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Diffstat (limited to 'peripheral/libupm/src/lsm303d/lsm303d.h')
| -rw-r--r-- | peripheral/libupm/src/lsm303d/lsm303d.h | 226 |
1 files changed, 0 insertions, 226 deletions
diff --git a/peripheral/libupm/src/lsm303d/lsm303d.h b/peripheral/libupm/src/lsm303d/lsm303d.h deleted file mode 100644 index 79d3204..0000000 --- a/peripheral/libupm/src/lsm303d/lsm303d.h +++ /dev/null @@ -1,226 +0,0 @@ -/* - * 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 - * - * Further modifications to port to the LSM303d by <bruce.j.beare@intel.com> - * - * 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 { -/** - * @brief LSM303d Accelerometer/Compass library - * @defgroup lsm303d libupm-lsm303d - * @ingroup seeed adafruit i2c accelerometer compass - */ - -/** - * @library lsm303d - * @sensor lsm303d - * @comname LSM303d 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 LSM303d Accelerometer & Compass - * - * This module defines the LSM303d 3-axis magnetometer/3-axis accelerometer. - * This module was tested with the Seeed Studio* Grove 6-Axis Accelerometer & Compass - * version 2.0 module used over I2C. The magnometer and acceleromter are accessed - * at two seperate I2C addresses. - * - * @image html lsm303d.jpeg - * @snippet lsm303d.cxx Interesting - */ -class LSM303d { - public: - - /* Address definitions for the grove 6DOF v2.0 */ - typedef enum { - LSM303d_ADDR = 0x1E - } GROVE_6DOF_ADDRS_T; - - typedef enum { - LM303D_SCALE_2G = 2, - LM303D_SCALE_4G = 4, - LM303D_SCALE_6G = 6, - LM303D_SCALE_8G = 8, - LM303D_SCALE_16G = 16 - } LSM303D_SCALE_T; - - typedef enum { - X = 0, - Y = 1, - Z = 2 - } XYZ_T; - - /** - * Instantiates an LSM303d object - * - * @param i2c bus - * @param addr Magnetometer - * @param addr Accelerometer - */ - LSM303d (int bus, - int addr=LSM303d_ADDR, - int accScale=LM303D_SCALE_4G); - - /** - * LSM303d 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 - * ~LSM303d (); - **/ - - /** - * 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: - - /* LSM303d Register definitions */ - typedef enum { - STATUS_M = 0x7, - OUT_X_L_M = 0x8, - OUT_X_H_M = 0x9, - OUT_Y_L_M = 0xA, - OUT_Y_H_M = 0xB, - OUT_Z_L_M = 0xC, - OUT_Z_H_M = 0xD, - - CTRL_REG0 = 0x1f, - CTRL_REG1 = 0x20, - CTRL_REG2 = 0x21, - CTRL_REG3 = 0x22, - CTRL_REG4 = 0x23, - CTRL_REG5 = 0x24, - CTRL_REG6 = 0x25, - CTRL_REG7 = 0x26, - - STATUS_REGA = 0x27, - - OUT_X_L_A = 0x28, - OUT_X_H_A = 0x29, - OUT_Y_L_A = 0x2A, - OUT_Y_H_A = 0x2B, - OUT_Z_L_A = 0x2C, - OUT_Z_H_A = 0x2D, - - FIFO_CTRL = 0x2E, - FIFO_SRC = 0x2F, - - IG_CFG1 = 0x30, - IG_SRC1 = 0x31, - IG_THS1 = 0x32, - IG_DUR1 = 0x33, - - IG_CFG2 = 0x34, - IG_SRC2 = 0x35, - IG_THS2 = 0x36, - IG_DUR2 = 0x37, - - CLICK_CFG = 0x38, - CLICK_SRC = 0x39, - CLICK_THS = 0x3A, - - TIME_LIMIT = 0x3B, - TIME_LATEN = 0x3C, - TIME_WINDO = 0x3D, - - ACT_THS = 0x3E, - ACT_DUR = 0x3F, - } LSM303d_REGS_T; - - int writeThenRead(uint8_t reg); - mraa::Result setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data); - - mraa::I2c m_i2c; - int m_addr; - - uint8_t buf[6]; - int16_t coor[3]; - int16_t accel[3]; -}; - -} |