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103 lines (93 loc) · 4.16 KB
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#define LSM303_ADDRESS_ACCEL (0x32 >> 1) // 0011001x
#define LSM303_ADDRESS_MAG (0x3C >> 1) // 0011110x
#define LSM303_ID (0b11010100)
typedef enum
{ // DEFAULT TYPE
LSM303_REGISTER_ACCEL_CTRL_REG1_A = 0x20, // 00000111 rw
LSM303_REGISTER_ACCEL_CTRL_REG2_A = 0x21, // 00000000 rw
LSM303_REGISTER_ACCEL_CTRL_REG3_A = 0x22, // 00000000 rw
LSM303_REGISTER_ACCEL_CTRL_REG4_A = 0x23, // 00000000 rw
LSM303_REGISTER_ACCEL_CTRL_REG5_A = 0x24, // 00000000 rw
LSM303_REGISTER_ACCEL_CTRL_REG6_A = 0x25, // 00000000 rw
LSM303_REGISTER_ACCEL_REFERENCE_A = 0x26, // 00000000 r
LSM303_REGISTER_ACCEL_STATUS_REG_A = 0x27, // 00000000 r
LSM303_REGISTER_ACCEL_OUT_X_L_A = 0x28,
LSM303_REGISTER_ACCEL_OUT_X_H_A = 0x29,
LSM303_REGISTER_ACCEL_OUT_Y_L_A = 0x2A,
LSM303_REGISTER_ACCEL_OUT_Y_H_A = 0x2B,
LSM303_REGISTER_ACCEL_OUT_Z_L_A = 0x2C,
LSM303_REGISTER_ACCEL_OUT_Z_H_A = 0x2D,
LSM303_REGISTER_ACCEL_FIFO_CTRL_REG_A = 0x2E,
LSM303_REGISTER_ACCEL_FIFO_SRC_REG_A = 0x2F,
LSM303_REGISTER_ACCEL_INT1_CFG_A = 0x30,
LSM303_REGISTER_ACCEL_INT1_SOURCE_A = 0x31,
LSM303_REGISTER_ACCEL_INT1_THS_A = 0x32,
LSM303_REGISTER_ACCEL_INT1_DURATION_A = 0x33,
LSM303_REGISTER_ACCEL_INT2_CFG_A = 0x34,
LSM303_REGISTER_ACCEL_INT2_SOURCE_A = 0x35,
LSM303_REGISTER_ACCEL_INT2_THS_A = 0x36,
LSM303_REGISTER_ACCEL_INT2_DURATION_A = 0x37,
LSM303_REGISTER_ACCEL_CLICK_CFG_A = 0x38,
LSM303_REGISTER_ACCEL_CLICK_SRC_A = 0x39,
LSM303_REGISTER_ACCEL_CLICK_THS_A = 0x3A,
LSM303_REGISTER_ACCEL_TIME_LIMIT_A = 0x3B,
LSM303_REGISTER_ACCEL_TIME_LATENCY_A = 0x3C,
LSM303_REGISTER_ACCEL_TIME_WINDOW_A = 0x3D
} lsm303AccelRegisters_t;
typedef enum
{
LSM303_REGISTER_MAG_CRA_REG_M = 0x00,
LSM303_REGISTER_MAG_CRB_REG_M = 0x01,
LSM303_REGISTER_MAG_MR_REG_M = 0x02,
LSM303_REGISTER_MAG_OUT_X_H_M = 0x03,
LSM303_REGISTER_MAG_OUT_X_L_M = 0x04,
LSM303_REGISTER_MAG_OUT_Z_H_M = 0x05,
LSM303_REGISTER_MAG_OUT_Z_L_M = 0x06,
LSM303_REGISTER_MAG_OUT_Y_H_M = 0x07,
LSM303_REGISTER_MAG_OUT_Y_L_M = 0x08,
LSM303_REGISTER_MAG_SR_REG_Mg = 0x09,
LSM303_REGISTER_MAG_IRA_REG_M = 0x0A,
LSM303_REGISTER_MAG_IRB_REG_M = 0x0B,
LSM303_REGISTER_MAG_IRC_REG_M = 0x0C,
LSM303_REGISTER_MAG_TEMP_OUT_H_M = 0x31,
LSM303_REGISTER_MAG_TEMP_OUT_L_M = 0x32
} lsm303MagRegisters_t;
typedef enum
{
LSM303_MAGGAIN_1_3 = 0x20, // +/- 1.3
LSM303_MAGGAIN_1_9 = 0x40, // +/- 1.9
LSM303_MAGGAIN_2_5 = 0x60, // +/- 2.5
LSM303_MAGGAIN_4_0 = 0x80, // +/- 4.0
LSM303_MAGGAIN_4_7 = 0xA0, // +/- 4.7
LSM303_MAGGAIN_5_6 = 0xC0, // +/- 5.6
LSM303_MAGGAIN_8_1 = 0xE0 // +/- 8.1
} lsm303MagGain;
typedef struct lsm303AccelData_s
{
float x;
float y;
float z;
} lsm303AccelData;
typedef struct lsm303MagData_s
{
float x;
float y;
float z;
float orientation;
} lsm303MagData;
int lsm303_begin();
int lsm303_heading();
void lsm303_setMagGain(lsm303MagGain gain);
void lsm303_accel_read();
void lsm303_mag_read();
void lsm303_start();
void lsm303_stop();
void lsm303_poll();
volatile lsm303AccelData accelData; // Last read accelerometer data will be available here
volatile lsm303MagData magData; // Last read magnetometer data will be available here
static float _lsm303Accel_MG_LSB = 0.001F; // 1, 2, 4 or 12 mg per lsb
static float _lsm303Mag_Gauss_LSB_XY = 1100.0F; // Varies with gain
static float _lsm303Mag_Gauss_LSB_Z = 980.0F; // Varies with gain
static float Pi = 3.14159F;
void lsm303_write8(char address, char reg, char value);
char lsm303_read8(char address, char reg);