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#include <xc.h>
#include "main.h"
#include "LSM303.h"
#include "I2C.h"

void LSM303_Init(void) {
    // Enable accelerometer, normal power mode, all axes enabled (100Hz)
    char c[2] = {LSM303_CTRL_REG1_A, 0x57};
    I2C_Master_Send(ADDRESS_ACCL, &c, 2);
    while (!I2C_Get_Status());

    // Enable high resolution mode, +- 2G
    char d[2] = {LSM303_CTRL_REG4_A, 0x08};
    I2C_Master_Send(ADDRESS_ACCL, &d, 2);
    while (!I2C_Get_Status());

    // Enable magnetometer, continuous conversion mode
    char e[2] = {LSM303_MR_REG_M, 0x00};
    I2C_Master_Send(ADDRESS_MAGN, &e, 2);
    while (!I2C_Get_Status());

    char f[2] = {LSM303_CRA_REG_M, 0x18}; // (75Hz)
    I2C_Master_Send(ADDRESS_MAGN, &f, 2);
    while (!I2C_Get_Status());

//    LSM303_Set_Mag_Gain(magGain_40);
}

void LSM303_Set_Mag_Gain(magGain value) {
    char c[2];
    c[0] = LSM303_CRB_REG_M;
    c[1] = (char)value;
    I2C_Master_Send(ADDRESS_MAGN, &c, 2);
    while (!I2C_Get_Status());
}

void LSM303_Read_Accl(char *x_L, char *x_H, char *y_L, char *y_H, char *z_L, char *z_H) {
    char result, length, buffer[10] = {0};

    // Assert the MSB to autoincrement address
    char c = LSM303_OUT_X_L_A | 0x80;

    I2C_Master_Restart(ADDRESS_ACCL, c, 6);
    do {
        result = I2C_Get_Status();
    } while (!result);

    // Read received data
    length = I2C_Read_Buffer(buffer);

    // Data is received in low-high byte order
    *x_L = buffer[0];
    *x_H = buffer[1];
    *y_L = buffer[2];
    *y_H = buffer[3];
    *z_L = buffer[4];
    *z_H = buffer[5];
}

void LSM303_Read_Magn(char *x_L, char *x_H, char *y_L, char *y_H, char *z_L, char *z_H) {
    char result, length, buffer[10];

    // Assert the MSB to autoincrement address
    char c = LSM303_OUT_X_H_M;

    I2C_Master_Restart(ADDRESS_MAGN, c, 6);
    do {
        result = I2C_Get_Status();
    } while (!result);

    // Read received data
    length = I2C_Read_Buffer(buffer);

    // Data is received in high-low byte order
    *x_H = buffer[0];
    *x_L = buffer[1];
    *z_H = buffer[2];
    *z_L = buffer[3];
    *y_H = buffer[4];
    *y_L = buffer[5];
}