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/*
* Author: Brendan Le Foll<brendan.le.foll@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Code based on LSM303DLH sample by Jim Lindblom SparkFun Electronics
* and the CompensatedCompass.ino by Frankie Chu from SeedStudio
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <string.h>
#include <mraa/i2c.hpp>
#include <math.h>
namespace upm {
/* LSM303 Address definitions */
#define LSM303_MAG 0x1E
#define LSM303_ACC 0x19
/* LSM303 Register definitions */
#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 CRA_REG_M 0x00
#define CRB_REG_M 0x01
#define MR_REG_M 0x02
#define OUT_X_H_M 0x03
#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 X 0
#define Y 1
#define Z 2
/**
* @brief LSM303 Accelerometer/Compass library
* @defgroup lsm303 libupm-lsm303
* @ingroup seeed adafruit i2c accelerometer compass
*/
/**
* @library lsm303
* @sensor lsm303
* @comname LSM303 Accelerometer & Compass
* @altname Grove 6-Axis Accelerometer & Compass
* @type accelerometer compass
* @man seeed adafruit
* @web http://www.seeedstudio.com/wiki/Grove_-_6-Axis_Accelerometer%26Compass
* @con i2c
*
* @brief API for the LSM303 Accelerometer & Compass
*
* This module defines the LSM303DLH 3-axis magnetometer/3-axis accelerometer.
* This module was tested with the Seeed Studio* Grove 6-Axis Accelerometer & Compass
* module used over I2C. The magnometer and acceleromter are accessed
* at two seperate I2C addresses.
*
* @image html lsm303.jpeg
* @snippet lsm303.cxx Interesting
*/
class LSM303 {
public:
/**
* Instantiates an LSM303 object
*
* @param i2c bus
* @param addr Magnetometer
* @param addr Accelerometer
*/
LSM303 (int bus,
int addrMag=LSM303_MAG,
int addrAcc=LSM303_ACC,
int accScale=8);
/**
* LSM303 object destructor
* where is no more need for this here - I2c connection will be stopped
* automatically when m_i2c variable will go out of scope
* ~LSM303 ();
**/
/**
* Gets the current heading; headings <0 indicate an error has occurred
*
* @return float
*/
float getHeading();
/**
* Gets the coordinates in the XYZ order
*/
mraa::Result getCoordinates();
/**
* Gets accelerometer values
* Should be called before other "get" functions for acceleration
*/
mraa::Result getAcceleration();
/**
* Gets raw coordinate data; it is updated when getCoordinates() is called
*/
int16_t* getRawCoorData();
/**
* Gets the X component of the coordinates data
*/
int16_t getCoorX();
/**
* Gets the Y component of the coordinates data
*/
int16_t getCoorY();
/**
* Gets the Z component of the coordinates data
*/
int16_t getCoorZ();
/**
* Gets raw accelerometer data; it is updated when getAcceleration() is called
*/
int16_t* getRawAccelData();
/**
* Gets the X component of the acceleration data
*/
int16_t getAccelX();
/**
* Gets the Y component of the acceleration data
*/
int16_t getAccelY();
/**
* Gets the Z component of the acceleration data
*/
int16_t getAccelZ();
private:
int readThenWrite(uint8_t reg);
mraa::Result setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data);
mraa::I2c m_i2c;
int m_addrMag;
int m_addrAcc;
uint8_t buf[6];
int16_t coor[3];
int16_t accel[3];
};
}
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