lsm303: add new sensor, 6-Axis Accelerometer/Compass

Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>

src/lsm303/lsm303.h

@@ -0,0 +1,129 @@
+/*
+ * 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.h>
+#include <math.h>
+
+namespace upm {
+
+/* LSM303 Address definitions */
+#define LSM303_MAG 0x1E // assuming SA0 grounded
+#define LSM303_ACC 0x18 // assuming SA0 grounded
+
+/* 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 Z 1
+#define Y 2
+
+/**
+ * @brief C++ API for LSM303
+ *
+ * This file defines the LSM303DLH 3-axis magnetometer/3-axis accelerometer.
+ * This module was tested with the SeedStudio Grove [6-Axis Accelerometer&Compass]
+ * (http://www.seeedstudio.com/wiki/Grove_-_6-Axis_Accelerometer%26Compass)
+ * module that is used over i2c. The magnometer and acceleromter are accessed
+ * at two seperate i2c addresses.
+ *
+ * @snippet lsm303.cxx Interesting
+ * @image html lsm303.jpeg
+ */
+class LSM303 {
+    public:
+         /**
+         * Instanciates a LSM303 object
+         *
+         * @param i2c bus
+         * @param addr magometer
+	 * @param addr accelerometer
+         */
+        LSM303 (int bus, int addrMag=LSM303_MAG, int addrAcc=LSM303_ACC);
+
+        /**
+         * LSM303 object destructor
+         */
+        ~LSM303 ();
+
+        /**
+         * Get Current Heading, headings <0 indicate an error occured
+         *
+         * @return float
+         */
+        float getHeading();
+
+        /**
+         * Get the coordinates in XYZ order
+         */
+        mraa_result_t getCoordinates();
+
+        /**
+         * Get accelerometer values
+         */
+        mraa_result_t getAcceleration();
+
+        /**
+         * Get the raw coordinate data, this will get updated when getCoordinates() is called
+         */
+        uint8_t* getRawCoorData();
+
+        /**
+         * Get the raw accelerometer data, this will get updated when getAcceleration() is called
+         */
+        uint8_t* getRawAccelData();
+
+    private:
+        int readThenWrite(uint8_t reg);
+
+        mraa_i2c_context m_i2c;
+        int m_addrMag;
+	int m_addrAcc;
+        uint8_t buf[6];
+        uint8_t coor[3];
+        uint8_t accel[3];
+};
+
+}