201 lines
8.2 KiB
C
201 lines
8.2 KiB
C
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/***************************************************************************
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This is a library for the LSM303 Accelerometer and magnentometer/compass
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Designed specifically to work with the Adafruit LSM303DLHC Breakout
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These displays use I2C to communicate, 2 pins are required to interface.
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Adafruit invests time and resources providing this open source code,
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please support Adafruit andopen-source hardware by purchasing products
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from Adafruit!
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Written by Kevin Townsend for Adafruit Industries.
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BSD license, all text above must be included in any redistribution
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***************************************************************************/
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#ifndef __LSM303_H__
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#define __LSM303_H__
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#if (ARDUINO >= 100)
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include "Adafruit_Sensor.h"
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#ifdef __AVR_ATtiny85__
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#include "TinyWireM.h"
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#define Wire TinyWireM
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#else
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#include <Wire.h>
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#endif
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/*=========================================================================
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I2C ADDRESS/BITS
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-----------------------------------------------------------------------*/
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#define LSM303_ADDRESS_ACCEL (0x32 >> 1) // 0011001x
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#define LSM303_ADDRESS_MAG (0x3C >> 1) // 0011110x
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/*=========================================================================*/
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/*=========================================================================
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REGISTERS
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-----------------------------------------------------------------------*/
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typedef enum
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{ // DEFAULT TYPE
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LSM303_REGISTER_ACCEL_CTRL_REG1_A = 0x20, // 00000111 rw
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LSM303_REGISTER_ACCEL_CTRL_REG2_A = 0x21, // 00000000 rw
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LSM303_REGISTER_ACCEL_CTRL_REG3_A = 0x22, // 00000000 rw
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LSM303_REGISTER_ACCEL_CTRL_REG4_A = 0x23, // 00000000 rw
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LSM303_REGISTER_ACCEL_CTRL_REG5_A = 0x24, // 00000000 rw
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LSM303_REGISTER_ACCEL_CTRL_REG6_A = 0x25, // 00000000 rw
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LSM303_REGISTER_ACCEL_REFERENCE_A = 0x26, // 00000000 r
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LSM303_REGISTER_ACCEL_STATUS_REG_A = 0x27, // 00000000 r
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LSM303_REGISTER_ACCEL_OUT_X_L_A = 0x28,
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LSM303_REGISTER_ACCEL_OUT_X_H_A = 0x29,
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LSM303_REGISTER_ACCEL_OUT_Y_L_A = 0x2A,
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LSM303_REGISTER_ACCEL_OUT_Y_H_A = 0x2B,
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LSM303_REGISTER_ACCEL_OUT_Z_L_A = 0x2C,
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LSM303_REGISTER_ACCEL_OUT_Z_H_A = 0x2D,
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LSM303_REGISTER_ACCEL_FIFO_CTRL_REG_A = 0x2E,
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LSM303_REGISTER_ACCEL_FIFO_SRC_REG_A = 0x2F,
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LSM303_REGISTER_ACCEL_INT1_CFG_A = 0x30,
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LSM303_REGISTER_ACCEL_INT1_SOURCE_A = 0x31,
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LSM303_REGISTER_ACCEL_INT1_THS_A = 0x32,
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LSM303_REGISTER_ACCEL_INT1_DURATION_A = 0x33,
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LSM303_REGISTER_ACCEL_INT2_CFG_A = 0x34,
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LSM303_REGISTER_ACCEL_INT2_SOURCE_A = 0x35,
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LSM303_REGISTER_ACCEL_INT2_THS_A = 0x36,
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LSM303_REGISTER_ACCEL_INT2_DURATION_A = 0x37,
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LSM303_REGISTER_ACCEL_CLICK_CFG_A = 0x38,
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LSM303_REGISTER_ACCEL_CLICK_SRC_A = 0x39,
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LSM303_REGISTER_ACCEL_CLICK_THS_A = 0x3A,
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LSM303_REGISTER_ACCEL_TIME_LIMIT_A = 0x3B,
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LSM303_REGISTER_ACCEL_TIME_LATENCY_A = 0x3C,
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LSM303_REGISTER_ACCEL_TIME_WINDOW_A = 0x3D
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} lsm303AccelRegisters_t;
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typedef enum
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{
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LSM303_REGISTER_MAG_CRA_REG_M = 0x00,
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LSM303_REGISTER_MAG_CRB_REG_M = 0x01,
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LSM303_REGISTER_MAG_MR_REG_M = 0x02,
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LSM303_REGISTER_MAG_OUT_X_H_M = 0x03,
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LSM303_REGISTER_MAG_OUT_X_L_M = 0x04,
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LSM303_REGISTER_MAG_OUT_Z_H_M = 0x05,
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LSM303_REGISTER_MAG_OUT_Z_L_M = 0x06,
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LSM303_REGISTER_MAG_OUT_Y_H_M = 0x07,
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LSM303_REGISTER_MAG_OUT_Y_L_M = 0x08,
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LSM303_REGISTER_MAG_SR_REG_M = 0x09,
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LSM303_REGISTER_MAG_IRA_REG_M = 0x0A,
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LSM303_REGISTER_MAG_IRB_REG_M = 0x0B,
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LSM303_REGISTER_MAG_IRC_REG_M = 0x0C,
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LSM303_REGISTER_MAG_TEMP_OUT_H_M = 0x31,
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LSM303_REGISTER_MAG_TEMP_OUT_L_M = 0x32
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} lsm303MagRegisters_t;
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/*=========================================================================*/
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/*=========================================================================
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MAGNETOMETER GAIN SETTINGS
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-----------------------------------------------------------------------*/
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typedef enum
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{
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LSM303_MAGGAIN_1_3 = 0x20, // +/- 1.3
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LSM303_MAGGAIN_1_9 = 0x40, // +/- 1.9
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LSM303_MAGGAIN_2_5 = 0x60, // +/- 2.5
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LSM303_MAGGAIN_4_0 = 0x80, // +/- 4.0
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LSM303_MAGGAIN_4_7 = 0xA0, // +/- 4.7
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LSM303_MAGGAIN_5_6 = 0xC0, // +/- 5.6
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LSM303_MAGGAIN_8_1 = 0xE0 // +/- 8.1
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} lsm303MagGain;
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/*=========================================================================*/
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/*=========================================================================
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MAGNETOMETER UPDATE RATE SETTINGS
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-----------------------------------------------------------------------*/
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typedef enum
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{
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LSM303_MAGRATE_0_7 = 0x00, // 0.75 Hz
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LSM303_MAGRATE_1_5 = 0x01, // 1.5 Hz
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LSM303_MAGRATE_3_0 = 0x62, // 3.0 Hz
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LSM303_MAGRATE_7_5 = 0x03, // 7.5 Hz
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LSM303_MAGRATE_15 = 0x04, // 15 Hz
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LSM303_MAGRATE_30 = 0x05, // 30 Hz
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LSM303_MAGRATE_75 = 0x06, // 75 Hz
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LSM303_MAGRATE_220 = 0x07 // 200 Hz
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} lsm303MagRate;
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/*=========================================================================*/
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/*=========================================================================
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INTERNAL MAGNETOMETER DATA TYPE
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-----------------------------------------------------------------------*/
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typedef struct lsm303MagData_s
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{
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float x;
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float y;
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float z;
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} lsm303MagData;
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/*=========================================================================*/
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/*=========================================================================
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INTERNAL ACCELERATION DATA TYPE
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-----------------------------------------------------------------------*/
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typedef struct lsm303AccelData_s
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{
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float x;
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float y;
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float z;
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} lsm303AccelData;
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/*=========================================================================*/
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/*=========================================================================
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CHIP ID
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-----------------------------------------------------------------------*/
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#define LSM303_ID (0b11010100)
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/*=========================================================================*/
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/* Unified sensor driver for the accelerometer */
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class Adafruit_LSM303_Accel_Unified : public Adafruit_Sensor
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{
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public:
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Adafruit_LSM303_Accel_Unified(int32_t sensorID = -1);
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bool begin(void);
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bool getEvent(sensors_event_t*);
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void getSensor(sensor_t*);
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void write8(byte address, byte reg, byte value);
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byte read8(byte address, byte reg);
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void read(void);
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private:
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lsm303AccelData _accelData; // Last read accelerometer data will be available here
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int32_t _sensorID;
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};
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/* Unified sensor driver for the magnetometer */
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class Adafruit_LSM303_Mag_Unified : public Adafruit_Sensor
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{
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public:
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Adafruit_LSM303_Mag_Unified(int32_t sensorID = -1);
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bool begin(void);
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void enableAutoRange(bool enable);
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void setMagGain(lsm303MagGain gain);
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void setMagRate(lsm303MagRate rate);
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bool getEvent(sensors_event_t*);
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void getSensor(sensor_t*);
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void write8(byte address, byte reg, byte value);
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byte read8(byte address, byte reg);
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void read(void);
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private:
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lsm303MagGain _magGain;
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lsm303MagData _magData; // Last read magnetometer data will be available here
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int32_t _sensorID;
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bool _autoRangeEnabled;
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};
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#endif
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