
9 changed files with 747 additions and 8 deletions
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/*
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* Copyright (C) 2014 Freie Universität Berlin |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser |
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* General Public License v2.1. See the file LICENSE in the top level |
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* directory for more details. |
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*/ |
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/**
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* @defgroup driver_lsm303dlhc LSM303DLHC 3D accelerometer/magnetometer |
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* @ingroup drivers |
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* @brief Device driver for the LSM303DLHC 3D accelerometer/magnetometer |
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* @{ |
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* |
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* @file |
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* @brief Device driver interface for the LSM303DLHC 3D accelerometer/magnetometer |
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* |
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* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de> |
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*/ |
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#ifndef __LSM303DLHC_H |
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#define __LSM303DLHC_H |
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#include <stdint.h> |
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#include "periph/i2c.h" |
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#include "periph/gpio.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/**
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* @brief The sensors default I2C address |
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*/ |
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#define LSM303DLHC_ACC_DEFAULT_ADDRESS (0x19) |
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#define LSM303DLHC_MAG_DEFAULT_ADDRESS (0x1e) |
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/**
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* @brief 3d data container |
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*/ |
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typedef struct { |
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int16_t x_axis; |
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int16_t y_axis; |
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int16_t z_axis; |
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} lsm303dlhc_3d_data_t; |
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/**
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* @brief Device descriptor for LSM303DLHC sensors |
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*/ |
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typedef struct { |
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i2c_t i2c; /**< I2C device */ |
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uint8_t acc_address; /**< accelerometer's I2C address */ |
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uint8_t mag_address; /**< magnetometer's I2C address */ |
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} lsm303dlhc_t; |
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/**
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* @brief Possible accelerometer sample rates |
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*/ |
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typedef enum { |
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LSM303DLHC_ACC_SAMPLE_RATE_1HZ = 0x10, /**< 1Hz sample rate */ |
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LSM303DLHC_ACC_SAMPLE_RATE_10HZ = 0x20, /**< 10Hz sample rate */ |
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LSM303DLHC_ACC_SAMPLE_RATE_25HZ = 0x30, /**< 25Hz sample rate */ |
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LSM303DLHC_ACC_SAMPLE_RATE_50HZ = 0x40, /**< 50Hz sample rate */ |
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LSM303DLHC_ACC_SAMPLE_RATE_100HZ = 0x50, /**< 100Hz sample rate */ |
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LSM303DLHC_ACC_SAMPLE_RATE_200HZ = 0x60, /**< 200Hz sample rate */ |
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LSM303DLHC_ACC_SAMPLE_RATE_400HZ = 0x70, /**< 400Hz sample rate */ |
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LSM303DLHC_ACC_SAMPLE_RATE_1620HZ = 0x80, /**< 1620Hz sample rate */ |
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LSM303DLHC_ACC_SAMPLE_RATE_N1344HZ_L5376HZ = 0x90 /**< 1344Hz normal mode,
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* 5376Hz low power mode */ |
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} lsm303dlhc_acc_sample_rate_t; |
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/**
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* @brief Possible accelerometer scales |
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*/ |
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typedef enum { |
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LSM303DLHC_ACC_SCALE_2G = 0x00, /**< +- 2g range */ |
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LSM303DLHC_ACC_SCALE_4G = 0x10, /**< +- 4g range */ |
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LSM303DLHC_ACC_SCALE_8G = 0x20, /**< +- 8g range */ |
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LSM303DLHC_ACC_SCALE_16G = 0x30, /**< +-16g range */ |
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} lsm303dlhc_acc_scale_t; |
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/**
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* @brief Possible magnetometer sample rates |
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*/ |
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typedef enum { |
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LSM303DLHC_MAG_SAMPLE_RATE_0_75HZ = 0x00, /**< 0.75Hz sample rate */ |
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LSM303DLHC_MAG_SAMPLE_RATE_1_5HZ = 0x04, /**< 1.5 Hz sample rate */ |
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LSM303DLHC_MAG_SAMPLE_RATE_3HZ = 0x08, /**< 3 Hz sample rate */ |
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LSM303DLHC_MAG_SAMPLE_RATE_7_5HZ = 0x0c, /**< 7.5 Hz sample rate */ |
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LSM303DLHC_MAG_SAMPLE_RATE_15HZ = 0x10, /**< 15 Hz sample rate */ |
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LSM303DLHC_MAG_SAMPLE_RATE_30HZ = 0x14, /**< 30 Hz sample rate */ |
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LSM303DLHC_MAG_SAMPLE_RATE_75HZ = 0x18, /**< 75 Hz sample rate */ |
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LSM303DLHC_MAG_SAMPLE_RATE_220HZ = 0x1c, /**< 220 Hz sample rate */ |
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} lsm303dlhc_mag_sample_rate_t; |
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/**
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* @brief Possible magnetometer gain values |
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*/ |
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typedef enum { |
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LSM303DLHC_MAG_GAIN_1100_980_GAUSS = 0x20, /**< 1100Gauss XYZ 980Gauss Z */ |
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LSM303DLHC_MAG_GAIN_855_760_GAUSS = 0x40, /**< 855Gauss XYZ 760Gauss Z */ |
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LSM303DLHC_MAG_GAIN_670_600_GAUSS = 0x60, /**< 670Gauss XYZ 600Gauss Z */ |
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LSM303DLHC_MAG_GAIN_450_400_GAUSS = 0x80, /**< 450Gauss XYZ 400Gauss Z */ |
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LSM303DLHC_MAG_GAIN_400_355_GAUSS = 0xa0, /**< 400Gauss XYZ 355Gauss Z */ |
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LSM303DLHC_MAG_GAIN_330_295_GAUSS = 0xc0, /**< 330Gauss XYZ 295Gauss Z */ |
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LSM303DLHC_MAG_GAIN_230_205_GAUSS = 0xe0, /**< 230Gauss XYZ 205Gauss Z */ |
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} lsm303dlhc_mag_gain_t; |
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/**
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* @brief Initialize a new LSM303DLHC device |
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* |
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* @param[in] dev device descriptor of an LSM303DLHC device |
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* @param[in] i2c I2C device the sensor is connected to |
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* @param[in] acc_pin GPIO pin connected to accelerometer |
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* @param[in] mag_pin GPIO pin connected to magnetometer |
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* @param[in] acc_address I2C address of the accelerometer |
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* @param[in] acc_sample_rate accelerometer sample rate |
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* @param[in] acc_scale accelerometer scale (from +- 2g to +-16g) |
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* @param[in] mag_address I2C address of the magnetometer |
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* @param[in] mag_sample_rate magnetometer sample rate |
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* @param[in] mag_gain magnetometer gain |
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* |
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* @return 0 on success |
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* @return -1 on error |
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*/ |
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int lsm303dlhc_init(lsm303dlhc_t *dev, i2c_t i2c, gpio_t acc_pin, gpio_t mag_pin, |
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uint8_t acc_address, |
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lsm303dlhc_acc_sample_rate_t acc_sample_rate, |
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lsm303dlhc_acc_scale_t acc_scale, |
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uint8_t mag_address, |
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lsm303dlhc_mag_sample_rate_t mag_sample_rate, |
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lsm303dlhc_mag_gain_t mag_gain); |
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/**
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* @brief Read a accelerometer value from the sensor. |
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* |
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* @details This function provides raw acceleration data. To get the |
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* corresponding values in g please refer to the following |
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* table: |
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* measurement range | factor |
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* --------------------+--------- |
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* +- 2g | 1*10^-3 |
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* +- 4g | 2*10^-3 |
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* +- 8g | 4*10^-3 |
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* +-16g | 12*10^-3 |
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* |
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* @param[in] dev device descriptor of an LSM303DLHC device |
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* @param[out] data the measured accelerometer data |
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* |
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* @return 0 on success |
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* @return -1 on error |
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*/ |
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int lsm303dlhc_read_acc(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data); |
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/**
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* @brief Read a magnetometer value from the sensor. |
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* |
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* @details This function returns raw magnetic data. To get the |
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* corresponding values in gauss please refer to the following |
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* table: |
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* measurement range | factor |
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* --------------------+--------- |
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* +- 1.3 gauss | 1/1100 |
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* +- 1.9 gauss | 1/855 |
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* +- 2.5 gauss | 1/670 |
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* +- 4.0 gauss | 1/450 |
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* +- 4.7 gauss | 1/400 |
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* +- 5.6 gauss | 1/330 |
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* +- 8.1 gauss | 1/230 |
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* |
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* @param[in] dev device descriptor of an LSM303DLHC device |
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* @param[out] data the measured magnetometer data |
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* |
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* @return 0 on success |
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* @return -1 on error |
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*/ |
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int lsm303dlhc_read_mag(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data); |
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/**
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* @brief Read a temperature value from the sensor. |
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* |
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* @param[in] dev device descriptor of an LSM303DLHC device |
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* @param[out] value the measured temperature |
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* |
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* @return 0 on success |
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* @return -1 on error |
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*/ |
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int lsm303dlhc_read_temp(lsm303dlhc_t *dev, int16_t *value); |
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/**
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* @brief Enable the given sensor |
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* |
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* @param[in] dev device descriptor of an LSM303DLHC device |
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* |
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* @return 0 on success |
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* @return -1 on error |
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*/ |
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int lsm303dlhc_enable(lsm303dlhc_t *dev); |
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/**
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* @brief Disable the given sensor |
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* |
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* @param[in] dev device descriptor of an LSM303DLHC device |
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* |
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* @return 0 on success |
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* @return -1 on error |
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*/ |
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int lsm303dlhc_disable(lsm303dlhc_t *dev); |
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#ifdef __cplusplus |
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} |
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#endif |
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#endif /* __LSM303DLHC_H */ |
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/** @} */ |
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MODULE = lsm303dlhc
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include $(RIOTBASE)/Makefile.base |
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/*
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* Copyright (C) 2014 Freie Universität Berlin |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser |
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* General Public License v2.1. See the file LICENSE in the top level |
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* directory for more details. |
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*/ |
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/**
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* @ingroup driver_lsm303dlhc |
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* |
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* @{ |
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* |
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* @file |
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* @brief Definitions for the LSM303DLHC 3D accelerometer/magnetometer |
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* |
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* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de> |
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*/ |
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#ifndef __LSM303DLHC_INTERNAL_H |
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#define __LSM303DLHC_INTERNAL_H |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/**
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* @name LSM303DLHC accelerometer registers |
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* @{ |
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*/ |
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#define LSM303DLHC_REG_CTRL1_A (0x20) |
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#define LSM303DLHC_REG_CTRL2_A (0x21) |
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#define LSM303DLHC_REG_CTRL3_A (0x22) |
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#define LSM303DLHC_REG_CTRL4_A (0x23) |
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#define LSM303DLHC_REG_CTRL5_A (0x24) |
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#define LSM303DLHC_REG_CTRL6_A (0x25) |
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#define LSM303DLHC_REG_REFERENCE_A (0x26) |
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#define LSM303DLHC_REG_STATUS_A (0x27) |
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#define LSM303DLHC_REG_OUT_X_L_A (0x28) |
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#define LSM303DLHC_REG_OUT_X_H_A (0x29) |
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#define LSM303DLHC_REG_OUT_Y_L_A (0x2a) |
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#define LSM303DLHC_REG_OUT_Y_H_A (0x2b) |
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#define LSM303DLHC_REG_OUT_Z_L_A (0x2c) |
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#define LSM303DLHC_REG_OUT_Z_H_A (0x2d) |
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/** @} */ |
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/**
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* @name Masks for the LSM303DLHC CTRL1_A register |
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* @{ |
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*/ |
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#define LSM303DLHC_CTRL1_A_XEN (0x01) |
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#define LSM303DLHC_CTRL1_A_YEN (0x02) |
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#define LSM303DLHC_CTRL1_A_ZEN (0x04) |
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#define LSM303DLHC_CTRL1_A_LOW_POWER (0x08) |
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#define LSM303DLHC_CTRL1_A_POWEROFF (0x00) |
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#define LSM303DLHC_CTRL1_A_1HZ (0x10) |
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#define LSM303DLHC_CTRL1_A_10HZ (0x20) |
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#define LSM303DLHC_CTRL1_A_25HZ (0x30) |
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#define LSM303DLHC_CTRL1_A_50HZ (0x40) |
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#define LSM303DLHC_CTRL1_A_100HZ (0x50) |
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#define LSM303DLHC_CTRL1_A_200HZ (0x60) |
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#define LSM303DLHC_CTRL1_A_400HZ (0x70) |
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#define LSM303DLHC_CTRL1_A_1620HZ (0x80) |
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#define LSM303DLHC_CTRL1_A_N1344HZ_L5376HZ (0x90) |
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/** @} */ |
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/**
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* @name Masks for the LSM303DLHC CTRL3_A register |
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* @{ |
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*/ |
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#define LSM303DLHC_CTRL3_A_I1_CLICK (0x80) |
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#define LSM303DLHC_CTRL3_A_I1_AOI1 (0x40) |
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#define LSM303DLHC_CTRL3_A_I1_AOI2 (0x20) |
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#define LSM303DLHC_CTRL3_A_I1_DRDY1 (0x10) |
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#define LSM303DLHC_CTRL3_A_I1_DRDY2 (0x80) |
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#define LSM303DLHC_CTRL3_A_I1_WTM (0x40) |
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#define LSM303DLHC_CTRL3_A_I1_OVERRUN (0x20) |
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#define LSM303DLHC_CTRL3_A_I1_NONE (0x00) |
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/** @} */ |
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/**
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* @name Masks for the LSM303DLHC CTRL4_A register |
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* @{ |
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*/ |
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#define LSM303DLHC_CTRL4_A_BDU (0x80) |
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#define LSM303DLHC_CTRL4_A_BLE (0x40) |
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#define LSM303DLHC_CTRL4_A_SCALE_2G (0x00) |
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#define LSM303DLHC_CTRL4_A_SCALE_4G (0x10) |
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#define LSM303DLHC_CTRL4_A_SCALE_8G (0x20) |
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#define LSM303DLHC_CTRL4_A_SCALE_16G (0x30) |
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#define LSM303DLHC_CTRL4_A_HR (0x04) |
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/** @} */ |
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/**
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* @name Masks for the LSM303DLHC STATUS_A register |
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* @{ |
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*/ |
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#define LSM303DLHC_STATUS_ZYXOR (0x80) |
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#define LSM303DLHC_STATUS_ZOR (0x40) |
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#define LSM303DLHC_STATUS_YOR (0x20) |
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#define LSM303DLHC_STATUS_XOR (0x10) |
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#define LSM303DLHC_STATUS_ZYXDA (0x08) |
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#define LSM303DLHC_STATUS_ZDA (0x04) |
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#define LSM303DLHC_STATUS_YDA (0x02) |
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#define LSM303DLHC_STATUS_XDA (0x01) |
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/** *} */ |
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/**
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* @name Masks for the LSM303DLHC CTRL4_A register |
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* @{ |
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*/ |
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#define LSM303DLHC_REG_CTRL5_A_BOOT (0x80) |
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#define LSM303DLHC_REG_CTRL5_A_FIFO_EN (0x40) |
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/** @} */ |
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/**
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* @name LSM303DLHC magnetometer registers |
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* @{ |
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*/ |
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#define LSM303DLHC_REG_CRA_M (0x00) |
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#define LSM303DLHC_REG_CRB_M (0x01) |
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#define LSM303DLHC_REG_MR_M (0x02) |
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#define LSM303DLHC_REG_OUT_X_H_M (0x03) |
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#define LSM303DLHC_REG_OUT_X_L_M (0x04) |
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#define LSM303DLHC_REG_OUT_Y_H_M (0x05) |
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#define LSM303DLHC_REG_OUT_Y_L_M (0x06) |
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#define LSM303DLHC_REG_OUT_Z_H_M (0x07) |
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#define LSM303DLHC_REG_OUT_Z_L_M (0x08) |
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#define LSM303DLHC_REG_SR_M (0x09) |
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#define LSM303DLHC_REG_TEMP_OUT_L (0x32) |
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#define LSM303DLHC_REG_TEMP_OUT_H (0x31) |
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/** @} */ |
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/**
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* @name Masks for the LSM303DLHC CRA_REG_M register |
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* @{ |
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*/ |
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#define LSM303DLHC_TEMP_EN (0x80) |
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#define LSM303DLHC_TEMP_DIS (0x00) |
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#define LSM303DLHC_TEMP_SAMPLE_0_75HZ (0x00) |
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#define LSM303DLHC_TEMP_SAMPLE_1_5HZ (0x04) |
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#define LSM303DLHC_TEMP_SAMPLE_3HZ (0x08) |
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#define LSM303DLHC_TEMP_SAMPLE_7_5HZ (0x0c) |
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#define LSM303DLHC_TEMP_SAMPLE_15HZ (0x10) |
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#define LSM303DLHC_TEMP_SAMPLE_30HZ (0x14) |
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#define LSM303DLHC_TEMP_SAMPLE_75HZ (0x18) |
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#define LSM303DLHC_TEMP_SAMPLE_220HZ (0x1c) |
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/** @} */ |
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/**
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* @name Masks for the LSM303DLHC CRB_REG_M register |
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* @{ |
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*/ |
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#define LSM303DLHC_GAIN_1 (0x20) |
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#define LSM303DLHC_GAIN_2 (0x40) |
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#define LSM303DLHC_GAIN_3 (0x60) |
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#define LSM303DLHC_GAIN_4 (0x80) |
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#define LSM303DLHC_GAIN_5 (0xa0) |
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#define LSM303DLHC_GAIN_6 (0xc0) |
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#define LSM303DLHC_GAIN_7 (0xe0) |
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/** @} */ |
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/**
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* @name Masks for the LSM303DLHC MR_REG_M register |
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* @{ |
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*/ |
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#define LSM303DLHC_MAG_MODE_CONTINUOUS (0x00) |
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#define LSM303DLHC_MAG_MODE_SINGLE (0x01) |
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#define LSM303DLHC_MAG_MODE_SLEEP (0x02) |
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/** @} */ |
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#ifdef __cplusplus |
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} |
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#endif |
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#endif /* __LSM303DLHC_INTERNAL_H */ |
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/** @} */ |
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/*
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* Copyright (C) 2014 Freie Universität Berlin |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser |
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* General Public License v2.1. See the file LICENSE in the top level |
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* directory for more details. |
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*/ |
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/**
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* @ingroup driver_lsm303dlhc |
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* @{ |
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* |
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* @file |
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* @brief Device driver implementation for the LSM303DLHC light sensor |
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* |
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* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de> |
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* |
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* @} |
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*/ |
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#include "lsm303dlhc.h" |
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#include "lsm303dlhc-internal.h" |
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#define ENABLE_DEBUG (0) |
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#include "debug.h" |
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int lsm303dlhc_init(lsm303dlhc_t *dev, i2c_t i2c, gpio_t acc_pin, gpio_t mag_pin, |
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uint8_t acc_address, |
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lsm303dlhc_acc_sample_rate_t acc_sample_rate, |
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lsm303dlhc_acc_scale_t acc_scale, |
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uint8_t mag_address, |
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lsm303dlhc_mag_sample_rate_t mag_sample_rate, |
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lsm303dlhc_mag_gain_t mag_gain) |
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{ |
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int res; |
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char tmp; |
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dev->i2c = i2c; |
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dev->acc_address = acc_address; |
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dev->mag_address = mag_address; |
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i2c_init_master(i2c, I2C_SPEED_NORMAL); |
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DEBUG("lsm303dlhc reboot "); |
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res = i2c_write_reg(dev->i2c, dev->acc_address, |
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LSM303DLHC_REG_CTRL5_A, LSM303DLHC_REG_CTRL5_A_BOOT); |
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DEBUG("[OK]"); |
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/* configure accelerometer */ |
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/* enable all three axis and set sample rate */ |
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tmp = (LSM303DLHC_CTRL1_A_XEN |
||||
| LSM303DLHC_CTRL1_A_YEN |
||||
| LSM303DLHC_CTRL1_A_ZEN |
||||
| acc_sample_rate); |
||||
res += i2c_write_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_CTRL1_A, tmp); |
||||
/* update on read, MSB @ low address, scale and high-resolution */ |
||||
tmp = (acc_scale | LSM303DLHC_CTRL4_A_HR); |
||||
res += i2c_write_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_CTRL4_A, tmp); |
||||
/* no interrupt generation */ |
||||
res += i2c_write_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_CTRL3_A, LSM303DLHC_CTRL3_A_I1_NONE); |
||||
/* configure acc data ready pin */ |
||||
gpio_init_in(acc_pin, GPIO_NOPULL); |
||||
|
||||
/* configure magnetometer and temperature */ |
||||
/* enable temperature output and set sample rate */ |
||||
tmp = LSM303DLHC_TEMP_EN | mag_sample_rate; |
||||
res += i2c_write_reg(dev->i2c, dev->mag_address, |
||||
LSM303DLHC_REG_CRA_M, tmp); |
||||
/* configure z-axis gain */ |
||||
res += i2c_write_reg(dev->i2c, dev->mag_address, |
||||
LSM303DLHC_REG_CRB_M, mag_gain); |
||||
/* set continuous mode */ |
||||
res += i2c_write_reg(dev->i2c, dev->mag_address, |
||||
LSM303DLHC_REG_MR_M, LSM303DLHC_MAG_MODE_CONTINUOUS); |
||||
/* configure mag data ready pin */ |
||||
gpio_init_in(mag_pin, GPIO_NOPULL); |
||||
|
||||
return (res < 7) ? -1 : 0; |
||||
} |
||||
|
||||
int lsm303dlhc_read_acc(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data) |
||||
{ |
||||
int res; |
||||
char tmp; |
||||
|
||||
i2c_read_reg(dev->i2c, dev->acc_address, LSM303DLHC_REG_STATUS_A, &tmp); |
||||
DEBUG("lsm303dlhc status: %x\n", tmp); |
||||
DEBUG("lsm303dlhc: wait for acc values ... "); |
||||
|
||||
res = i2c_read_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_OUT_X_L_A, &tmp); |
||||
data->x_axis = tmp; |
||||
res += i2c_read_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_OUT_X_H_A, &tmp); |
||||
data->x_axis |= tmp<<8; |
||||
res += i2c_read_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_OUT_Y_L_A, &tmp); |
||||
data->y_axis = tmp; |
||||
res += i2c_read_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_OUT_Y_H_A, &tmp); |
||||
data->y_axis |= tmp<<8; |
||||
res += i2c_read_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_OUT_Z_L_A, &tmp); |
||||
data->z_axis = tmp; |
||||
res += i2c_read_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_OUT_Z_H_A, &tmp); |
||||
data->z_axis |= tmp<<8; |
||||
DEBUG("read ... "); |
||||
|
||||
if (res < 6) { |
||||
DEBUG("[!!failed!!]\n"); |
||||
return -1; |
||||
} |
||||
DEBUG("[done]\n"); |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
int lsm303dlhc_read_mag(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data) |
||||
{ |
||||
int res; |
||||
|
||||
DEBUG("lsm303dlhc: wait for mag values... "); |
||||
while (gpio_read(GPIO_8) == 0){} |
||||
|
||||
DEBUG("read ... "); |
||||
|
||||
res = i2c_read_regs(dev->i2c, dev->mag_address, |
||||
LSM303DLHC_REG_OUT_X_H_M, (char*)data, 6); |
||||
|
||||
if (res < 6) { |
||||
DEBUG("[!!failed!!]\n"); |
||||
return -1; |
||||
} |
||||
DEBUG("[done]\n"); |
||||
|
||||
/* interchange y and z axis and fix endiness */ |
||||
int16_t tmp = data->y_axis; |
||||
data->x_axis = ((data->x_axis<<8)|((data->x_axis>>8)&0xff)); |
||||
data->y_axis = ((data->z_axis<<8)|((data->z_axis>>8)&0xff)); |
||||
data->z_axis = ((tmp<<8)|((tmp>>8)&0xff)); |
||||
|
||||
/* compensate z-axis sensitivity */ |
||||
/* gain is currently hardcoded to LSM303DLHC_GAIN_5 */ |
||||
data->z_axis = ((data->z_axis * 400) / 355); |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
int lsm303dlhc_read_temp(lsm303dlhc_t *dev, int16_t *value) |
||||
{ |
||||
int res; |
||||
|
||||
res = i2c_read_regs(dev->i2c, dev->mag_address, LSM303DLHC_REG_TEMP_OUT_H, (char*)value, 2); |
||||
|
||||
if (res < 2) { |
||||
return -1; |
||||
} |
||||
|
||||
*value = (((*value) >> 8) & 0xff) | (*value << 8); |
||||
|
||||
DEBUG("LSM303DLHC: raw temp: %i\n", *value); |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
int lsm303dlhc_disable(lsm303dlhc_t *dev) |
||||
{ |
||||
int res; |
||||
res = i2c_write_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_CTRL1_A, LSM303DLHC_CTRL1_A_POWEROFF); |
||||
res += i2c_write_reg(dev->i2c, dev->mag_address, |
||||
LSM303DLHC_REG_MR_M, LSM303DLHC_MAG_MODE_SLEEP); |
||||
res += i2c_write_reg(dev->i2c, dev->acc_address, |
||||
LSM303DLHC_REG_CRA_M, LSM303DLHC_TEMP_DIS); |
||||
|
||||
return (res < 3) ? -1 : 0; |
||||
} |
||||
|
||||
int lsm303dlhc_enable(lsm303dlhc_t *dev) |
||||
{ |
||||
int res; |
||||
char tmp = (LSM303DLHC_CTRL1_A_XEN |
||||
| LSM303DLHC_CTRL1_A_YEN |
||||
| LSM303DLHC_CTRL1_A_ZEN |
||||
| LSM303DLHC_CTRL1_A_N1344HZ_L5376HZ); |
||||
res = i2c_write_reg(dev->i2c, dev->acc_address, LSM303DLHC_REG_CTRL1_A, tmp); |
||||
|
||||
tmp = (LSM303DLHC_CTRL4_A_BDU| LSM303DLHC_CTRL4_A_SCALE_2G | LSM303DLHC_CTRL4_A_HR); |
||||
res += i2c_write_reg(dev->i2c, dev->acc_address, LSM303DLHC_REG_CTRL4_A, tmp); |
||||
res += i2c_write_reg(dev->i2c, dev->acc_address, LSM303DLHC_REG_CTRL3_A, LSM303DLHC_CTRL3_A_I1_DRDY1); |
||||
gpio_init_in(GPIO_2, GPIO_NOPULL); |
||||
|
||||
tmp = LSM303DLHC_TEMP_EN | LSM303DLHC_TEMP_SAMPLE_75HZ; |
||||
res += i2c_write_reg(dev->i2c, dev->mag_address, LSM303DLHC_REG_CRA_M, tmp); |
||||
|
||||
res += i2c_write_reg(dev->i2c, dev->mag_address, |
||||
LSM303DLHC_REG_CRB_M, LSM303DLHC_GAIN_5); |
||||
|
||||
res += i2c_write_reg(dev->i2c, dev->mag_address, |
||||
LSM303DLHC_REG_MR_M, LSM303DLHC_MAG_MODE_CONTINUOUS); |
||||
|
||||
gpio_init_in(GPIO_8, GPIO_NOPULL); |
||||
|
||||
return (res < 6) ? -1 : 0; |
||||
} |
@ -0,0 +1,35 @@
|
||||
APPLICATION = driver_lsm303dlhc
|
||||
include ../Makefile.tests_common |
||||
|
||||
FEATURES_REQUIRED = periph_i2c
|
||||
|
||||
# Define default pin mappings for some boards:
|
||||
ifneq (,$(filter iot-lab_M3,$(BOARD))) |
||||
export TEST_LSM303DLHC_MAG_ADDR=30
|
||||
export TEST_LSM303DLHC_ACC_ADDR=25
|
||||
export TEST_LSM303DLHC_I2C ?=I2C_0
|
||||
endif |
||||
|
||||
USEMODULE += lsm303dlhc
|
||||
USEMODULE += vtimer
|
||||
|
||||
ifneq (,$(TEST_LSM303DLHC_I2C)) |
||||
CFLAGS += -DTEST_LSM303DLHC_I2C=$(TEST_LSM303DLHC_I2C)
|
||||
else |
||||
# set random default
|
||||
CFLAGS += -DTEST_LSM303DLHC_I2C=I2C_0
|
||||
endif |
||||
ifneq (,$(TEST_LSM303DLHC_MAG_ADDR)) |
||||
CFLAGS += -DTEST_LSM303DLHC_MAG_ADDR=$(TEST_LSM303DLHC_MAG_ADDR)
|
||||
else |
||||
# set random default
|
||||
CFLAGS += -DTEST_LSM303DLHC_MAG_ADDR=30
|
||||
endif |
||||
ifneq (,$(TEST_LSM303DLHC_ACC_ADDR)) |
||||
CFLAGS += -DTEST_LSM303DLHC_ACC_ADDR=$(TEST_LSM303DLHC_ACC_ADDR)
|
||||
else |
||||
# set random default
|
||||
CFLAGS += -DTEST_LSM303DLHC_ACC_ADDR=25
|
||||
endif |
||||
|
||||
include $(RIOTBASE)/Makefile.include |
@ -0,0 +1,93 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Freie Universität Berlin |
||||
* |
||||
* This file is subject to the terms and conditions of the GNU Lesser |
||||
* General Public License v2.1. See the file LICENSE in the top level |
||||
* directory for more details. |
||||
*/ |
||||
|
||||
/**
|
||||
* @ingroup tests |
||||
* @{ |
||||
* |
||||
* @file |
||||
* @brief Test application for the LSM303DLHC accelerometer/magnetometer |
||||
* |
||||
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de> |
||||
* |
||||
* @} |
||||
*/ |
||||
|
||||
#ifndef TEST_LSM303DLHC_I2C |
||||
#error "TEST_LSM303DLHC_I2C not defined" |
||||
#endif |
||||
#ifndef TEST_LSM303DLHC_MAG_ADDR |
||||
#error "TEST_LSM303DLHC_MAG_ADDR not defined" |
||||
#endif |
||||
#ifndef TEST_LSM303DLHC_ACC_ADDR |
||||
#error "TEST_LSM303DLHC_ACC_ADDR not defined" |
||||
#endif |
||||
|
||||
#include <stdio.h> |
||||
|
||||
#include "vtimer.h" |
||||
#include "lsm303dlhc.h" |
||||
|
||||
#define SLEEP (100 * 1000U) |
||||
#define ACC_S_RATE LSM303DLHC_ACC_SAMPLE_RATE_10HZ |
||||
#define ACC_SCALE LSM303DLHC_ACC_SCALE_2G |
||||
#define MAG_S_RATE LSM303DLHC_MAG_SAMPLE_RATE_75HZ |
||||
#define MAG_GAIN LSM303DLHC_MAG_GAIN_400_355_GAUSS |
||||
#define ACC_PIN GPIO_2 |
||||
#define MAG_PIN GPIO_8 |
||||
|
||||
int main(void) |
||||
{ |
||||
lsm303dlhc_t dev; |
||||
int16_t temp_value; |
||||
lsm303dlhc_3d_data_t mag_value; |
||||
lsm303dlhc_3d_data_t acc_value; |
||||
|
||||
puts("LSM303DLHC temperature test application\n"); |
||||
printf("Initializing LSM303DLHC sensor at I2C_%i... ", TEST_LSM303DLHC_I2C); |
||||
|
||||
if (lsm303dlhc_init(&dev, TEST_LSM303DLHC_I2C, ACC_PIN, MAG_PIN, |
||||
TEST_LSM303DLHC_ACC_ADDR, ACC_S_RATE, ACC_SCALE, |
||||
TEST_LSM303DLHC_MAG_ADDR, MAG_S_RATE, MAG_GAIN) == 0) { |
||||
puts("[OK]\n"); |
||||
} |
||||
else { |
||||
puts("[Failed]"); |
||||
return 1; |
||||
} |
||||
|
||||
while (1) { |
||||
if (lsm303dlhc_read_acc(&dev, &acc_value) == 0) { |
||||
printf("Accelerometer x: %i y: %i z: %i\n", acc_value.x_axis, |
||||
acc_value.y_axis, |
||||
acc_value.z_axis); |
||||
} |
||||
else { |
||||
puts("\nFailed reading accelerometer values\n"); |
||||
} |
||||
if (lsm303dlhc_read_temp(&dev, &temp_value) == 0) { |
||||
printf("Temperature value: %i degrees\n", temp_value); |
||||
} |
||||
else { |
||||
puts("\nFailed reading value\n"); |
||||
} |
||||
|
||||
if (lsm303dlhc_read_mag(&dev, &mag_value) == 0) { |
||||
printf("Magnetometer x: %i y: %i z: %i\n", mag_value.x_axis, |
||||
mag_value.y_axis, |
||||
mag_value.z_axis); |
||||
} |
||||
else { |
||||
puts("\nFailed reading magnetometer values\n"); |
||||
} |
||||
|
||||
vtimer_usleep(SLEEP); |
||||
} |
||||
|
||||
return 0; |
||||
} |
Loading…
Reference in new issue