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lsm303dlhc: initial import of lsm303dlhc driver 

TODO: Accelerometer does not return valid values yet
dev/timer
Thomas Eichinger 8 years ago
parent
8ab6e691d0
commit
88fce936e9
9 changed files with 747 additions and 8 deletions
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  1. 16
      boards/iot-lab_M3/include/periph_conf.h
  2. 3
      drivers/Makefile
  3. 3
      drivers/Makefile.include
  4. 215
      drivers/include/lsm303dlhc.h
  5. 3
      drivers/lsm303dlhc/Makefile
  6. 178
      drivers/lsm303dlhc/include/lsm303dlhc-internal.h
  7. 209
      drivers/lsm303dlhc/lsm303dlhc.c
  8. 35
      tests/driver_lsm303dlhc/Makefile
  9. 93
      tests/driver_lsm303dlhc/main.c

16
boards/iot-lab_M3/include/periph_conf.h
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@ -168,10 +168,10 @@ extern "C" {
#define GPIO_1_EXTI_CFG() (AFIO->EXTICR[2] |= AFIO_EXTICR3_EXTI8_PA)
#define GPIO_1_IRQ EXTI9_5_IRQn
/* GPIO channel 2 config */
#define GPIO_2_PORT GPIOA
#define GPIO_2_PORT GPIOB
#define GPIO_2_PIN 12
#define GPIO_2_CLKEN() (RCC->APB2ENR |= RCC_APB2ENR_IOPAEN)
#define GPIO_2_EXTI_CFG() (AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI12_PA)
#define GPIO_2_CLKEN() (RCC->APB2ENR |= RCC_APB2ENR_IOPBEN)
#define GPIO_2_EXTI_CFG() (AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI12_PB)
#define GPIO_2_IRQ EXTI15_10_IRQn
/* GPIO channel 3 config */
#define GPIO_3_PORT GPIOB
@ -204,11 +204,11 @@ extern "C" {
#define GPIO_7_EXTI_CFG() (AFIO->EXTICR[2] |= AFIO_EXTICR3_EXTI11_PC)
#define GPIO_7_IRQ EXTI15_10_IRQn
/* GPIO channel 8 config */
#define GPIO_8_PORT GPIOA
#define GPIO_8_PIN 5
#define GPIO_8_CLKEN() (RCC->APB2ENR |= RCC_APB2ENR_IOPAEN)
#define GPIO_8_EXTI_CFG() (AFIO->EXTICR[1] |= AFIO_EXTICR2_EXTI5_PA)
#define GPIO_8_IRQ EXTI9_5_IRQn
#define GPIO_8_PORT GPIOB
#define GPIO_8_PIN 2
#define GPIO_8_CLKEN() (RCC->APB2ENR |= RCC_APB2ENR_IOPBEN)
#define GPIO_8_EXTI_CFG() (AFIO->EXTICR[1] |= AFIO_EXTICR1_EXTI2_PB)
#define GPIO_8_IRQ EXTI2_IRQn
/* GPIO channel 9 config */
#define GPIO_9_PORT GPIOA
#define GPIO_9_PIN 6

3
drivers/Makefile
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@ -55,5 +55,8 @@ endif
ifneq (,$(filter netdev_802154,$(USEMODULE)))
DIRS += netdev/802154
endif
ifneq (,$(filter lsm303dlhc,$(USEMODULE)))
DIRS += lsm303dlhc
endif
include $(RIOTBASE)/Makefile.base

3
drivers/Makefile.include
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@ -16,3 +16,6 @@ endif
ifneq (,$(filter lps331ap,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/lps331ap/include
endif
ifneq (,$(filter lsm303dlhc,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/lsm303dlhc/include
endif

215
drivers/include/lsm303dlhc.h
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@ -0,0 +1,215 @@
/*
* 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.
*/
/**
* @defgroup driver_lsm303dlhc LSM303DLHC 3D accelerometer/magnetometer
* @ingroup drivers
* @brief Device driver for the LSM303DLHC 3D accelerometer/magnetometer
* @{
*
* @file
* @brief Device driver interface for the LSM303DLHC 3D accelerometer/magnetometer
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
*/
#ifndef __LSM303DLHC_H
#define __LSM303DLHC_H
#include <stdint.h>
#include "periph/i2c.h"
#include "periph/gpio.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief The sensors default I2C address
*/
#define LSM303DLHC_ACC_DEFAULT_ADDRESS (0x19)
#define LSM303DLHC_MAG_DEFAULT_ADDRESS (0x1e)
/**
* @brief 3d data container
*/
typedef struct {
int16_t x_axis;
int16_t y_axis;
int16_t z_axis;
} lsm303dlhc_3d_data_t;
/**
* @brief Device descriptor for LSM303DLHC sensors
*/
typedef struct {
i2c_t i2c; /**< I2C device */
uint8_t acc_address; /**< accelerometer's I2C address */
uint8_t mag_address; /**< magnetometer's I2C address */
} lsm303dlhc_t;
/**
* @brief Possible accelerometer sample rates
*/
typedef enum {
LSM303DLHC_ACC_SAMPLE_RATE_1HZ = 0x10, /**< 1Hz sample rate */
LSM303DLHC_ACC_SAMPLE_RATE_10HZ = 0x20, /**< 10Hz sample rate */
LSM303DLHC_ACC_SAMPLE_RATE_25HZ = 0x30, /**< 25Hz sample rate */
LSM303DLHC_ACC_SAMPLE_RATE_50HZ = 0x40, /**< 50Hz sample rate */
LSM303DLHC_ACC_SAMPLE_RATE_100HZ = 0x50, /**< 100Hz sample rate */
LSM303DLHC_ACC_SAMPLE_RATE_200HZ = 0x60, /**< 200Hz sample rate */
LSM303DLHC_ACC_SAMPLE_RATE_400HZ = 0x70, /**< 400Hz sample rate */
LSM303DLHC_ACC_SAMPLE_RATE_1620HZ = 0x80, /**< 1620Hz sample rate */
LSM303DLHC_ACC_SAMPLE_RATE_N1344HZ_L5376HZ = 0x90 /**< 1344Hz normal mode,
* 5376Hz low power mode */
} lsm303dlhc_acc_sample_rate_t;
/**
* @brief Possible accelerometer scales
*/
typedef enum {
LSM303DLHC_ACC_SCALE_2G = 0x00, /**< +- 2g range */
LSM303DLHC_ACC_SCALE_4G = 0x10, /**< +- 4g range */
LSM303DLHC_ACC_SCALE_8G = 0x20, /**< +- 8g range */
LSM303DLHC_ACC_SCALE_16G = 0x30, /**< +-16g range */
} lsm303dlhc_acc_scale_t;
/**
* @brief Possible magnetometer sample rates
*/
typedef enum {
LSM303DLHC_MAG_SAMPLE_RATE_0_75HZ = 0x00, /**< 0.75Hz sample rate */
LSM303DLHC_MAG_SAMPLE_RATE_1_5HZ = 0x04, /**< 1.5 Hz sample rate */
LSM303DLHC_MAG_SAMPLE_RATE_3HZ = 0x08, /**< 3 Hz sample rate */
LSM303DLHC_MAG_SAMPLE_RATE_7_5HZ = 0x0c, /**< 7.5 Hz sample rate */
LSM303DLHC_MAG_SAMPLE_RATE_15HZ = 0x10, /**< 15 Hz sample rate */
LSM303DLHC_MAG_SAMPLE_RATE_30HZ = 0x14, /**< 30 Hz sample rate */
LSM303DLHC_MAG_SAMPLE_RATE_75HZ = 0x18, /**< 75 Hz sample rate */
LSM303DLHC_MAG_SAMPLE_RATE_220HZ = 0x1c, /**< 220 Hz sample rate */
} lsm303dlhc_mag_sample_rate_t;
/**
* @brief Possible magnetometer gain values
*/
typedef enum {
LSM303DLHC_MAG_GAIN_1100_980_GAUSS = 0x20, /**< 1100Gauss XYZ 980Gauss Z */
LSM303DLHC_MAG_GAIN_855_760_GAUSS = 0x40, /**< 855Gauss XYZ 760Gauss Z */
LSM303DLHC_MAG_GAIN_670_600_GAUSS = 0x60, /**< 670Gauss XYZ 600Gauss Z */
LSM303DLHC_MAG_GAIN_450_400_GAUSS = 0x80, /**< 450Gauss XYZ 400Gauss Z */
LSM303DLHC_MAG_GAIN_400_355_GAUSS = 0xa0, /**< 400Gauss XYZ 355Gauss Z */
LSM303DLHC_MAG_GAIN_330_295_GAUSS = 0xc0, /**< 330Gauss XYZ 295Gauss Z */
LSM303DLHC_MAG_GAIN_230_205_GAUSS = 0xe0, /**< 230Gauss XYZ 205Gauss Z */
} lsm303dlhc_mag_gain_t;
/**
* @brief Initialize a new LSM303DLHC device
*
* @param[in] dev device descriptor of an LSM303DLHC device
* @param[in] i2c I2C device the sensor is connected to
* @param[in] acc_pin GPIO pin connected to accelerometer
* @param[in] mag_pin GPIO pin connected to magnetometer
* @param[in] acc_address I2C address of the accelerometer
* @param[in] acc_sample_rate accelerometer sample rate
* @param[in] acc_scale accelerometer scale (from +- 2g to +-16g)
* @param[in] mag_address I2C address of the magnetometer
* @param[in] mag_sample_rate magnetometer sample rate
* @param[in] mag_gain magnetometer gain
*
* @return 0 on success
* @return -1 on error
*/
int lsm303dlhc_init(lsm303dlhc_t *dev, i2c_t i2c, gpio_t acc_pin, gpio_t mag_pin,
uint8_t acc_address,
lsm303dlhc_acc_sample_rate_t acc_sample_rate,
lsm303dlhc_acc_scale_t acc_scale,
uint8_t mag_address,
lsm303dlhc_mag_sample_rate_t mag_sample_rate,
lsm303dlhc_mag_gain_t mag_gain);
/**
* @brief Read a accelerometer value from the sensor.
*
* @details This function provides raw acceleration data. To get the
* corresponding values in g please refer to the following
* table:
* measurement range | factor
* --------------------+---------
* +- 2g | 1*10^-3
* +- 4g | 2*10^-3
* +- 8g | 4*10^-3
* +-16g | 12*10^-3
*
* @param[in] dev device descriptor of an LSM303DLHC device
* @param[out] data the measured accelerometer data
*
* @return 0 on success
* @return -1 on error
*/
int lsm303dlhc_read_acc(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data);
/**
* @brief Read a magnetometer value from the sensor.
*
* @details This function returns raw magnetic data. To get the
* corresponding values in gauss please refer to the following
* table:
* measurement range | factor
* --------------------+---------
* +- 1.3 gauss | 1/1100
* +- 1.9 gauss | 1/855
* +- 2.5 gauss | 1/670
* +- 4.0 gauss | 1/450
* +- 4.7 gauss | 1/400
* +- 5.6 gauss | 1/330
* +- 8.1 gauss | 1/230
*
* @param[in] dev device descriptor of an LSM303DLHC device
* @param[out] data the measured magnetometer data
*
* @return 0 on success
* @return -1 on error
*/
int lsm303dlhc_read_mag(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data);
/**
* @brief Read a temperature value from the sensor.
*
* @param[in] dev device descriptor of an LSM303DLHC device
* @param[out] value the measured temperature
*
* @return 0 on success
* @return -1 on error
*/
int lsm303dlhc_read_temp(lsm303dlhc_t *dev, int16_t *value);
/**
* @brief Enable the given sensor
*
* @param[in] dev device descriptor of an LSM303DLHC device
*
* @return 0 on success
* @return -1 on error
*/
int lsm303dlhc_enable(lsm303dlhc_t *dev);
/**
* @brief Disable the given sensor
*
* @param[in] dev device descriptor of an LSM303DLHC device
*
* @return 0 on success
* @return -1 on error
*/
int lsm303dlhc_disable(lsm303dlhc_t *dev);
#ifdef __cplusplus
}
#endif
#endif /* __LSM303DLHC_H */
/** @} */

3
drivers/lsm303dlhc/Makefile
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@ -0,0 +1,3 @@
MODULE = lsm303dlhc
include $(RIOTBASE)/Makefile.base

178
drivers/lsm303dlhc/include/lsm303dlhc-internal.h
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@ -0,0 +1,178 @@
/*
* 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 driver_lsm303dlhc
*
* @{
*
* @file
* @brief Definitions for the LSM303DLHC 3D accelerometer/magnetometer
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
*/
#ifndef __LSM303DLHC_INTERNAL_H
#define __LSM303DLHC_INTERNAL_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name LSM303DLHC accelerometer registers
* @{
*/
#define LSM303DLHC_REG_CTRL1_A (0x20)
#define LSM303DLHC_REG_CTRL2_A (0x21)
#define LSM303DLHC_REG_CTRL3_A (0x22)
#define LSM303DLHC_REG_CTRL4_A (0x23)
#define LSM303DLHC_REG_CTRL5_A (0x24)
#define LSM303DLHC_REG_CTRL6_A (0x25)
#define LSM303DLHC_REG_REFERENCE_A (0x26)
#define LSM303DLHC_REG_STATUS_A (0x27)
#define LSM303DLHC_REG_OUT_X_L_A (0x28)
#define LSM303DLHC_REG_OUT_X_H_A (0x29)
#define LSM303DLHC_REG_OUT_Y_L_A (0x2a)
#define LSM303DLHC_REG_OUT_Y_H_A (0x2b)
#define LSM303DLHC_REG_OUT_Z_L_A (0x2c)
#define LSM303DLHC_REG_OUT_Z_H_A (0x2d)
/** @} */
/**
* @name Masks for the LSM303DLHC CTRL1_A register
* @{
*/
#define LSM303DLHC_CTRL1_A_XEN (0x01)
#define LSM303DLHC_CTRL1_A_YEN (0x02)
#define LSM303DLHC_CTRL1_A_ZEN (0x04)
#define LSM303DLHC_CTRL1_A_LOW_POWER (0x08)
#define LSM303DLHC_CTRL1_A_POWEROFF (0x00)
#define LSM303DLHC_CTRL1_A_1HZ (0x10)
#define LSM303DLHC_CTRL1_A_10HZ (0x20)
#define LSM303DLHC_CTRL1_A_25HZ (0x30)
#define LSM303DLHC_CTRL1_A_50HZ (0x40)
#define LSM303DLHC_CTRL1_A_100HZ (0x50)
#define LSM303DLHC_CTRL1_A_200HZ (0x60)
#define LSM303DLHC_CTRL1_A_400HZ (0x70)
#define LSM303DLHC_CTRL1_A_1620HZ (0x80)
#define LSM303DLHC_CTRL1_A_N1344HZ_L5376HZ (0x90)
/** @} */
/**
* @name Masks for the LSM303DLHC CTRL3_A register
* @{
*/
#define LSM303DLHC_CTRL3_A_I1_CLICK (0x80)
#define LSM303DLHC_CTRL3_A_I1_AOI1 (0x40)
#define LSM303DLHC_CTRL3_A_I1_AOI2 (0x20)
#define LSM303DLHC_CTRL3_A_I1_DRDY1 (0x10)
#define LSM303DLHC_CTRL3_A_I1_DRDY2 (0x80)
#define LSM303DLHC_CTRL3_A_I1_WTM (0x40)
#define LSM303DLHC_CTRL3_A_I1_OVERRUN (0x20)
#define LSM303DLHC_CTRL3_A_I1_NONE (0x00)
/** @} */
/**
* @name Masks for the LSM303DLHC CTRL4_A register
* @{
*/
#define LSM303DLHC_CTRL4_A_BDU (0x80)
#define LSM303DLHC_CTRL4_A_BLE (0x40)
#define LSM303DLHC_CTRL4_A_SCALE_2G (0x00)
#define LSM303DLHC_CTRL4_A_SCALE_4G (0x10)
#define LSM303DLHC_CTRL4_A_SCALE_8G (0x20)
#define LSM303DLHC_CTRL4_A_SCALE_16G (0x30)
#define LSM303DLHC_CTRL4_A_HR (0x04)
/** @} */
/**
* @name Masks for the LSM303DLHC STATUS_A register
* @{
*/
#define LSM303DLHC_STATUS_ZYXOR (0x80)
#define LSM303DLHC_STATUS_ZOR (0x40)
#define LSM303DLHC_STATUS_YOR (0x20)
#define LSM303DLHC_STATUS_XOR (0x10)
#define LSM303DLHC_STATUS_ZYXDA (0x08)
#define LSM303DLHC_STATUS_ZDA (0x04)
#define LSM303DLHC_STATUS_YDA (0x02)
#define LSM303DLHC_STATUS_XDA (0x01)
/** *} */
/**
* @name Masks for the LSM303DLHC CTRL4_A register
* @{
*/
#define LSM303DLHC_REG_CTRL5_A_BOOT (0x80)
#define LSM303DLHC_REG_CTRL5_A_FIFO_EN (0x40)
/** @} */
/**
* @name LSM303DLHC magnetometer registers
* @{
*/
#define LSM303DLHC_REG_CRA_M (0x00)
#define LSM303DLHC_REG_CRB_M (0x01)
#define LSM303DLHC_REG_MR_M (0x02)
#define LSM303DLHC_REG_OUT_X_H_M (0x03)
#define LSM303DLHC_REG_OUT_X_L_M (0x04)
#define LSM303DLHC_REG_OUT_Y_H_M (0x05)
#define LSM303DLHC_REG_OUT_Y_L_M (0x06)
#define LSM303DLHC_REG_OUT_Z_H_M (0x07)
#define LSM303DLHC_REG_OUT_Z_L_M (0x08)
#define LSM303DLHC_REG_SR_M (0x09)
#define LSM303DLHC_REG_TEMP_OUT_L (0x32)
#define LSM303DLHC_REG_TEMP_OUT_H (0x31)
/** @} */
/**
* @name Masks for the LSM303DLHC CRA_REG_M register
* @{
*/
#define LSM303DLHC_TEMP_EN (0x80)
#define LSM303DLHC_TEMP_DIS (0x00)
#define LSM303DLHC_TEMP_SAMPLE_0_75HZ (0x00)
#define LSM303DLHC_TEMP_SAMPLE_1_5HZ (0x04)
#define LSM303DLHC_TEMP_SAMPLE_3HZ (0x08)
#define LSM303DLHC_TEMP_SAMPLE_7_5HZ (0x0c)
#define LSM303DLHC_TEMP_SAMPLE_15HZ (0x10)
#define LSM303DLHC_TEMP_SAMPLE_30HZ (0x14)
#define LSM303DLHC_TEMP_SAMPLE_75HZ (0x18)
#define LSM303DLHC_TEMP_SAMPLE_220HZ (0x1c)
/** @} */
/**
* @name Masks for the LSM303DLHC CRB_REG_M register
* @{
*/
#define LSM303DLHC_GAIN_1 (0x20)
#define LSM303DLHC_GAIN_2 (0x40)
#define LSM303DLHC_GAIN_3 (0x60)
#define LSM303DLHC_GAIN_4 (0x80)
#define LSM303DLHC_GAIN_5 (0xa0)
#define LSM303DLHC_GAIN_6 (0xc0)
#define LSM303DLHC_GAIN_7 (0xe0)
/** @} */
/**
* @name Masks for the LSM303DLHC MR_REG_M register
* @{
*/
#define LSM303DLHC_MAG_MODE_CONTINUOUS (0x00)
#define LSM303DLHC_MAG_MODE_SINGLE (0x01)
#define LSM303DLHC_MAG_MODE_SLEEP (0x02)
/** @} */
#ifdef __cplusplus
}
#endif
#endif /* __LSM303DLHC_INTERNAL_H */
/** @} */

209
drivers/lsm303dlhc/lsm303dlhc.c
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@ -0,0 +1,209 @@
/*
* 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 driver_lsm303dlhc
* @{
*
* @file
* @brief Device driver implementation for the LSM303DLHC light sensor
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
*
* @}
*/
#include "lsm303dlhc.h"
#include "lsm303dlhc-internal.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
int lsm303dlhc_init(lsm303dlhc_t *dev, i2c_t i2c, gpio_t acc_pin, gpio_t mag_pin,
uint8_t acc_address,
lsm303dlhc_acc_sample_rate_t acc_sample_rate,
lsm303dlhc_acc_scale_t acc_scale,
uint8_t mag_address,
lsm303dlhc_mag_sample_rate_t mag_sample_rate,
lsm303dlhc_mag_gain_t mag_gain)
{
int res;
char tmp;
dev->i2c = i2c;
dev->acc_address = acc_address;
dev->mag_address = mag_address;
i2c_init_master(i2c, I2C_SPEED_NORMAL);
DEBUG("lsm303dlhc reboot ");
res = i2c_write_reg(dev->i2c, dev->acc_address,
LSM303DLHC_REG_CTRL5_A, LSM303DLHC_REG_CTRL5_A_BOOT);
DEBUG("[OK]");
/* configure accelerometer */
/* enable all three axis and set sample rate */
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;
}

35
tests/driver_lsm303dlhc/Makefile
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@ -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

93
tests/driver_lsm303dlhc/main.c
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@ -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;
}
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