCE_A       = 0x31,
00053       LSM303_REGISTER_ACCEL_INT1_THS_A          = 0x32,
00054       LSM303_REGISTER_ACCEL_INT1_DURATION_A     = 0x33,
00055       LSM303_REGISTER_ACCEL_INT2_CFG_A          = 0x34,
00056       LSM303_REGISTER_ACCEL_INT2_SOURCE_A       = 0x35,
00057       LSM303_REGISTER_ACCEL_INT2_THS_A          = 0x36,
00058       LSM303_REGISTER_ACCEL_INT2_DURATION_A     = 0x37,
00059       LSM303_REGISTER_ACCEL_CLICK_CFG_A         = 0x38,
00060       LSM303_REGISTER_ACCEL_CLICK_SRC_A         = 0x39,
00061       LSM303_REGISTER_ACCEL_CLICK_THS_A         = 0x3A,
00062       LSM303_REGISTER_ACCEL_TIME_LIMIT_A        = 0x3B,
00063       LSM303_REGISTER_ACCEL_TIME_LATENCY_A      = 0x3C,
00064       LSM303_REGISTER_ACCEL_TIME_WINDOW_A       = 0x3D
00065     } lsm303AccelRegisters_t;
00066     
00067     typedef enum
00068     {
00069       LSM303_REGISTER_MAG_CRA_REG_M             = 0x00,
00070       LSM303_REGISTER_MAG_CRB_REG_M             = 0x01,
00071       LSM303_REGISTER_MAG_MR_REG_M              = 0x02,
00072       LSM303_REGISTER_MAG_OUT_X_H_M             = 0x03,
00073       LSM303_REGISTER_MAG_OUT_X_L_M             = 0x04,
00074       LSM303_REGISTER_MAG_OUT_Z_H_M             = 0x05,
00075       LSM303_REGISTER_MAG_OUT_Z_L_M             = 0x06,
00076       LSM303_REGISTER_MAG_OUT_Y_H_M             = 0x07,
00077       LSM303_REGISTER_MAG_OUT_Y_L_M             = 0x08,
00078       LSM303_REGISTER_MAG_SR_REG_Mg             = 0x09,
00079       LSM303_REGISTER_MAG_IRA_REG_M             = 0x0A,
00080       LSM303_REGISTER_MAG_IRB_REG_M             = 0x0B,
00081       LSM303_REGISTER_MAG_IRC_REG_M             = 0x0C,
00082       LSM303_REGISTER_MAG_TEMP_OUT_H_M          = 0x31,
00083       LSM303_REGISTER_MAG_TEMP_OUT_L_M          = 0x32
00084     } lsm303MagRegisters_t;
00085 /*=========================================================================*/
00086 
00087 /*=========================================================================
00088     MAGNETOMETER GAIN SETTINGS
00089     -----------------------------------------------------------------------*/
00090     typedef enum
00091     {
00092       LSM303_MAGGAIN_1_3                        = 0x20,  // +/- 1.3
00093       LSM303_MAGGAIN_1_9                        = 0x40,  // +/- 1.9
00094       LSM303_MAGGAIN_2_5                        = 0x60,  // +/- 2.5
00095       LSM303_MAGGAIN_4_0                        = 0x80,  // +/- 4.0
00096       LSM303_MAGGAIN_4_7                        = 0xA0,  // +/- 4.7
00097       LSM303_MAGGAIN_5_6                        = 0xC0,  // +/- 5.6
00098       LSM303_MAGGAIN_8_1                        = 0xE0   // +/- 8.1
00099     } lsm303MagGain;    
00100 /*=========================================================================*/
00101 
00102 /*=========================================================================
00103     MAGNETOMETER UPDATE RATE SETTINGS
00104     -----------------------------------------------------------------------*/
00105     typedef enum
00106     {
00107       LSM303_MAGRATE_0_7                        = 0x00,  // 0.75 Hz
00108       LSM303_MAGRATE_1_5                        = 0x01,  // 1.5 Hz
00109       LSM303_MAGRATE_3_0                        = 0x62,  // 3.0 Hz
00110       LSM303_MAGRATE_7_5                        = 0x03,  // 7.5 Hz
00111       LSM303_MAGRATE_15                         = 0x04,  // 15 Hz
00112       LSM303_MAGRATE_30                         = 0x05,  // 30 Hz
00113       LSM303_MAGRATE_75                         = 0x06,  // 75 Hz
00114       LSM303_MAGRATE_220                        = 0x07   // 200 Hz
00115     } lsm303MagRate;    
00116 /*=========================================================================*/
00117 
00118 /*=========================================================================
00119     INTERNAL MAGNETOMETER DATA TYPE
00120     -----------------------------------------------------------------------*/
00121     typedef struct lsm303MagData_s
00122     {
00123         float x;
00124         float y;
00125         float z;
00126       float orientation;
00127     } lsm303MagData;
00128 /*=========================================================================*/
00129 
00130 /*=========================================================================
00131     INTERNAL ACCELERATION DATA TYPE
00132     -----------------------------------------------------------------------*/
00133     typedef struct lsm303AccelData_s
00134     {
00135       float x;
00136       float y;
00137       float z;
00138     } lsm303AccelData;
00139 /*=========================================================================*/
00140     
00141 /*=========================================================================
00142     CHIP ID
00143     -----------------------------------------------------------------------*/
00144     #define LSM303_ID                     (0b11010100)
00145 /*=========================================================================*/
00146 
00147 /* Unified sensor driver for the accelerometer */
00148 class Adafruit_LSM303_Accel_Unified// : public Adafruit_Sensor
00149 {
00150   public:
00151     Adafruit_LSM303_Accel_Unified(int32_t sensorID = -1);
00152   
00153     bool begin(void);
00154     bool getEvent(sensors_event_t*);
00155     void getSensor(sensor_t*);
00156 
00157   private:
00158     lsm303AccelData _accelData;   // Last read accelerometer data will be available here
00159     int32_t         _sensorID;
00160     
00161     void write8(byte address, byte reg, byte value);
00162     byte read8(byte address, byte reg);
00163     void read(void);
00164 };
00165 
00166 /* Unified sensor driver for the magnetometer */
00167 class Adafruit_LSM303_Mag_Unified //: public Adafruit_Sensor
00168 {
00169   public:
00170     Adafruit_LSM303_Mag_Unified(int32_t sensorID = -1);
00171   
00172     bool begin(void);
00173     void enableAutoRange(bool enable);
00174     void setMagGain(lsm303MagGain gain);
00175     void setMagRate(lsm303MagRate rate);
00176     bool getEvent(sensors_event_t*);
00177     void getSensor(sensor_t*);
00178 
00179   private:
00180     lsm303MagGain   _magGain;
00181     lsm303MagData   _magData;     // Last read magnetometer data will be available here
00182     int32_t         _sensorID;
00183     bool            _autoRangeEnabled;
00184     
00185     void write8(byte address, byte reg, byte value);
00186     byte read8(byte address, byte reg);
00187     void read(void);
00188 };
00189 
00190 #endif
00191