| 0,0 → 1,116 |
|---|
| #ifndef ACCEL_LSM303_H |
| #define ACCEL_LSM303_H |
| |
| // Device |
| #define LSM303DLH_DEVICE 0 |
| #define LSM303DLM_DEVICE 1 |
| #define LSM303DLHC_DEVICE 2 |
| |
| // SA0_A States |
| #define LSM303_SA0_A_LOW 0 |
| #define LSM303_SA0_A_HIGH 1 |
| |
| // Slave Addresses |
| #define MAG_ADDRESS (0x3C >> 1) |
| #define ACC_ADDRESS_SA0_A_LOW (0x30 >> 1) |
| #define ACC_ADDRESS_SA0_A_HIGH (0x32 >> 1) |
| |
| // Register Addresses |
| #define LSM303_CTRL_REG1_A 0x20 |
| #define LSM303_CTRL_REG2_A 0x21 |
| #define LSM303_CTRL_REG3_A 0x22 |
| #define LSM303_CTRL_REG4_A 0x23 |
| #define LSM303_CTRL_REG5_A 0x24 |
| #define LSM303_CTRL_REG6_A 0x25 // DLHC only |
| #define LSM303_HP_FILTER_RESET_A 0x25 // DLH, DLM only |
| #define LSM303_REFERENCE_A 0x26 |
| #define LSM303_STATUS_REG_A 0x27 |
| |
| #define LSM303_OUT_X_L_A 0x28 |
| #define LSM303_OUT_X_H_A 0x29 |
| #define LSM303_OUT_Y_L_A 0x2A |
| #define LSM303_OUT_Y_H_A 0x2B |
| #define LSM303_OUT_Z_L_A 0x2C |
| #define LSM303_OUT_Z_H_A 0x2D |
| |
| #define LSM303_FIFO_CTRL_REG_A 0x2E // DLHC only |
| #define LSM303_FIFO_SRC_REG_A 0x2F // DLHC only |
| |
| #define LSM303_INT1_CFG_A 0x30 |
| #define LSM303_INT1_SRC_A 0x31 |
| #define LSM303_INT1_THS_A 0x32 |
| #define LSM303_INT1_DURATION_A 0x33 |
| #define LSM303_INT2_CFG_A 0x34 |
| #define LSM303_INT2_SRC_A 0x35 |
| #define LSM303_INT2_THS_A 0x36 |
| #define LSM303_INT2_DURATION_A 0x37 |
| |
| #define LSM303_CLICK_CFG_A 0x38 // DLHC only |
| #define LSM303_CLICK_SRC_A 0x39 // DLHC only |
| #define LSM303_CLICK_THS_A 0x3A // DLHC only |
| #define LSM303_TIME_LIMIT_A 0x3B // DLHC only |
| #define LSM303_TIME_LATENCY_A 0x3C // DLHC only |
| #define LSM303_TIME_WINDOW_A 0x3D // DLHC only |
| |
| #define LSM303_CRA_REG_M 0x00 |
| #define LSM303_CRB_REG_M 0x01 |
| #define LSM303_MR_REG_M 0x02 |
| |
| #define LSM303_OUT_X_H_M 0x03 |
| #define LSM303_OUT_X_L_M 0x04 |
| #define LSM303_OUT_Y_H_M -1 // The addresses of the Y and Z magnetometer output registers |
| #define LSM303_OUT_Y_L_M -2 // are reversed on the DLM and DLHC relative to the DLH. |
| #define LSM303_OUT_Z_H_M -3 // These four defines have dummy values so the library can |
| #define LSM303_OUT_Z_L_M -4 // determine the correct address based on the device type. |
| |
| #define LSM303_SR_REG_M 0x09 |
| #define LSM303_IRA_REG_M 0x0A |
| #define LSM303_IRB_REG_M 0x0B |
| #define LSM303_IRC_REG_M 0x0C |
| |
| #define LSM303_WHO_AM_I_M 0x0F // DLM only |
| |
| #define LSM303_TEMP_OUT_H_M 0x31 // DLHC only |
| #define LSM303_TEMP_OUT_L_M 0x32 // DLHC only |
| |
| #define LSM303DLH_OUT_Y_H_M 0x05 |
| #define LSM303DLH_OUT_Y_L_M 0x06 |
| #define LSM303DLH_OUT_Z_H_M 0x07 |
| #define LSM303DLH_OUT_Z_L_M 0x08 |
| |
| #define LSM303DLM_OUT_Z_H_M 0x05 |
| #define LSM303DLM_OUT_Z_L_M 0x06 |
| #define LSM303DLM_OUT_Y_H_M 0x07 |
| #define LSM303DLM_OUT_Y_L_M 0x08 |
| |
| #define LSM303DLHC_OUT_Z_H_M 0x05 |
| #define LSM303DLHC_OUT_Z_L_M 0x06 |
| #define LSM303DLHC_OUT_Y_H_M 0x07 |
| #define LSM303DLHC_OUT_Y_L_M 0x08 |
| |
| typedef struct { |
| char acc_address; |
| char mag_address; |
| char device; |
| } LSM303_DATA; |
| |
| enum magGain { |
| magGain_13 = 0x20, magGain_19 = 0x40, |
| magGain_25 = 0x60, magGain_40 = 0x80, |
| magGain_47 = 0xA0, magGain_56 = 0xC0, |
| magGain_81 = 0xE0 |
| }; |
| |
| void LSM303_Init(LSM303_DATA *data, char device, char sa0); |
| void LSM303_Begin(void); |
| |
| void LSM303_Write_A_Reg(char reg, char value); |
| void LSM303_Write_M_Reg(char reg, char value); |
| |
| void LSM303_Set_Mag_Gain(enum magGain value); |
| |
| void LSM303_Read_Acc(int *x, int *y, int *z); |
| void LSM303_Read_Mag(int *x, int *y, int *z); |
| |
| #endif |
| |