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lsm303: fix types returned by module and heading formula

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* getRawAccelData() & other accel functions now return int16_t
* scale is now a supported constructor parameter
* heading returns 0-360 values

Signed-off-by: Mccool, Michael <michael.mccool@intel.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Mccool, Michael
2014-11-10 09:20:10 +00:00
committed by Brendan Le Foll
parent 4bf30df933
commit fd54745cc0
3 changed files with 117 additions and 41 deletions
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48
src/lsm303/lsm303.h
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@@ -57,8 +57,8 @@ namespace upm {
#define OUT_Z_H_A 0x2D
#define X 0
#define Z 1
#define Y 2
#define Y 1
#define Z 2
/**
* @brief LSM303 accelerometer/compass library
@@ -87,7 +87,10 @@ class LSM303 {
* @param addr magometer
* @param addr accelerometer
*/
LSM303 (int bus, int addrMag=LSM303_MAG, int addrAcc=LSM303_ACC);
LSM303 (int bus,
int addrMag=LSM303_MAG,
int addrAcc=LSM303_ACC,
int accScale=8);
/**
* LSM303 object destructor
@@ -108,24 +111,49 @@ class LSM303 {
/**
* Get accelerometer values
* Call before calling other "get" functions for acceleration
*/
mraa_result_t getAcceleration();
/**
* Get the raw coordinate data, this will get updated when getCoordinates() is called
*/
uint8_t* getRawCoorData();
int16_t* getRawCoorData();
uint8_t getAccelY();
/**
* Just get the X component of the coordinate data
*/
int16_t getCoorX();
uint8_t getAccelZ();
/**
* Just get the Y component of the coordinate data
*/
int16_t getCoorY();
uint8_t getAccelX();
/**
* Just get the Z component of the coordinate data
*/
int16_t getCoorZ();
/**
* Get the raw accelerometer data, this will get updated when getAcceleration() is called
*/
uint8_t* getRawAccelData();
int16_t* getRawAccelData();
/**
* Just get the X component of the acceleration
*/
int16_t getAccelX();
/**
* Just get the Y component of the acceleration
*/
int16_t getAccelY();
/**
* Just get the Z component of the acceleration
*/
int16_t getAccelZ();
private:
int readThenWrite(uint8_t reg);
@@ -135,8 +163,8 @@ class LSM303 {
int m_addrMag;
int m_addrAcc;
uint8_t buf[6];
uint8_t coor[3];
uint8_t accel[3];
int16_t coor[3];
int16_t accel[3];
};
}