lsm303.hpp

/*
 * 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

class LSM303 {
    public:
        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();

    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];
};

}