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