i2c.js

var five = require('../lib/johnny-five.js'),
    board, button;

board = new five.Board();

board.on("ready", function() {
  this.firmata.sendI2CConfig();
  
  var LSM303_CTRL_REG1_A = 0x20
    , LSM303_CTRL_REG2_A = 0x21
    , LSM303_CTRL_REG3_A = 0x22
    , LSM303_CTRL_REG4_A = 0x23
    , LSM303_CTRL_REG5_A = 0x24
    , LSM303_CTRL_REG6_A = 0x25 // DLHC only
    , LSM303_HP_FILTER_RESET_A = 0x25 // DLH, DLM only
    , LSM303_REFERENCE_A = 0x26
    , LSM303_STATUS_REG_A = 0x27

    , LSM303_OUT_X_L_A = 0x28
    , LSM303_OUT_X_H_A = 0x29
    , LSM303_OUT_Y_L_A = 0x2A
    , LSM303_OUT_Y_H_A = 0x2B
    , LSM303_OUT_Z_L_A = 0x2C
    , LSM303_OUT_Z_H_A = 0x2D

    , LSM303_FIFO_CTRL_REG_A = 0x2E // DLHC only
    , LSM303_FIFO_SRC_REG_A = 0x2F // DLHC only

    , LSM303_INT1_CFG_A = 0x30
    , LSM303_INT1_SRC_A = 0x31
    , LSM303_INT1_THS_A = 0x32
    , LSM303_INT1_DURATION_A = 0x33
    , LSM303_INT2_CFG_A = 0x34
    , LSM303_INT2_SRC_A = 0x35
    , LSM303_INT2_THS_A = 0x36
    , LSM303_INT2_DURATION_A = 0x37

    , LSM303_CLICK_CFG_A = 0x38 // DLHC only
    , LSM303_CLICK_SRC_A = 0x39 // DLHC only
    , LSM303_CLICK_THS_A = 0x3A // DLHC only
    , LSM303_TIME_LIMIT_A = 0x3B // DLHC only
    , LSM303_TIME_LATENCY_A = 0x3C // DLHC only
    , LSM303_TIME_WINDOW_A = 0x3D // DLHC only

    , LSM303_CRA_REG_M = 0x00
    , LSM303_CRB_REG_M = 0x01
    , LSM303_MR_REG_M = 0x02

    , LSM303_OUT_X_H_M = 0x03
    , LSM303_OUT_X_L_M = 0x04
    , LSM303_OUT_Y_H_M = -1   // The addresses of the Y and Z magnetometer output registers 
    , LSM303_OUT_Y_L_M = -2   // are reversed on the DLM and DLHC relative to the DLH.
    , LSM303_OUT_Z_H_M = -3   // These four defines have dummy values so the library can 
    , LSM303_OUT_Z_L_M = -4   // determine the correct address based on the device type.

    , LSM303_SR_REG_M = 0x09
    , LSM303_IRA_REG_M = 0x0A
    , LSM303_IRB_REG_M = 0x0B
    , LSM303_IRC_REG_M = 0x0C

    , LSM303_WHO_AM_I_M = 0x0F // DLM only

    , LSM303_TEMP_OUT_H_M = 0x31 // DLHC only
    , LSM303_TEMP_OUT_L_M = 0x32 // DLHC only

    , LSM303DLH_OUT_Y_H_M = 0x05
    , LSM303DLH_OUT_Y_L_M = 0x06
    , LSM303DLH_OUT_Z_H_M = 0x07
    , LSM303DLH_OUT_Z_L_M = 0x08

    , LSM303DLM_OUT_Z_H_M = 0x05
    , LSM303DLM_OUT_Z_L_M = 0x06
    , LSM303DLM_OUT_Y_H_M = 0x07
    , LSM303DLM_OUT_Y_L_M = 0x08

    , LSM303DLHC_OUT_Z_H_M = 0x05
    , LSM303DLHC_OUT_Z_L_M = 0x06
    , LSM303DLHC_OUT_Y_H_M = 0x07
    , LSM303DLHC_OUT_Y_L_M = 0x08;

  var MAG_ADDRESS = 0x3C
    , ACC_ADDRESS_SA0_A_LOW = 0x30
    , ACC_ADDRESS_SA0_A_HIGH = 0x32;
  // chip:
  // LSM303DLHC;


  function LSM303() {
    this.acc_address = ACC_ADDRESS_SA0_A_HIGH;
  }

  LSM303.prototype.enableDefault = function() {
    var self = this;
    console.log('enableDefault');
    self.writeAccReg(LSM303_CTRL_REG1_A, 0x27);
    self.writeAccReg(LSM303_CTRL_REG4_A, 0x08);
    self.writeMagReg(LSM303_MR_REG_M, 0x00);
  };

  LSM303.prototype.writeMagReg = function(reg, value) {
    console.log('writeMagReg' + reg + value);
    board.firmata.sendI2CWriteRequest(MAG_ADDRESS, [reg, value]);
  };

  LSM303.prototype.readMagReg = function() {
    var self = this;
    console.log('readMag');
    board.firmata.sendI2CWriteRequest(MAG_ADDRESS, [LSM303_OUT_X_H_M]);
    board.firmata.sendI2CReadRequest(MAG_ADDRESS, 6, function(data) {
      console.log('DATA: ');
      console.dir(data);
    });
  };

  LSM303.prototype.writeAccReg = function(reg, value) {
    var self = this;
    console.log('writeAccReg' + reg + value);
    board.firmata.sendI2CWriteRequest(self.acc_address, [reg, value]);
  };

  LSM303.prototype.readAccReg = function() {
    var self = this;
    console.log('readAccReg');
    //board.firmata.sendI2CWriteRequest(self.acc_address, [LSM303_OUT_X_L_A]);
    board.firmata.sendI2CWriteRequest(self.acc_address, [(1 << 7)]);
    //board.firmata.sendI2CReadRequest(self.acc_address, 6, function(data) {
    //  console.log(data);
    //});
    board.firmata.sendI2CReadRequest(self.acc_address, 6, self.data);
  };

  LSM303.prototype.read = function() {
    this.readMagReg();
    this.readAccReg();
  };

  LSM303.prototype.data = function(data) {
    console.log('DATA: ');
    console.log(data);
  };

  var mag = new LSM303();

  mag.enableDefault();

  mag.read();
  setInterval(mag.read.bind(mag), 2000);

  board.repl.inject({
    mag: mag
  });
});