LSM303 Class Reference

API for the 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 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.

#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)
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

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

Instantiates an LSM303 object

Parameters

i2c	bus
addr	Magnetometer
addr	Accelerometer

Member Function Documentation

float getHeading

(

)

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

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:

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