You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 
 
 

80 lines
2.0 KiB

/*
* Copyright (C) 2015 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 LSM303DLHC adaption to the RIOT actuator/sensor interface
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <string.h>
#include "saul.h"
#include "lsm303dlhc.h"
static int read_acc(void *dev, phydat_t *res)
{
lsm303dlhc_t *d = (lsm303dlhc_t *)dev;
lsm303dlhc_read_acc(d, (lsm303dlhc_3d_data_t *)res);
/* normalize result */
int fac = (1 << (d->acc_scale >> 4));
for (int i = 0; i < 3; i++) {
res->val[i] *= fac;
}
res->unit = UNIT_G;
res->scale = -3;
return 3;
}
static int read_mag(void *dev, phydat_t *res)
{
lsm303dlhc_t *d = (lsm303dlhc_t *)dev;
lsm303dlhc_read_mag(d, (lsm303dlhc_3d_data_t *)res);
/* normalize results */
int gain;
switch (d->mag_gain) {
case LSM303DLHC_MAG_GAIN_1100_980_GAUSS: gain = 1100; break;
case LSM303DLHC_MAG_GAIN_855_760_GAUSS: gain = 855; break;
case LSM303DLHC_MAG_GAIN_670_600_GAUSS: gain = 670; break;
case LSM303DLHC_MAG_GAIN_450_400_GAUSS: gain = 450; break;
case LSM303DLHC_MAG_GAIN_400_355_GAUSS: gain = 400; break;
case LSM303DLHC_MAG_GAIN_330_295_GAUSS: gain = 330; break;
case LSM303DLHC_MAG_GAIN_230_205_GAUSS: gain = 230; break;
default: gain = 1000; break;
}
for (int i = 0; i < 3; i++) {
int32_t tmp = res->val[i] * 1000;
tmp /= gain;
res->val[i] = (int16_t)tmp;
}
res->unit = UNIT_GS;
res->scale = -3;
return 3;
}
const saul_driver_t lsm303dlhc_saul_acc_driver = {
.read = read_acc,
.write = saul_notsup,
.type = SAUL_SENSE_ACCEL,
};
const saul_driver_t lsm303dlhc_saul_mag_driver = {
.read = read_mag,
.write = saul_notsup,
.type = SAUL_SENSE_MAG,
};