LSM303DLH Class Reference

API for the LSM303DLH Accelerometer & Compass. More...

Detailed Description

• ID: lsm303dlh
• Name: Triaxial Accelerometer/magnetometer
• Other Names: Grove 6-Axis Accelerometer & Compass
• Category: accelerometer compass
• Manufacturer: seeed adafruit stmicro
• Link: http://www.seeedstudio.com/wiki/Grove_-_6-Axis_Accelerometer%26Compass
• Connection: i2c

This module defines the LSM303DLHDLH 3-axis magnetometer/3-axis accelerometer. This module was tested with the Seeed Studio* Grove 6-Axis Accelerometer & Compass module used over I2C. The magnetometer and acceleromter are accessed at two seperate I2C addresses.

#include "lsm303dlh.hpp"

int
main(int argc, char** argv)
{
    // Instantiate LSM303DLH compass on I2C
    upm::LSM303DLH sensor(0);

    // Get the coordinate data
    sensor.getCoordinates();
    int16_t* coor = sensor.getRawCoorData(); // in XYZ order.
    // The sensor returns XZY, but the driver compensates and makes it XYZ

    // Print out the X, Y, and Z coordinate data using two different methods
    std::cout << "coor: rX " << (int) coor[0] << " - rY " << (int) coor[1] << " - rZ "
              << (int) coor[2] << std::endl;
    std::cout << "coor: gX " << sensor.getCoorX() << " - gY " << sensor.getCoorY() << " - gZ "
              << sensor.getCoorZ() << std::endl;

    // Get and print out the heading
    std::cout << "heading: " << sensor.getHeading() << std::endl;

    // Get the acceleration
    sensor.getAcceleration();
    int16_t* accel = sensor.getRawAccelData();
    // Print out the X, Y, and Z acceleration data using two different methods
    std::cout << "acc: rX " << (int) accel[0] << " - rY " << (int) accel[1] << " - Z "
              << (int) accel[2] << std::endl;
    std::cout << "acc: gX " << sensor.getAccelX() << " - gY " << sensor.getAccelY() << " - gZ "
              << sensor.getAccelZ() << std::endl;

    return 0;
}

Public Types
enum	LSM303DLH_SLAVE_T { LSM303DLH_MAG_T = 0, LSM303DLH_ACC_T }

Public Member Functions
	LSM303DLH (int bus, int addrMag=LSM303DLH_MAG, int addrAcc=LSM303DLH_ACC, int accScale=8)
float	getHeading ()
mraa::Result	getCoordinates ()
mraa::Result	getAcceleration ()
int16_t *	getRawCoorData ()
int16_t	getCoorX ()
int16_t	getCoorY ()
int16_t	getCoorZ ()
int16_t *	getRawAccelData ()
int16_t	getAccelX ()
int16_t	getAccelY ()
int16_t	getAccelZ ()

Constructor & Destructor Documentation

LSM303DLH	(	int	bus,
		int	addrMag = LSM303DLH_MAG,
		int	addrAcc = LSM303DLH_ACC,
		int	accScale = 8
	)

Instantiates an LSM303DLH object

Parameters

bus	I2C bus to use
addrMag	I2C address of the Magnetometer (default 0x1E)
addrAcc	I2C address of the Accelerometer (default 0x19)
accScale	Accelerometer scale, can be 2, 4 or 8 (default 8)

Member Function Documentation

float getHeading

(

)

LSM303DLH 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 ~LSM303DLH (); Gets the current heading; headings <0 indicate an error has occurred

Returns

float

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mraa::Result getCoordinates

(

)

Gets the coordinates in the XYZ order

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mraa::Result getAcceleration

(

)

Gets accelerometer values Should be called before other "get" functions for acceleration

int16_t * getRawCoorData

(

)

Gets raw coordinate data; it is updated when getCoordinates() is called

int16_t getCoorX

(

)

Gets the X component of the coordinates data

int16_t getCoorY

(

)

Gets the Y component of the coordinates data

int16_t getCoorZ

(

)

Gets the Z component of the coordinates data

int16_t * getRawAccelData

(

)

Gets raw accelerometer data; it is updated when getAcceleration() is called

int16_t getAccelX

(

)

Gets the X component of the acceleration data

int16_t getAccelY

(

)

Gets the Y component of the acceleration data

int16_t getAccelZ

(

)

Gets the Z component of the acceleration data

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The documentation for this class was generated from the following files:

• src/lsm303dlh/lsm303dlh.hpp
• src/lsm303dlh/lsm303dlh.cxx