LSM303 Class Reference

API for LSM303 Accelerometer & Compass. More...

Detailed Description

• ID: lsm303
• Name: LSM303 Accelerometer & Compass
• Other Names: Grove 6-Axis Accelerometer & Compass
• Category: accelerometer compass
• Manufacturer: seeed adafruit
• Link: http://www.seeedstudio.com/wiki/Grove_-_6-Axis_Accelerometer%26Compass
• Connection: i2c

This file defines the LSM303DLH 3-axis magnetometer/3-axis accelerometer. This module was tested with the SeedStudio Grove [6-Axis Accelerometer&Compass] module that is used over i2c. The magnometer and acceleromter are accessed at two seperate i2c addresses.

#include "lsm303.h"

int
main(int argc, char **argv)
{
    // Instantiate LSM303 compass on I2C
    upm::LSM303 *sensor = new upm::LSM303(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 Member Functions
	LSM303 (int bus, int addrMag=LSM303_MAG, int addrAcc=LSM303_ACC, int accScale=8)
	~LSM303 ()
float	getHeading ()
mraa_result_t	getCoordinates ()
mraa_result_t	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

LSM303	(	int	bus,
		int	addrMag = LSM303_MAG,
		int	addrAcc = LSM303_ACC,
		int	accScale = 8
	)

Instanciates a LSM303 object

Parameters

i2c	bus
addr	magometer
addr	accelerometer

~LSM303

(

)

LSM303 object destructor

Member Function Documentation

float getHeading

(

)

Get Current Heading, headings <0 indicate an error occured

Returns

float

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mraa_result_t getCoordinates

(

)

Get the coordinates in XYZ order

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mraa_result_t getAcceleration

(

)

Get accelerometer values Call before calling other "get" functions for acceleration

int16_t * getRawCoorData

(

)

Get the raw coordinate data, this will get updated when getCoordinates() is called

int16_t getCoorX

(

)

Just get the X component of the coordinate data

int16_t getCoorY

(

)

Just get the Y component of the coordinate data

int16_t getCoorZ

(

)

Just get the Z component of the coordinate data

int16_t * getRawAccelData

(

)

Get the raw accelerometer data, this will get updated when getAcceleration() is called

int16_t getAccelX

(

)

Just get the X component of the acceleration

int16_t getAccelY

(

)

Just get the Y component of the acceleration

int16_t getAccelZ

(

)

Just get the Z component of the acceleration

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

• /var/lib/jenkins/workspace/upm-doc-stable/src/lsm303/lsm303.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/lsm303/lsm303.cxx