upm_lsm303d

Class LSM303D

java.lang.Object

upm_lsm303d.LSM303D

public class LSM303D
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
LSM303D()
LSM303D(int bus)
LSM303D(int bus, int addr) LSM303D constructor This driver only supports I2C.

Method Summary

Modifier and Type	Method and Description
void	delete()
floatVector	getAccelerometer() Return acceleration data in gravities in the form of a floating point vector.
floatVector	getMagnetometer() Return magnetometer data in micro-Teslas (uT) in the form of a floating point vector.
float	getTemperature() Return temperature data in degrees Celsius.
void	init(LSM303D_M_RES_T res) Initialize the device and start operation.
void	setAccelerometerFullScale(LSM303D_AFS_T fs) Set the full scale (sensitivity) value for the accelerometer.
void	setAccelerometerODR(LSM303D_AODR_T odr) Set the accelerometer output data rate (ODR)
void	setMagnetometerFullScale(LSM303D_MFS_T fs) Set the full scale (sensitivity) value for the magnetometer.
void	setMagnetometerODR(LSM303D_MODR_T odr) Set the magnetometer output data rate (ODR)
void	update() Update the internal stored values from sensor data.

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

LSM303D

public LSM303D(int bus,
               int addr)

LSM303D constructor This driver only supports I2C. Due to the fact that this chip is currently obsolete, we only support minimum functionality.

Parameters:

bus - I2C bus to use

addr - The I2C address of the device

Throws:

std::runtime_error - on failure.

LSM303D

public LSM303D(int bus)

LSM303D

public LSM303D()

Method Detail

delete

public void delete()

update

public void update()

Update the internal stored values from sensor data. This method must be called before querying the acceleration, magnetometer, or temperature.

Throws:

std::runtime_error - on failure

getMagnetometer

public floatVector getMagnetometer()

Return magnetometer data in micro-Teslas (uT) in the form of a floating point vector. update() must have been called prior to calling this method.

Returns:

A floating point vector containing x, y, and z in that order

getAccelerometer

public floatVector getAccelerometer()

Return acceleration data in gravities in the form of a floating point vector. update() must have been called prior to calling this method.

Returns:

A floating point vector containing x, y, and z in that order

getTemperature

public float getTemperature()

Return temperature data in degrees Celsius. NOTE: This is not the ambient room temperature. update() must have been called prior to calling this method.

Returns:

Temperature in degrees Celsius

init

public void init(LSM303D_M_RES_T res)

Initialize the device and start operation. This function is called from the constructor so it will not typically need to be called by a user unless the device is reset. It will initialize the accelerometer and magnetometer (if enabled) to certain default running modes.

Parameters:

res - One of the LSM303D_M_RES_T values. This value sets the resolution of the magnetometer. At init time, this value is set to LSM303D_M_RES_HIGH.

Throws:

std::runtime_error - on failure

setAccelerometerFullScale

public void setAccelerometerFullScale(LSM303D_AFS_T fs)

Set the full scale (sensitivity) value for the accelerometer. This device supports 2G, 4G, 6G, 8G, and 16G full scale modes.

Parameters:

fs - One of the LSM303D_AFS_T values

Throws:

std::runtime_error - on failure

setMagnetometerFullScale

public void setMagnetometerFullScale(LSM303D_MFS_T fs)

Set the full scale (sensitivity) value for the magnetometer. This device supports 2, 4, 8, and 16 Gauss full scale modes.

Parameters:

fs - One of the LSM303D_MFS_T values

Throws:

std::runtime_error - on failure

setAccelerometerODR

public void setAccelerometerODR(LSM303D_AODR_T odr)

Set the accelerometer output data rate (ODR)

Parameters:

odr - One of the LSM303D_AODR_T values. The default set at initialization time is LSM303D_AODR_100HZ.

Throws:

std::runtime_error - on failure

setMagnetometerODR

public void setMagnetometerODR(LSM303D_MODR_T odr)

Set the magnetometer output data rate (ODR)

Parameters:

odr - One of the LSM303D_MODR_T values. The default set at initialization time is LSM303D_MODR_12_5HZ.

Throws:

std::runtime_error - on failure