Revision 0:6ee4ef99c382, committed 2012-02-21

Comitter:

bengo

Date:

Tue Feb 21 13:34:27 2012 +0000

Commit message:

first release

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3G4200D.cpp	Tue Feb 21 13:34:27 2012 +0000
@@ -0,0 +1,133 @@
+/* mbed L3G4200D Library version 0beta1
+ * Copyright (c) 2012 bengo
+ *
+ * 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.
+ */
+ #include <L3G4200D.h>
+
+// L3G4200D I2C address
+const int L3G4200D::GYR_ADDRESS = 0xd2; 
+// L3G4200D register addresses
+const int L3G4200D::WHO_AM_I = 0x0f;
+const int L3G4200D::CTRL_REG1 = 0x20;
+const int L3G4200D::CTRL_REG2 = 0x21;
+const int L3G4200D::CTRL_REG3 = 0x22;
+const int L3G4200D::CTRL_REG4 = 0x23;
+const int L3G4200D::CTRL_REG5 = 0x24;
+const int L3G4200D::REFERENCE = 0x25;
+const int L3G4200D::OUT_TEMP = 0x26;
+const int L3G4200D::STATUS_REG = 0x27;
+const int L3G4200D::OUT_X_L = 0x28;
+const int L3G4200D::OUT_X_H = 0x29;
+const int L3G4200D::OUT_Y_L = 0x2a;
+const int L3G4200D::OUT_Y_H = 0x2b;
+const int L3G4200D::OUT_Z_L = 0x2c;
+const int L3G4200D::OUT_Z_H = 0x2d;
+const int L3G4200D::FIFO_CTRL_REG = 0x2e;
+const int L3G4200D::FIFO_SRC_REG = 0x2f;
+const int L3G4200D::INT1_CFG = 0x30;
+const int L3G4200D::INT1_SRC = 0x31;
+const int L3G4200D::INT1_THS_XH = 0x32;
+const int L3G4200D::INT1_THS_XL = 0x33;
+const int L3G4200D::INT1_THS_YH = 0x34;
+const int L3G4200D::INT1_THS_YL = 0x35;
+const int L3G4200D::INT1_THS_ZH = 0x36;
+const int L3G4200D::INT1_THS_ZL = 0x37;
+const int L3G4200D::INT1_DURATION = 0x38;
+
+// -----------------------------------------------
+L3G4200D::L3G4200D( PinName sda, PinName scl ) : _i2c( sda, scl ){
+
+   // Check that you're talking with an L3G4200D device
+   if( this->registerRead( WHO_AM_I ) == 0xd3 ) {
+      _status = 0;
+   }
+   else {
+      _status = 1;
+      return;
+   }
+   
+   // Enable normal mode... 
+   this->registerWrite( CTRL_REG1, 0x0f );
+
+}
+
+// -----------------------------------------------
+int L3G4200D::registerRead(  int reg ) {
+  _bytes[0] = reg & 0xff;
+  _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
+  if( _status ==  0 ) {
+    _status = _i2c.read(  GYR_ADDRESS + 1, _bytes, 1 );
+    return( _bytes[0] );
+  }
+  return( 0 );
+}
+
+// -----------------------------------------------  
+void L3G4200D::registerWrite( int reg, char data ) {
+  _bytes[0] = reg & 0xff;
+  _bytes[1] = data & 0xff;
+  _status = _i2c.write( GYR_ADDRESS, _bytes, 2 );
+}
+
+// -----------------------------------------------  
+std::vector<short> L3G4200D::read( void ) {
+   std::vector<short> gyr( 3, 0 );
+   _bytes[0] = OUT_X_L | (1<<7);
+   _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
+   if( _status == 0 ) {
+      _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 6 );
+      if( _status == 0 ) {
+         for( int i=0; i<3; i++ ) {
+            gyr[i] = short( _bytes[2*i] | ( _bytes[2*i+1] << 8 ));
+         }
+      }
+   } 
+   return( gyr );
+}
+
+// -----------------------------------------------  
+std::vector<float> L3G4200D::angularVelocity( void ) {
+
+   std::vector<float> angv(3, 0);
+   const float fs[] = { 250., 500., 2000., 2000. }; 
+   float fullscale =  fs[ ( this->registerRead( L3G4200D::CTRL_REG4 ) >> 4 ) & 0x3 ];
+   std::vector<short> g = this->read();
+   if( _status == 0 ) {
+      for( int i=0; i<3; i++ ) {
+         angv[i] = float( g[i] ) / 32768. * fullscale;
+      }
+   }
+   return( angv ); 
+}  
+
+
+// -----------------------------------------------  
+int L3G4200D::temperature( void ) {
+
+   _bytes[0] = OUT_TEMP;
+   _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
+   if( _status == 0 ) {
+      _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 1 );
+      if( _status == 0 ) {
+         return( int( _bytes[0] ) );
+      }
+   } 
+   return( 0 );
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3G4200D.h	Tue Feb 21 13:34:27 2012 +0000
@@ -0,0 +1,111 @@
+/* mbed L3G4200D Library version 0beta1
+ * Copyright (c) 2012 bengo
+ *
+ * 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.
+ */
+
+#ifndef L3G4200D_h
+#define L3G4200D_h
+
+#include "mbed.h"
+#include <vector>
+
+class L3G4200D {
+
+public:
+
+   /**
+    * Create an L3G4200D object connected to the specified I2C pins
+    * @param sda I2C SDA pin
+    * @param scl I2C SCL pin
+    */
+   L3G4200D( PinName sda, PinName scl );
+  
+   /**
+    * Return status code of prevoius function call
+    */
+   inline int getStatus( void ) { return( _status ); }  
+   
+   /**
+    * Read specified register content
+    * @param reg register address
+    */  
+   int registerRead(  int reg );
+
+   /**
+    * Write to specified register
+    * @param reg register address
+    * @parma data data to be written
+    */     
+   void registerWrite( int reg, char data );
+  
+   /**
+    * read gyroscope vector
+    */
+   std::vector<short> read( void );
+
+   /**
+    * Read angular velogity (in degrees per second)
+    */
+   std::vector<float> angularVelocity( void );
+   
+   /**
+    * Read temperature (in celsius)
+    */
+   int temperature( void );
+
+   // Device registers addresses
+   static const int WHO_AM_I;
+   static const int CTRL_REG1;
+   static const int CTRL_REG2;
+   static const int CTRL_REG3;
+   static const int CTRL_REG4;
+   static const int CTRL_REG5;
+   static const int REFERENCE;
+   static const int OUT_TEMP;
+   static const int STATUS_REG;
+   static const int OUT_X_L;
+   static const int OUT_X_H;
+   static const int OUT_Y_L;
+   static const int OUT_Y_H;
+   static const int OUT_Z_L;
+   static const int OUT_Z_H;
+   static const int FIFO_CTRL_REG;
+   static const int FIFO_SRC_REG;
+   static const int INT1_CFG;
+   static const int INT1_SRC;
+   static const int INT1_THS_XH;
+   static const int INT1_THS_XL;
+   static const int INT1_THS_YH;
+   static const int INT1_THS_YL;
+   static const int INT1_THS_ZH;
+   static const int INT1_THS_ZL;
+   static const int INT1_DURATION;
+   
+private:
+
+   int _status;
+   I2C _i2c; 
+   char _bytes[7];
+   
+   static const int GYR_ADDRESS;   
+
+};
+
+#endif //  L3G4200D_h
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303.cpp	Tue Feb 21 13:34:27 2012 +0000
@@ -0,0 +1,209 @@
+/* mbed LSM303 Library version 0beta1
+ * Copyright (c) 2012 bengo
+ *
+ * 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.
+ */
+ 
+#include <LSM303.h>
+#include <cmath>
+
+// LSM303 I2C addresses
+const int LSM303::ACC_ADDRESS = 0x30;
+const int LSM303::MAG_ADDRESS = 0x3c;
+// LSM303 register addresses
+const int LSM303::ACC_CTRL_REG1 = 0x20;
+const int LSM303::ACC_CTRL_REG2 = 0x21;
+const int LSM303::ACC_CTRL_REC3 = 0x22;
+const int LSM303::ACC_CTRL_REG4 = 0x23;
+const int LSM303::ACC_CTRL_REG5 = 0x24;
+const int LSM303::ACC_HP_FILTER_RESET = 0x25;
+const int LSM303::ACC_REFERENCE = 0x26;
+const int LSM303::ACC_STATUS_REG = 0x27;
+const int LSM303::ACC_OUT_X_L = 0x28;
+const int LSM303::ACC_OUT_X_H = 0x29;
+const int LSM303::ACC_OUT_Y_L = 0x2a;
+const int LSM303::ACC_OUT_Y_H = 0x2b;
+const int LSM303::ACC_OUT_Z_L = 0x2c;
+const int LSM303::ACC_OUT_Z_H = 0x2d;
+const int LSM303::ACC_INT1_CFG = 0x30;
+const int LSM303::ACC_INT1_SOURCE = 0x31;
+const int LSM303::ACC_INT1_THS = 0x32;
+const int LSM303::ACC_INT1_DURATION = 0x33;
+const int LSM303::ACC_INT2_CFG = 0x34;
+const int LSM303::ACC_INT2_SOURCE = 0x35;
+const int LSM303::ACC_INT2_THS = 0x36;
+const int LSM303::ACC_INT2_DURATION = 0x37;
+const int LSM303::MAG_CRA_REG = 0x00;
+const int LSM303::MAG_CRB_REG = 0x01;
+const int LSM303::MAG_MR_REG = 0x02;
+const int LSM303::MAG_OUT_X_H = 0x03;
+const int LSM303::MAG_OUT_X_L = 0x04;
+const int LSM303::MAG_OUT_Y_H = 0x07;
+const int LSM303::MAG_OUT_Y_L = 0x08;
+const int LSM303::MAG_OUT_Z_H = 0x05;
+const int LSM303::MAG_OUT_Z_L = 0x6;
+const int LSM303::MAG_SR_REG = 0x9;
+const int LSM303::MAG_IRA_REG = 0xa;
+const int LSM303::MAG_IRB_REG = 0xb;
+const int LSM303::MAG_IRC_REG = 0xc;
+const int LSM303::MAG_WHO_AM_I = 0xf;
+//
+
+// -------------------------------------------
+LSM303::LSM303( PinName sda, PinName scl ) : _i2c( sda, scl ) {
+   // Get SA0 pin status
+   _bytes[0] = ACC_CTRL_REG1;
+   _i2c.write( ACC_ADDRESS, _bytes, 1 );
+   int sa0low = _i2c.read( ACC_ADDRESS+1, _bytes, 1 );
+   _bytes[0] = ACC_CTRL_REG1;
+   _i2c.write( ACC_ADDRESS+2, _bytes, 1 );
+   int sa0hig = _i2c.read( ACC_ADDRESS+2+1, _bytes, 1 );
+   if( sa0low == 0 && sa0hig != 0 ) {
+      _SA0Pad = 0x0;
+   }
+   else if( sa0low != 0 && sa0hig == 0 ) {
+      _SA0Pad = 0x2;
+   }
+   else {
+      _status = 1;
+      return;
+   }
+   // Check that you're talking with an LM303DLM device
+   _bytes[0] = MAG_WHO_AM_I;
+   _i2c.write( MAG_ADDRESS, _bytes, 1 );
+   _status = _i2c.read( MAG_ADDRESS+1, _bytes, 1 );   
+   if( _bytes[0] == 0x3c ) {
+      _status = 0;
+   }
+   else {
+      _status = 1;
+      return;
+   }
+   // Enable normal mode... 
+   // ... On accelerometer
+   this->accRegisterWrite( ACC_CTRL_REG1, 0x27 );
+   if( _status != 0 ) {
+      return;  
+   }
+   // ... And on magnetometer
+   this->magRegisterWrite( MAG_MR_REG, 0x00 );
+}
+
+// -------------------------------------------
+int LSM303::accRegisterRead( int reg ) {
+  _bytes[0] = reg & 0xff;
+  _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 1 );
+  if( _status ==  0 ) {
+    _status = _i2c.read(  ACC_ADDRESS + _SA0Pad + 1, _bytes, 1 );
+    return( _bytes[0] );
+  }
+  return( 0 );
+}
+
+// -------------------------------------------  
+void LSM303::accRegisterWrite( int reg, char data ) {
+  _bytes[0] = reg & 0xff;
+  _bytes[1] = data & 0xff;
+  _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 2 );
+}
+
+// -------------------------------------------  
+int LSM303::magRegisterRead( int reg ) {
+  _bytes[0] = reg & 0xff;
+  _status = _i2c.write( MAG_ADDRESS, _bytes, 1 );
+  if( _status ==  0 ) {
+    _status = _i2c.read(  MAG_ADDRESS + 1, _bytes, 1 );
+    return( _bytes[0] );
+  }
+  return( 0 );
+}
+
+// -------------------------------------------  
+void LSM303::magRegisterWrite( int reg, char data ) {
+  _bytes[0] = reg & 0xff;
+  _bytes[1] = data & 0xff;
+  _status = _i2c.write( MAG_ADDRESS, _bytes, 2 );
+}
+
+
+// -------------------------------------------
+std::vector<short> LSM303::accRead( void ) {
+   std::vector<short> acc( 3, 0 );
+   _bytes[0] = ACC_OUT_X_L | (1<<7);
+   _status = _i2c.write( ACC_ADDRESS + _SA0Pad, _bytes, 1 );
+   if( _status == 0 ) {
+      _status = _i2c.read( ACC_ADDRESS + _SA0Pad + 1, _bytes, 6 );
+      if( _status == 0 ) {
+         for( int i=0; i<3; i++ ) {
+            acc[i] = ( short( _bytes[2*i] ) | short(_bytes[2*i+1]) << 8 );
+         }
+      }
+   } 
+   return( acc );
+}
+
+// -------------------------------------------
+std::vector<float> LSM303::acceleration( void ) {
+
+   const float cal[3][2] = { {  16291.5, -16245.4 }, {  16819.0, -16253.0 }, {  16994.8, -15525.6 } };
+   
+   std::vector<float> acc( 3, 0 );
+   int fs = ( this->accRegisterRead( ACC_CTRL_REG4 ) >> 4 ) & 0x3;
+   std::vector<short> a = this->accRead();
+   if( _status == 0 ) {
+      for( int i=0; i<3; i++ ) {
+         acc[i] = acc[i] * ( (cal[i][0] - cal[i][1]) / 32768. ) + (cal[i][0]+cal[i][1])/2.;
+         acc[i] = float( a[i] ) * pow(2.,(fs+1)) / 32768.;
+      }
+   }
+   return( acc );
+}  
+
+// -------------------------------------------
+std::vector<short> LSM303::magRead( void ) {
+   std::vector<short> mag( 3, 0 );
+   _bytes[0] = MAG_OUT_X_H;
+   _status = _i2c.write( MAG_ADDRESS, _bytes, 1 );
+   if( _status == 0 ) {
+      _status = _i2c.read( MAG_ADDRESS + 1, _bytes, 6 );
+      if( _status == 0 ) {
+         mag[0] = short( _bytes[0] << 8 ) | short( _bytes[1] );
+         mag[1] = short( _bytes[4] << 8 ) | short( _bytes[5] );
+         mag[2] = short( _bytes[2] << 8 ) | short( _bytes[3] );
+      }
+   } 
+   return( mag );
+}
+ 
+// ------------------------------------------- 
+std::vector<float> LSM303::magneticField( void ) {
+
+   float gainxy[] = { 1100., 855., 670., 450., 400., 330., 230. };
+   float gainz[]  = {  980., 760., 600., 400., 355., 295., 205. };
+   
+   std::vector<float> mag( 3, 0 );
+   int gn = ( this->magRegisterRead( MAG_CRB_REG ) >> 5 ) & 0x7;
+   std::vector<short> m = this->magRead();
+   if( _status == 0 ) {
+      mag[0] = float( m[0] ) / gainxy[gn-1];
+      mag[1] = float( m[1] ) / gainxy[gn-1];
+      mag[2] = float( m[2] ) / gainz[gn-1];
+   }
+   return( mag );
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM303.h	Tue Feb 21 13:34:27 2012 +0000
@@ -0,0 +1,141 @@
+/* mbed LSM303 Library version 0beta1
+ * Copyright (c) 2012 bengo
+ *
+ * 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.
+ */
+
+#ifndef LSM303_h
+#define LSM303_h
+
+#include "mbed.h"
+#include <vector>
+
+class LSM303 {
+
+public:
+
+   /**
+    * Create an LSM303 object connected to the specified I2C pins
+    * @param sda I2C SDA pin
+    * @param scl I2C SCL pin
+    */  
+   LSM303( PinName sda, PinName scl );
+
+   /**
+    * Return status code of prevoius function call
+    */  
+   inline int getStatus( void ) { return( _status ); }  
+  
+   /**
+    * Read specified accelerometer register content
+    * @param reg register address
+    */ 
+   int accRegisterRead( int reg );
+
+   /**
+    * Write to specified accelerometer register
+    * @param reg register address
+    * @parma data data to be written
+    */  
+   void accRegisterWrite( int reg, char data );
+
+   /**
+    * Read specified magnetometer register content
+    * @param reg register address
+    */   
+   int magRegisterRead( int reg );
+
+   /**
+    * Write to specified magnetometer register
+    * @param reg register address
+    * @parma data data to be written
+    */   
+   void magRegisterWrite( int reg, char data );
+  
+   /**
+    * Read accelerometer vector
+    */
+   std::vector<short> accRead( void );
+   
+    /**
+    * Read acceleration 
+    */
+   std::vector<float> acceleration( void );
+
+   /**
+    * Read magnetometer vector
+    */
+   std::vector<short> magRead( void );
+   
+   /**
+    * Read magnetic field vector
+    */
+    std::vector<float> magneticField( void );
+  
+   // Device registers addresses
+   static const int ACC_CTRL_REG1;
+   static const int ACC_CTRL_REG2;
+   static const int ACC_CTRL_REC3;
+   static const int ACC_CTRL_REG4;
+   static const int ACC_CTRL_REG5;
+   static const int ACC_HP_FILTER_RESET;
+   static const int ACC_REFERENCE;
+   static const int ACC_STATUS_REG;
+   static const int ACC_OUT_X_L;
+   static const int ACC_OUT_X_H;
+   static const int ACC_OUT_Y_L;
+   static const int ACC_OUT_Y_H;
+   static const int ACC_OUT_Z_L;
+   static const int ACC_OUT_Z_H;
+   static const int ACC_INT1_CFG;
+   static const int ACC_INT1_SOURCE;
+   static const int ACC_INT1_THS;
+   static const int ACC_INT1_DURATION;
+   static const int ACC_INT2_CFG;
+   static const int ACC_INT2_SOURCE;
+   static const int ACC_INT2_THS;
+   static const int ACC_INT2_DURATION;
+   static const int MAG_CRA_REG;
+   static const int MAG_CRB_REG;
+   static const int MAG_MR_REG;
+   static const int MAG_OUT_X_H;
+   static const int MAG_OUT_X_L;
+   static const int MAG_OUT_Y_H;
+   static const int MAG_OUT_Y_L;
+   static const int MAG_OUT_Z_H;
+   static const int MAG_OUT_Z_L;
+   static const int MAG_SR_REG;
+   static const int MAG_IRA_REG;
+   static const int MAG_IRB_REG;
+   static const int MAG_IRC_REG;
+   static const int MAG_WHO_AM_I;
+  
+private:
+
+   int _status;
+   I2C _i2c; 
+   int _SA0Pad;
+   char _bytes[7];
+  
+   static const int ACC_ADDRESS;
+   static const int MAG_ADDRESS;
+  
+};
+
+#endif // LSM303_h
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/minimu9.cpp	Tue Feb 21 13:34:27 2012 +0000
@@ -0,0 +1,51 @@
+/* mbed Minimu-9 Library version 0beta1
+ * Copyright (c) 2012 bengo
+ *
+ * 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.
+ */
+
+#include <minimu9.h>
+
+// -------------------------------------------  
+minimu9::minimu9( PinName sda, PinName scl ) :  _i2c(sda, scl), _lsm( sda, scl ), _l3g( sda, scl ) {
+   _status = _lsm.getStatus() * _l3g.getStatus();
+}
+
+// -------------------------------------------
+std::vector<short> minimu9::read( void ) {
+   std::vector<short> data(9,0);
+   std::vector<short> acc = _lsm.accRead();
+   _status = _lsm.getStatus();
+   if( _status == 0 ) {
+      std::vector<short> mag = _lsm.magRead();
+      _status = _lsm.getStatus();
+      if( _status == 0 ) {
+         std::vector<short> gyr = _l3g.read();
+         _status = _l3g.getStatus();
+         if( _status == 0 ) {
+            for( int i=0; i<3; i++ ) {
+               data[i  ] = acc[i];
+               data[i+3] = mag[i];
+               data[i+6] = gyr[i];
+            }
+         }
+      }
+   } 
+   return( data );
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/minimu9.h	Tue Feb 21 13:34:27 2012 +0000
@@ -0,0 +1,142 @@
+/* mbed Minimu_9 Library version 0beta1
+ * Copyright (c) 2012 bengo
+ *
+ * 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.
+ */
+
+#ifndef minimu_h
+#define minimu9_h
+
+#include "mbed.h"
+#include <LSM303.h>
+#include <L3G4200D.h>
+#include <vector>
+
+/** Minimu-9 accelerometer, magnetometer, gyroscope sensor controller library
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include <minimu9.h>
+ * #include <vector>
+ * 
+ * Serial pc(USBTX, USBRX); // tx, rx
+ * 
+ * int main() {
+ *     
+ *    minimu9 minimu( p28, p27 );
+ *    
+ *    int status = minimu.getStatus();
+ *    if( status == 0 ) {
+ *       for( int i=0; i<100000; i++ ) {
+ *          std::vector<int> data = minimu.read();
+ *          if( status == 0 ) {    
+ *             pc.printf("\x1b[2J\x1b[f\x1b[33mLSM303 minimu read status: \x1b[32m%d\n\r", minimu.getStatus() );
+ *          }
+ *          else {
+ *             pc.printf("\x1b[2J\x1b[f\x1b[33mLSM303 minimu read status: \x1b[31m%d\n\r", minimu.getStatus() );
+ *          }
+ *          
+ *          pc.printf("\x1b[33mLSM303   acc: \x1b[37m%8d %8d %8d\n\r", (short)data[0], (short)data[1], (short)data[2] );
+ *          pc.printf("\x1b[33mLSM303   mag: \x1b[37m%8d %8d %8d\n\r", (short)data[3], (short)data[4], (short)data[5] );
+ *          pc.printf("\x1b[33mL3G4200D gyr: \x1b[37m%8d %8d %8d\n\r", (short)data[6], (short)data[7], (short)data[8] );
+ *          wait( 1 );
+ *       }
+ *    }
+ *    return( 0 );
+ * }
+ * @endcode
+*/
+
+class minimu9 {
+
+public:
+  
+   /**
+    * Create a minimu9 object connected to the specified I2C pins
+    * @param sda I2C SDA pin
+    * @param scl I2C SCL pin
+    */
+   minimu9( PinName sda, PinName scl );
+   
+   /**
+    * Return status code of prevoius function call
+    */
+   inline int getStatus( void ) { return( _status ); }
+
+   /**
+    * Read all three sensors vectors (accelerometer, magnetometer, gyroscope)
+    */
+   std::vector<short> read( void );
+   
+    /**
+     * Read accelerometer vector
+     */
+   inline std::vector<short> accRead( void ) { return( _lsm.accRead() ); }
+   
+   /**
+    * Read acceleration (in g units)
+    */
+   inline std::vector<float> acceleration( void ) { return( _lsm.acceleration() ); } 
+   
+   /**
+    * Read magnetometer vector
+    */
+   inline std::vector<short> magRead( void ) { return( _lsm.magRead() ); }
+   
+   /**
+    * Read magnetic filed (in gauss)
+    */
+   inline std::vector<float> magneticField( void ) { return( _lsm.magneticField() ); }
+   
+   /**
+    * Read gyroscope vector
+    */
+   inline std::vector<short> gyrRead( void ) { return( _l3g.read() ); }
+   
+   /**
+    * Read angular velogity (in degrees per second)
+    */
+   inline std::vector<float> angularVelocity( void ) { return( _l3g.angularVelocity() ); }
+   
+    /**
+    * Read temperature (in celsius)
+    */
+   inline int temperature( void ) { return( _l3g.temperature() ); }
+   
+   /**
+    * Return LSM303 associated object
+    */ 
+   inline LSM303 getLSM303( void ) { return( _lsm ); }
+   
+   /**
+    * Return L3G4200D associated object
+    */ 
+   inline L3G4200D getL3G4200D( void ) { return( _l3g ); }
+   
+private:
+
+   int _status;   
+   I2C _i2c;
+   LSM303 _lsm;
+   L3G4200D _l3g;
+  
+}; 
+
+#endif // minimu9_h
\ No newline at end of file