1 /* 2 * Author: Brendan Le Foll<brendan.le.foll (at) intel.com> 3 * Copyright (c) 2014 Intel Corporation. 4 * 5 * Code based on LSM303DLH sample by Jim Lindblom SparkFun Electronics 6 * and the CompensatedCompass.ino by Frankie Chu from SeedStudio 7 * 8 * Permission is hereby granted, free of charge, to any person obtaining 9 * a copy of this software and associated documentation files (the 10 * "Software"), to deal in the Software without restriction, including 11 * without limitation the rights to use, copy, modify, merge, publish, 12 * distribute, sublicense, and/or sell copies of the Software, and to 13 * permit persons to whom the Software is furnished to do so, subject to 14 * the following conditions: 15 * 16 * The above copyright notice and this permission notice shall be 17 * included in all copies or substantial portions of the Software. 18 * 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 21 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 23 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 24 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 25 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 26 */ 27 #pragma once 28 29 #include <string.h> 30 #include <mraa/i2c.hpp> 31 #include <math.h> 32 33 namespace upm { 34 35 /* LSM303 Address definitions */ 36 #define LSM303_MAG 0x1E // assuming SA0 grounded 37 #define LSM303_ACC 0x18 // assuming SA0 grounded 38 39 /* LSM303 Register definitions */ 40 #define CTRL_REG1_A 0x20 41 #define CTRL_REG2_A 0x21 42 #define CTRL_REG3_A 0x22 43 #define CTRL_REG4_A 0x23 44 #define CTRL_REG5_A 0x24 45 46 #define CRA_REG_M 0x00 47 #define CRB_REG_M 0x01 48 49 #define MR_REG_M 0x02 50 #define OUT_X_H_M 0x03 51 52 #define OUT_X_L_A 0x28 53 #define OUT_X_H_A 0x29 54 #define OUT_Y_L_A 0x2A 55 #define OUT_Y_H_A 0x2B 56 #define OUT_Z_L_A 0x2C 57 #define OUT_Z_H_A 0x2D 58 59 #define X 0 60 #define Y 1 61 #define Z 2 62 63 /** 64 * @brief LSM303 Accelerometer/Compass library 65 * @defgroup lsm303 libupm-lsm303 66 * @ingroup seeed adafruit i2c accelerometer compass 67 */ 68 69 /** 70 * @library lsm303 71 * @sensor lsm303 72 * @comname LSM303 Accelerometer & Compass 73 * @altname Grove 6-Axis Accelerometer & Compass 74 * @type accelerometer compass 75 * @man seeed adafruit 76 * @web http://www.seeedstudio.com/wiki/Grove_-_6-Axis_Accelerometer%26Compass 77 * @con i2c 78 * 79 * @brief API for the LSM303 Accelerometer & Compass 80 * 81 * This module defines the LSM303DLH 3-axis magnetometer/3-axis accelerometer. 82 * This module was tested with the Seeed Studio* Grove 6-Axis Accelerometer & Compass 83 * module used over I2C. The magnometer and acceleromter are accessed 84 * at two seperate I2C addresses. 85 * 86 * @image html lsm303.jpeg 87 * @snippet lsm303.cxx Interesting 88 */ 89 class LSM303 { 90 public: 91 /** 92 * Instantiates an LSM303 object 93 * 94 * @param i2c bus 95 * @param addr Magnetometer 96 * @param addr Accelerometer 97 */ 98 LSM303 (int bus, 99 int addrMag=LSM303_MAG, 100 int addrAcc=LSM303_ACC, 101 int accScale=8); 102 103 /** 104 * LSM303 object destructor 105 * where is no more need for this here - I2c connection will be stopped 106 * automatically when m_i2c variable will go out of scope 107 * ~LSM303 (); 108 **/ 109 110 /** 111 * Gets the current heading; headings <0 indicate an error has occurred 112 * 113 * @return float 114 */ 115 float getHeading(); 116 117 /** 118 * Gets the coordinates in the XYZ order 119 */ 120 mraa::Result getCoordinates(); 121 122 /** 123 * Gets accelerometer values 124 * Should be called before other "get" functions for acceleration 125 */ 126 mraa::Result getAcceleration(); 127 128 /** 129 * Gets raw coordinate data; it is updated when getCoordinates() is called 130 */ 131 int16_t* getRawCoorData(); 132 133 /** 134 * Gets the X component of the coordinates data 135 */ 136 int16_t getCoorX(); 137 138 /** 139 * Gets the Y component of the coordinates data 140 */ 141 int16_t getCoorY(); 142 143 /** 144 * Gets the Z component of the coordinates data 145 */ 146 int16_t getCoorZ(); 147 148 /** 149 * Gets raw accelerometer data; it is updated when getAcceleration() is called 150 */ 151 int16_t* getRawAccelData(); 152 153 /** 154 * Gets the X component of the acceleration data 155 */ 156 int16_t getAccelX(); 157 158 /** 159 * Gets the Y component of the acceleration data 160 */ 161 int16_t getAccelY(); 162 163 /** 164 * Gets the Z component of the acceleration data 165 */ 166 int16_t getAccelZ(); 167 168 private: 169 int readThenWrite(uint8_t reg); 170 mraa::Result setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data); 171 172 mraa::I2c m_i2c; 173 int m_addrMag; 174 int m_addrAcc; 175 uint8_t buf[6]; 176 int16_t coor[3]; 177 int16_t accel[3]; 178 }; 179 180 } 181
