LSM303DLHC

Collaboration diagram for LSM303DLHC:

Detailed Description

Macros
#define	lsm303dlhcAccelerometerGetAxesNumber(devp)   accelerometerGetAxesNumber(&((devp)->acc_if))
	Return the number of axes of the BaseAccelerometer. More...
#define	lsm303dlhcAccelerometerReadRaw(devp, axes)   accelerometerReadRaw(&((devp)->acc_if), axes)
	Retrieves raw data from the BaseAccelerometer. More...
#define	lsm303dlhcAccelerometerReadCooked(devp, axes)   accelerometerReadCooked(&((devp)->acc_if), axes)
	Retrieves cooked data from the BaseAccelerometer. More...
#define	lsm303dlhcAccelerometerSetBias(devp, bp)   accelerometerSetBias(&((devp)->acc_if), bp)
	Set bias values for the BaseAccelerometer. More...
#define	lsm303dlhcAccelerometerResetBias(devp)   accelerometerResetBias(&((devp)->acc_if))
	Reset bias values for the BaseAccelerometer. More...
#define	lsm303dlhcAccelerometerSetSensitivity(devp, sp)   accelerometerSetSensitivity(&((devp)->acc_if), sp)
	Set sensitivity values for the BaseAccelerometer. More...
#define	lsm303dlhcAccelerometerResetSensitivity(devp)   accelerometerResetSensitivity(&((devp)->acc_if))
	Reset sensitivity values for the BaseAccelerometer. More...
#define	lsm303dlhcAccelerometerSetFullScale(devp, fs)   (devp)->vmt->acc_set_full_scale(devp, fs)
	Changes the LSM303DLHCDriver accelerometer fullscale value. More...
#define	lsm303dlhcCompassGetAxesNumber(devp)   compassGetAxesNumber(&((devp)->comp_if))
	Return the number of axes of the BaseCompass. More...
#define	lsm303dlhcCompassReadRaw(devp, axes)   compassReadRaw(&((devp)->comp_if), axes)
	Retrieves raw data from the BaseCompass. More...
#define	lsm303dlhcCompassReadCooked(devp, axes)   compassReadCooked(&((devp)->comp_if), axes)
	Retrieves cooked data from the BaseCompass. More...
#define	lsm303dlhcCompassSetBias(devp, bp)   compassSetBias(&((devp)->comp_if), bp)
	Set bias values for the BaseCompass. More...
#define	lsm303dlhcCompassResetBias(devp)   compassResetBias(&((devp)->comp_if))
	Reset bias values for the BaseCompass. More...
#define	lsm303dlhcCompassSetSensitivity(devp, sp)   compassSetSensitivity(&((devp)->comp_if), sp)
	Set sensitivity values for the BaseCompass. More...
#define	lsm303dlhcCompassResetSensitivity(devp)   compassResetSensitivity(&((devp)->comp_if))
	Reset sensitivity values for the BaseCompass. More...
#define	lsm303dlhcCompassSetFullScale(devp, fs)   (devp)->vmt->comp_set_full_scale(devp, fs)
	Changes the LSM303DLHCDriver compass fullscale value. More...

Version identification
#define	EX_LSM303DLHC_VERSION   "1.1.2"
	LSM303DLHC driver version string. More...
#define	EX_LSM303DLHC_MAJOR   1
	LSM303DLHC driver version major number. More...
#define	EX_LSM303DLHC_MINOR   1
	LSM303DLHC driver version minor number. More...
#define	EX_LSM303DLHC_PATCH   2
	LSM303DLHC driver version patch number. More...
#define	LSM303DLHC_ACC_NUMBER_OF_AXES   3U
	LSM303DLHC accelerometer subsystem characteristics. More...
#define	LSM303DLHC_COMP_NUMBER_OF_AXES   3U
	LSM303DLHC compass subsystem characteristics. More...

LSM303DLHC communication interfaces related bit masks
#define	LSM303DLHC_DI_MASK   0xFF
#define	LSM303DLHC_DI(n)   (1 << n)
#define	LSM303DLHC_AD_MASK   0x7F
#define	LSM303DLHC_AD(n)   (1 << n)
#define	LSM303DLHC_MS   (1 << 7)

LSM303DLHC register addresses
#define	LSM303DLHC_AD_ACC_CTRL_REG1   0x20
#define	LSM303DLHC_AD_ACC_CTRL_REG2   0x21
#define	LSM303DLHC_AD_ACC_CTRL_REG3   0x22
#define	LSM303DLHC_AD_ACC_CTRL_REG4   0x23
#define	LSM303DLHC_AD_ACC_CTRL_REG5   0x24
#define	LSM303DLHC_AD_ACC_CTRL_REG6   0x25
#define	LSM303DLHC_AD_ACC_REFERENCE   0x26
#define	LSM303DLHC_AD_ACC_STATUS_REG   0x27
#define	LSM303DLHC_AD_ACC_OUT_X_L   0x28
#define	LSM303DLHC_AD_ACC_OUT_X_H   0x29
#define	LSM303DLHC_AD_ACC_OUT_Y_L   0x2A
#define	LSM303DLHC_AD_ACC_OUT_Y_H   0x2B
#define	LSM303DLHC_AD_ACC_OUT_Z_L   0x2C
#define	LSM303DLHC_AD_ACC_OUT_Z_H   0x2D
#define	LSM303DLHC_AD_ACC_FIFO_CTRL_REG   0x2E
#define	LSM303DLHC_AD_ACC_FIFO_SRC_REG   0x2F
#define	LSM303DLHC_AD_ACC_INT1_CFG   0x30
#define	LSM303DLHC_AD_ACC_INT1_SRC   0x31
#define	LSM303DLHC_AD_ACC_INT1_THS   0x32
#define	LSM303DLHC_AD_ACC_INT1_DURATION   0x33
#define	LSM303DLHC_AD_ACC_INT2_CFG   0x34
#define	LSM303DLHC_AD_ACC_INT2_SRC   0x35
#define	LSM303DLHC_AD_ACC_INT2_THS   0x36
#define	LSM303DLHC_AD_ACC_INT2_DURATION   0x37
#define	LSM303DLHC_AD_ACC_CLICK_CFG   0x38
#define	LSM303DLHC_AD_ACC_CLICK_SRC   0x39
#define	LSM303DLHC_AD_ACC_CLICK_THS   0x3A
#define	LSM303DLHC_AD_ACC_TIME_LIMIT   0x3B
#define	LSM303DLHC_AD_ACC_TIME_LATENCY   0x3C
#define	LSM303DLHC_AD_ACC_TIME_WINDOW   0x3D
#define	LSM303DLHC_AD_COMP_CRA_REG   0x00
#define	LSM303DLHC_AD_COMP_CRB_REG   0x01
#define	LSM303DLHC_AD_COMP_MR_REG   0x02
#define	LSM303DLHC_AD_COMP_OUT_X_H   0x03
#define	LSM303DLHC_AD_COMP_OUT_X_L   0x04
#define	LSM303DLHC_AD_COMP_OUT_Z_H   0x05
#define	LSM303DLHC_AD_COMP_OUT_Z_L   0x06
#define	LSM303DLHC_AD_COMP_OUT_Y_H   0x07
#define	LSM303DLHC_AD_COMP_OUT_Y_L   0x08
#define	LSM303DLHC_AD_COMP_SR_REG   0x09
#define	LSM303DLHC_AD_COMP_IRA_REG   0x0A
#define	LSM303DLHC_AD_COMP_IRB_REG   0x0B
#define	LSM303DLHC_AD_COMP_IRC_REG   0x0C
#define	LSM303DLHC_AD_COMP_TEMP_OUT_H   0x31
#define	LSM303DLHC_AD_COMP_TEMP_OUT_L   0x32

LSM303DLHC_CTRL_REG1_A register bits definitions
#define	LSM303DLHC_CTRL_REG1_A_MASK   0xFF
#define	LSM303DLHC_CTRL_REG1_A_XEN   (1 << 0)
#define	LSM303DLHC_CTRL_REG1_A_YEN   (1 << 1)
#define	LSM303DLHC_CTRL_REG1_A_ZEN   (1 << 2)
#define	LSM303DLHC_CTRL_REG1_A_LPEN   (1 << 3)
#define	LSM303DLHC_CTRL_REG1_A_ODR0   (1 << 4)
#define	LSM303DLHC_CTRL_REG1_A_ODR1   (1 << 5)
#define	LSM303DLHC_CTRL_REG1_A_ODR2   (1 << 6)
#define	LSM303DLHC_CTRL_REG1_A_ODR3   (1 << 7)

LSM303DLHC_CTRL_REG2_A register bits definitions
#define	LSM303DLHC_CTRL_REG2_A_MASK   0xFF
#define	LSM303DLHC_CTRL_REG2_A_HPIS1   (1 << 0)
#define	LSM303DLHC_CTRL_REG2_A_HPIS2   (1 << 1)
#define	LSM303DLHC_CTRL_REG2_A_HPCLICK   (1 << 2)
#define	LSM303DLHC_CTRL_REG2_A_FDS   (1 << 3)
#define	LSM303DLHC_CTRL_REG2_A_HPCF1   (1 << 4)
#define	LSM303DLHC_CTRL_REG2_A_HPCF2   (1 << 5)
#define	LSM303DLHC_CTRL_REG2_A_HPM0   (1 << 6)
#define	LSM303DLHC_CTRL_REG2_A_HPM1   (1 << 7)

LSM303DLHC_CTRL_REG3_A register bits definitions
#define	LSM303DLHC_CTRL_REG3_A_MASK   0xFD
#define	LSM303DLHC_CTRL_REG3_A_I1_OVERRUN   (1 << 1)
#define	LSM303DLHC_CTRL_REG3_A_I1_WTM   (1 << 2)
#define	LSM303DLHC_CTRL_REG3_A_I1_DRDY2   (1 << 3)
#define	LSM303DLHC_CTRL_REG3_A_I1_DRDY1   (1 << 4)
#define	LSM303DLHC_CTRL_REG3_A_I1_AOI2   (1 << 5)
#define	LSM303DLHC_CTRL_REG3_A_I1_AOI1   (1 << 6)
#define	LSM303DLHC_CTRL_REG3_A_I1_CLICK   (1 << 7)

LSM303DLHC_CTRL_REG4_A register bits definitions
#define	LSM303DLHC_CTRL_REG4_A_MASK   0xF9
#define	LSM303DLHC_CTRL_REG4_A_SIM   (1 << 0)
#define	LSM303DLHC_CTRL_REG4_A_HR   (1 << 3)
#define	LSM303DLHC_CTRL_REG4_A_FS_MASK   0x30
#define	LSM303DLHC_CTRL_REG4_A_FS0   (1 << 4)
#define	LSM303DLHC_CTRL_REG4_A_FS1   (1 << 5)
#define	LSM303DLHC_CTRL_REG4_A_BLE   (1 << 6)
#define	LSM303DLHC_CTRL_REG4_A_BDU   (1 << 7)

LSM303DLHC_CTRL_REG5_A register bits definitions
#define	LSM303DLHC_CTRL_REG5_A_MASK   0xCF
#define	LSM303DLHC_CTRL_REG5_A_D4D_INT2   (1 << 0)
#define	LSM303DLHC_CTRL_REG5_A_LIR_INT2   (1 << 1)
#define	LSM303DLHC_CTRL_REG5_A_D4D_INT1   (1 << 2)
#define	LSM303DLHC_CTRL_REG5_A_LIR_INT1   (1 << 3)
#define	LSM303DLHC_CTRL_REG5_A_FIFO_EN   (1 << 6)
#define	LSM303DLHC_CTRL_REG5_A_BOOT   (1 << 7)

LSM303DLHC_CTRL_REG6_A register bits definitions
#define	LSM303DLHC_CTRL_REG6_A_MASK   0xFA
#define	LSM303DLHC_CTRL_REG6_A_H_LACTIVE   (1 << 1)
#define	LSM303DLHC_CTRL_REG6_A_P2_ACT   (1 << 3)
#define	LSM303DLHC_CTRL_REG6_A_BOOT_I1   (1 << 4)
#define	LSM303DLHC_CTRL_REG6_A_I2_INT2   (1 << 5)
#define	LSM303DLHC_CTRL_REG6_A_I2_INT1   (1 << 6)
#define	LSM303DLHC_CTRL_REG6_A_I2_CLICKEN   (1 << 7)

LSM303DLHC_CRA_REG_M register bits definitions
#define	LSM303DLHC_CRA_REG_M_MASK   0x9C
#define	LSM303DLHC_CRA_REG_M_DO0   (1 << 2)
#define	LSM303DLHC_CRA_REG_M_DO1   (1 << 3)
#define	LSM303DLHC_CRA_REG_M_DO2   (1 << 4)
#define	LSM303DLHC_CRA_REG_M_TEMP_EN   (1 << 7)

LSM303DLHC_CRB_REG_M register bits definitions
#define	LSM303DLHC_CRB_REG_M_MASK   0xE0
#define	LSM303DLHC_CRB_REG_M_GN_MASK   0xE0
#define	LSM303DLHC_CRB_REG_M_GN0   (1 << 5)
#define	LSM303DLHC_CRB_REG_M_GN1   (1 << 6)
#define	LSM303DLHC_CRB_REG_M_GN2   (1 << 7)
#define	LSM303DLHC_MR_REG_M_MASK   0x03
#define	LSM303DLHC_MR_REG_M_MD0   (1 << 0)
#define	LSM303DLHC_MR_REG_M_MD1   (1 << 1)

Configuration options
#define	LSM303DLHC_USE_SPI   FALSE
	LSM303DLHC SPI interface switch. More...
#define	LSM303DLHC_SHARED_SPI   FALSE
	LSM303DLHC shared SPI switch. More...
#define	LSM303DLHC_USE_I2C   TRUE
	LSM303DLHC I2C interface switch. More...
#define	LSM303DLHC_SHARED_I2C   FALSE
	LSM303DLHC shared I2C switch. More...
#define	LSM303DLHC_USE_ADVANCED   FALSE
	LSM303DLHC advanced configurations switch. More...

LSM303DLHC accelerometer subsystem data structures and types.
Todo: Add support for LSM303DLHC over SPI.
typedef struct LSM303DLHCDriver	LSM303DLHCDriver
	Structure representing a LSM303DLHC driver. More...

LSM303DLHC compass subsystem data structures and types.

LSM303DLHC main system data structures and types.
#define	_lsm303dlhc_methods_alone
	LSM303DLHC specific methods. More...
#define	_lsm303dlhc_methods
	LSM303DLHC specific methods with inherited ones. More...
#define	_lsm303dlhc_data
	LSM303DLHCDriver specific data. More...

Data Structures
struct	LSM303DLHCConfig
	LSM303DLHC configuration structure. More...
struct	LSM303DLHCVMT
	LSM303DLHC virtual methods table. More...
struct	LSM303DLHCDriver
	LSM303DLHC 6-axis accelerometer/compass class. More...

Functions
static msg_t	lsm303dlhcI2CReadRegister (I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t reg, uint8_t *rxbuf, size_t n)
	Reads registers value using I2C. More...
static msg_t	lsm303dlhcI2CWriteRegister (I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t *txbuf, size_t n)
	Writes a value into a register using I2C. More...
static size_t	acc_get_axes_number (void *ip)
	Return the number of axes of the BaseAccelerometer. More...
static msg_t	acc_read_raw (void *ip, int32_t axes[])
	Retrieves raw data from the BaseAccelerometer. More...
static msg_t	acc_read_cooked (void *ip, float axes[])
	Retrieves cooked data from the BaseAccelerometer. More...
static msg_t	acc_set_bias (void *ip, float *bp)
	Set bias values for the BaseAccelerometer. More...
static msg_t	acc_reset_bias (void *ip)
	Reset bias values for the BaseAccelerometer. More...
static msg_t	acc_set_sensivity (void *ip, float *sp)
	Set sensitivity values for the BaseAccelerometer. More...
static msg_t	acc_reset_sensivity (void *ip)
	Reset sensitivity values for the BaseAccelerometer. More...
static msg_t	acc_set_full_scale (LSM303DLHCDriver *devp, lsm303dlhc_acc_fs_t fs)
	Changes the LSM303DLHCDriver accelerometer fullscale value. More...
static size_t	comp_get_axes_number (void *ip)
	Return the number of axes of the BaseCompass. More...
static msg_t	comp_read_raw (void *ip, int32_t axes[])
	Retrieves raw data from the BaseCompass. More...
static msg_t	comp_read_cooked (void *ip, float axes[])
	Retrieves cooked data from the BaseCompass. More...
static msg_t	comp_set_bias (void *ip, float *bp)
	Set bias values for the BaseCompass. More...
static msg_t	comp_reset_bias (void *ip)
	Reset bias values for the BaseCompass. More...
static msg_t	comp_set_sensivity (void *ip, float *sp)
	Set sensitivity values for the BaseCompass. More...
static msg_t	comp_reset_sensivity (void *ip)
	Reset sensitivity values for the BaseCompass. More...
static msg_t	comp_set_full_scale (LSM303DLHCDriver *devp, lsm303dlhc_comp_fs_t fs)
	Changes the LSM303DLHCDriver compass fullscale value. More...
void	lsm303dlhcObjectInit (LSM303DLHCDriver *devp)
	Initializes an instance. More...
void	lsm303dlhcStart (LSM303DLHCDriver *devp, const LSM303DLHCConfig *config)
	Configures and activates LSM303DLHC Complex Driver peripheral. More...
void	lsm303dlhcStop (LSM303DLHCDriver *devp)
	Deactivates the LSM303DLHC Complex Driver peripheral. More...

Enumerations

Macro Definition Documentation

#define EX_LSM303DLHC_VERSION   "1.1.2"

LSM303DLHC driver version string.

Definition at line 46 of file lsm303dlhc.h.

#define EX_LSM303DLHC_MAJOR   1

LSM303DLHC driver version major number.

Definition at line 51 of file lsm303dlhc.h.

#define EX_LSM303DLHC_MINOR   1

LSM303DLHC driver version minor number.

Definition at line 56 of file lsm303dlhc.h.

#define EX_LSM303DLHC_PATCH   2

LSM303DLHC driver version patch number.

Definition at line 61 of file lsm303dlhc.h.

#define LSM303DLHC_ACC_NUMBER_OF_AXES   3U

LSM303DLHC accelerometer subsystem characteristics.

Note

Sensitivity is expressed as milli-G/LSB whereas 1 milli-G = 0.00980665 m/s^2.

Bias is expressed as milli-G.

Definition at line 72 of file lsm303dlhc.h.

Referenced by acc_get_axes_number(), acc_read_cooked(), acc_read_raw(), acc_reset_bias(), acc_reset_sensivity(), acc_set_bias(), acc_set_full_scale(), acc_set_sensivity(), lsm303dlhcObjectInit(), and lsm303dlhcStart().

#define LSM303DLHC_COMP_NUMBER_OF_AXES   3U

LSM303DLHC compass subsystem characteristics.

Note

Sensitivity is expressed as G/LSB whereas G stands for Gauss.

Bias is expressed as G.

Definition at line 94 of file lsm303dlhc.h.

Referenced by comp_get_axes_number(), comp_read_cooked(), comp_read_raw(), comp_reset_bias(), comp_reset_sensivity(), comp_set_bias(), comp_set_full_scale(), comp_set_sensivity(), lsm303dlhcObjectInit(), and lsm303dlhcStart().

#define LSM303DLHC_USE_SPI   FALSE

LSM303DLHC SPI interface switch.

If set to TRUE the support for SPI is included.

Note

The default is FALSE.

Definition at line 313 of file lsm303dlhc.h.

#define LSM303DLHC_SHARED_SPI   FALSE

LSM303DLHC shared SPI switch.

If set to TRUE the device acquires SPI bus ownership on each transaction.

Note

The default is FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.

Definition at line 323 of file lsm303dlhc.h.

#define LSM303DLHC_USE_I2C   TRUE

LSM303DLHC I2C interface switch.

If set to TRUE the support for I2C is included.

Note

The default is TRUE.

Definition at line 332 of file lsm303dlhc.h.

#define LSM303DLHC_SHARED_I2C   FALSE

LSM303DLHC shared I2C switch.

If set to TRUE the device acquires I2C bus ownership on each transaction.

Note

The default is FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.

Definition at line 342 of file lsm303dlhc.h.

#define LSM303DLHC_USE_ADVANCED   FALSE

LSM303DLHC advanced configurations switch.

If set to TRUE more configurations are available.

Note

The default is FALSE.

Definition at line 351 of file lsm303dlhc.h.

#define _lsm303dlhc_methods_alone

Value:

/* Change full scale value of LSM303DLHC accelerometer subsystem.*/       \
  msg_t (*acc_set_full_scale)(LSM303DLHCDriver *devp,                       \
                              lsm303dlhc_acc_fs_t fs);                      \
  /* Change full scale value of LSM303DLHC compass subsystem.*/             \
  msg_t (*comp_set_full_scale)(LSM303DLHCDriver *devp,                      \
                              lsm303dlhc_comp_fs_t fs);                     \

LSM303DLHC specific methods.

Definition at line 597 of file lsm303dlhc.h.

#define _lsm303dlhc_methods

Value:

_base_object_methods                                                      \
  _lsm303dlhc_methods_alone

LSM303DLHC specific methods with inherited ones.

Definition at line 608 of file lsm303dlhc.h.

#define _lsm303dlhc_data

Value:

_base_sensor_data                                                         \
  /* Driver state.*/                                                        \
  lsm303dlhc_state_t        state;                                          \
  /* Current configuration data.*/                                          \
  const LSM303DLHCConfig    *config;                                        \
  /* Accelerometer subsystem axes number.*/                                 \
  size_t                    accaxes;                                        \
  /* Accelerometer subsystem current sensitivity.*/                         \
  float                     accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES];  \
  /* Accelerometer subsystem current bias .*/                               \
  float                     accbias[LSM303DLHC_ACC_NUMBER_OF_AXES];         \
  /* Accelerometer subsystem current full scale value.*/                    \
  float                     accfullscale;                                   \
  /* Compass subsystem axes number.*/                                       \
  size_t                    compaxes;                                       \
  /* Compass subsystem current sensitivity.*/                               \
  float                     compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\
  /* Compass subsystem current bias.*/                                      \
  float                     compbias[LSM303DLHC_COMP_NUMBER_OF_AXES];       \
  /* Compass subsystem current full scale value.*/                          \
  float                     compfullscale;

LSM303DLHCDriver specific data.

Definition at line 624 of file lsm303dlhc.h.

#define lsm303dlhcAccelerometerGetAxesNumber

(

devp

)

accelerometerGetAxesNumber(&((devp)->acc_if))

Return the number of axes of the BaseAccelerometer.

Parameters

[in]

devp

pointer to LSM303DLHCDriver.

Returns

the number of axes.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 674 of file lsm303dlhc.h.

#define lsm303dlhcAccelerometerReadRaw	(		devp,
			axes
	)		accelerometerReadRaw(&((devp)->acc_if), axes)

Retrieves raw data from the BaseAccelerometer.

Note

This data is retrieved from MEMS register without any algebraical manipulation.

The axes array must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	devp	pointer to LSM303DLHCDriver.
[out]	axes	a buffer which would be filled with raw data.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using i2cGetErrors().
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 695 of file lsm303dlhc.h.

#define lsm303dlhcAccelerometerReadCooked	(		devp,
			axes
	)		accelerometerReadCooked(&((devp)->acc_if), axes)

Retrieves cooked data from the BaseAccelerometer.

Note

This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.

Final data is expressed as milli-G.

The axes array must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	devp	pointer to LSM303DLHCDriver.
[out]	axes	a buffer which would be filled with cooked data.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using i2cGetErrors().
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 717 of file lsm303dlhc.h.

#define lsm303dlhcAccelerometerSetBias	(		devp,
			bp
	)		accelerometerSetBias(&((devp)->acc_if), bp)

Set bias values for the BaseAccelerometer.

Note

Bias must be expressed as milli-G.

The bias buffer must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	devp	pointer to LSM303DLHCDriver.
[in]	bp	a buffer which contains biases.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 734 of file lsm303dlhc.h.

#define lsm303dlhcAccelerometerResetBias

(

devp

)

accelerometerResetBias(&((devp)->acc_if))

Reset bias values for the BaseAccelerometer.

Note

Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in]

devp

pointer to LSM303DLHCDriver.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 749 of file lsm303dlhc.h.

#define lsm303dlhcAccelerometerSetSensitivity	(		devp,
			sp
	)		accelerometerSetSensitivity(&((devp)->acc_if), sp)

Set sensitivity values for the BaseAccelerometer.

Note

Sensitivity must be expressed as milli-G/LSB.

The sensitivity buffer must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	devp	pointer to LSM303DLHCDriver.
[in]	sp	a buffer which contains sensitivities.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 766 of file lsm303dlhc.h.

#define lsm303dlhcAccelerometerResetSensitivity

(

devp

)

accelerometerResetSensitivity(&((devp)->acc_if))

Reset sensitivity values for the BaseAccelerometer.

Note

Default sensitivities value are obtained from device datasheet.

Parameters

[in]

devp

pointer to LSM303DLHCDriver.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 781 of file lsm303dlhc.h.

#define lsm303dlhcAccelerometerSetFullScale	(		devp,
			fs
	)		(devp)->vmt->acc_set_full_scale(devp, fs)

Changes the LSM303DLHCDriver accelerometer fullscale value.

Note

This function also rescale sensitivities and biases based on previous and next fullscale value.

A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to LSM303DLHCDriver.
[in]	fs	new fullscale value.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 799 of file lsm303dlhc.h.

#define lsm303dlhcCompassGetAxesNumber

(

devp

)

compassGetAxesNumber(&((devp)->comp_if))

Return the number of axes of the BaseCompass.

Parameters

[in]

devp

pointer to LSM303DLHCDriver.

Returns

the number of axes.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 811 of file lsm303dlhc.h.

#define lsm303dlhcCompassReadRaw	(		devp,
			axes
	)		compassReadRaw(&((devp)->comp_if), axes)

Retrieves raw data from the BaseCompass.

Note

This data is retrieved from MEMS register without any algebraical manipulation.

The axes array must be at least the same size of the BaseCompass axes number.

Parameters

[in]	devp	pointer to BaseCompass interface.
[out]	axes	a buffer which would be filled with raw data.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using i2cGetErrors().
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 832 of file lsm303dlhc.h.

#define lsm303dlhcCompassReadCooked	(		devp,
			axes
	)		compassReadCooked(&((devp)->comp_if), axes)

Retrieves cooked data from the BaseCompass.

Note

This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.

Final data is expressed as G.

The axes array must be at least the same size of the BaseCompass axes number.

Parameters

[in]	devp	pointer to BaseCompass interface.
[out]	axes	a buffer which would be filled with cooked data.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using i2cGetErrors().
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 854 of file lsm303dlhc.h.

#define lsm303dlhcCompassSetBias	(		devp,
			bp
	)		compassSetBias(&((devp)->comp_if), bp)

Set bias values for the BaseCompass.

Note

Bias must be expressed as G.

The bias buffer must be at least the same size of the BaseCompass axes number.

Parameters

[in]	devp	pointer to BaseCompass interface.
[in]	bp	a buffer which contains biases.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 871 of file lsm303dlhc.h.

#define lsm303dlhcCompassResetBias

(

devp

)

compassResetBias(&((devp)->comp_if))

Reset bias values for the BaseCompass.

Note

Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in]

devp

pointer to LSM303DLHCDriver.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 886 of file lsm303dlhc.h.

#define lsm303dlhcCompassSetSensitivity	(		devp,
			sp
	)		compassSetSensitivity(&((devp)->comp_if), sp)

Set sensitivity values for the BaseCompass.

Note

Sensitivity must be expressed as G/LSB.

The sensitivity buffer must be at least the same size of the BaseCompass axes number.

Parameters

[in]	devp	pointer to LSM303DLHCDriver.
[in]	sp	a buffer which contains sensitivities.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 903 of file lsm303dlhc.h.

#define lsm303dlhcCompassResetSensitivity

(

devp

)

compassResetSensitivity(&((devp)->comp_if))

Reset sensitivity values for the BaseCompass.

Note

Default sensitivities value are obtained from device datasheet.

Parameters

[in]

devp

pointer to LSM303DLHCDriver.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 918 of file lsm303dlhc.h.

#define lsm303dlhcCompassSetFullScale	(		devp,
			fs
	)		(devp)->vmt->comp_set_full_scale(devp, fs)

Changes the LSM303DLHCDriver compass fullscale value.

Note

This function also rescale sensitivities and biases based on previous and next fullscale value.

A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to LSM303DLHCDriver.
[in]	fs	new fullscale value.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 936 of file lsm303dlhc.h.

Typedef Documentation

typedef struct LSM303DLHCDriver LSM303DLHCDriver

Structure representing a LSM303DLHC driver.

Definition at line 397 of file lsm303dlhc.h.

Enumeration Type Documentation

enum lsm303dlhc_sad_t

Accelerometer and Compass Slave Address.

Enumerator
LSM303DLHC_SAD_ACC	SAD for accelerometer.
LSM303DLHC_SAD_COMP	SAD for compass.

Definition at line 48 of file lsm303dlhc.c.

enum lsm303dlhc_acc_fs_t

LSM303DLHC accelerometer subsystem full scale.

Enumerator
LSM303DLHC_ACC_FS_2G	Full scale ±2g.
LSM303DLHC_ACC_FS_4G	Full scale ±4g.
LSM303DLHC_ACC_FS_8G	Full scale ±8g.
LSM303DLHC_ACC_FS_16G	Full scale ±16g.

Definition at line 402 of file lsm303dlhc.h.

enum lsm303dlhc_acc_odr_t

LSM303DLHC accelerometer subsystem output data rate.

Enumerator
LSM303DLHC_ACC_ODR_PD	Power down
LSM303DLHC_ACC_ODR_1Hz	ODR 1 Hz
LSM303DLHC_ACC_ODR_10Hz	ODR 10 Hz
LSM303DLHC_ACC_ODR_25Hz	ODR 25 Hz
LSM303DLHC_ACC_ODR_50Hz	ODR 50 Hz
LSM303DLHC_ACC_ODR_100Hz	ODR 100 Hz
LSM303DLHC_ACC_ODR_200Hz	ODR 200 Hz
LSM303DLHC_ACC_ODR_400Hz	ODR 400 Hz
LSM303DLHC_ACC_ODR_1620Hz	ODR 1620 Hz (LP only)
LSM303DLHC_ACC_ODR_1344Hz	ODR 1344 Hz or 5376 Hz in LP

Definition at line 412 of file lsm303dlhc.h.

enum lsm303dlhc_acc_ae_t

LSM303DLHC accelerometer subsystem axes enabling.

Enumerator
LSM303DLHC_ACC_AE_DISABLED	All axes disabled.
LSM303DLHC_ACC_AE_X	Only X-axis enabled.
LSM303DLHC_ACC_AE_Y	Only Y-axis enabled.
LSM303DLHC_ACC_AE_XY	X and Y axes enabled.
LSM303DLHC_ACC_AE_Z	Only Z-axis enabled.
LSM303DLHC_ACC_AE_XZ	X and Z axes enabled.
LSM303DLHC_ACC_AE_YZ	Y and Z axes enabled.
LSM303DLHC_ACC_AE_XYZ	All axes enabled.

Definition at line 428 of file lsm303dlhc.h.

enum lsm303dlhc_acc_lp_t

LSM303DLHC accelerometer subsystem low power mode.

Enumerator
LSM303DLHC_ACC_LP_DISABLED	Low power mode disabled.
LSM303DLHC_ACC_LP_ENABLED	Low power mode enabled.

Definition at line 442 of file lsm303dlhc.h.

enum lsm303dlhc_acc_hr_t

LSM303DLHC accelerometer subsystem high resolution mode.

Enumerator
LSM303DLHC_ACC_HR_DISABLED	High resolution mode disabled.
LSM303DLHC_ACC_HR_ENABLED	High resolution mode enabled.

Definition at line 450 of file lsm303dlhc.h.

enum lsm303dlhc_acc_bdu_t

LSM303DLHC accelerometer subsystem block data update.

Enumerator
LSM303DLHC_ACC_BDU_CONT	Continuous update
LSM303DLHC_ACC_BDU_BLOCK	Update blocked

Definition at line 458 of file lsm303dlhc.h.

enum lsm303dlhc_acc_end_t

LSM303DLHC accelerometer endianness.

Enumerator
LSM303DLHC_ACC_END_LITTLE	Little Endian
LSM303DLHC_ACC_END_BIG	Big Endian

Definition at line 466 of file lsm303dlhc.h.

enum lsm303dlhc_comp_fs_t

LSM303DLHC compass subsystem full scale.

Enumerator
LSM303DLHC_COMP_FS_1P3GA	Full scale ±1.3 Gauss
LSM303DLHC_COMP_FS_1P9GA	Full scale ±1.9 Gauss
LSM303DLHC_COMP_FS_2P5GA	Full scale ±2.5 Gauss
LSM303DLHC_COMP_FS_4P0GA	Full scale ±4.0 Gauss
LSM303DLHC_COMP_FS_4P7GA	Full scale ±4.7 Gauss
LSM303DLHC_COMP_FS_5P6GA	Full scale ±5.6 Gauss
LSM303DLHC_COMP_FS_8P1GA	Full scale ±8.1 Gauss

Definition at line 478 of file lsm303dlhc.h.

enum lsm303dlhc_comp_odr_t

LSM303DLHC compass subsystem output data rate.

Enumerator
LSM303DLHC_COMP_ODR_0P75HZ	ODR 0.75 Hz
LSM303DLHC_COMP_ODR_1P5HZ	ODR 1.5 Hz
LSM303DLHC_COMP_ODR_3P0HZ	ODR 3 Hz
LSM303DLHC_COMP_ODR_7P5HZ	ODR 7.5 Hz
LSM303DLHC_COMP_ODR_15HZ	ODR 15 Hz
LSM303DLHC_COMP_ODR_30HZ	ODR 30 Hz
LSM303DLHC_COMP_ODR_75HZ	ODR 75 Hz
LSM303DLHC_COMP_ODR_220HZ	ODR 220 Hz

Definition at line 491 of file lsm303dlhc.h.

enum lsm303dlhc_comp_md_t

LSM303DLHC compass subsystem working mode.

Enumerator
LSM303DLHC_COMP_MD_CONT	Continuous-Conversion Mode
LSM303DLHC_COMP_MD_BLOCK	Single-Conversion Mode
LSM303DLHC_COMP_MD_SLEEP	Sleep Mode

Definition at line 505 of file lsm303dlhc.h.

enum lsm303dlhc_state_t

Driver state machine possible states.

Enumerator
LSM303DLHC_UNINIT	Not initialized.
LSM303DLHC_STOP	Stopped.
LSM303DLHC_READY	Ready.

Definition at line 518 of file lsm303dlhc.h.

Function Documentation

static msg_t lsm303dlhcI2CReadRegister ( I2CDriver *  i2cp, lsm303dlhc_sad_t  sad, uint8_t  reg, uint8_t *  rxbuf, size_t  n  )

static

Reads registers value using I2C.

Precondition

The I2C interface must be initialized and the driver started.

Note

IF_ADD_INC bit must be 1 in CTRL_REG8.

Parameters

[in]	i2cp	pointer to the I2C interface.
[in]	sad	slave address without R bit.
[in]	reg	first sub-register address.
[in]	rxbuf	receiving buffer.
[in]	n	size of rxbuf.

Returns

the operation status.

Definition at line 69 of file lsm303dlhc.c.

References i2cMasterTransmitTimeout(), and TIME_INFINITE.

Referenced by acc_read_raw(), acc_set_full_scale(), comp_read_raw(), and comp_set_full_scale().

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static msg_t lsm303dlhcI2CWriteRegister ( I2CDriver *  i2cp, lsm303dlhc_sad_t  sad, uint8_t *  txbuf, size_t  n  )

static

Writes a value into a register using I2C.

Precondition

The I2C interface must be initialized and the driver started.

Parameters

[in]	i2cp	pointer to the I2C interface.
[in]	sad	slave address without R bit.
[in]	txbuf	buffer containing sub-address value in first position and values to write.
[in]	n	size of txbuf less one (not considering the first element).

Returns

the operation status.

Definition at line 89 of file lsm303dlhc.c.

References i2cMasterTransmitTimeout(), and TIME_INFINITE.

Referenced by acc_set_full_scale(), comp_set_full_scale(), lsm303dlhcStart(), and lsm303dlhcStop().

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static size_t acc_get_axes_number ( void *  ip )

static

Return the number of axes of the BaseAccelerometer.

Parameters

[in]

ip

pointer to BaseAccelerometer interface.

Returns

the number of axes.

Definition at line 104 of file lsm303dlhc.c.

References LSM303DLHC_ACC_NUMBER_OF_AXES.

Referenced by comp_set_full_scale().

static msg_t acc_read_raw ( void *  ip, int32_t  axes[]  )

static

Retrieves raw data from the BaseAccelerometer.

Note

This data is retrieved from MEMS register without any algebraical manipulation.

The axes array must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	ip	pointer to BaseAccelerometer interface.
[out]	axes	a buffer which would be filled with raw data.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using i2cGetErrors().
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 126 of file lsm303dlhc.c.

References I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_READY, LSM303DLHC_SAD_ACC, lsm303dlhcI2CReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by acc_read_cooked(), and comp_set_full_scale().

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static msg_t acc_read_cooked ( void *  ip, float  axes[]  )

static

Retrieves cooked data from the BaseAccelerometer.

Note

This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.

Final data is expressed as milli-G.

The axes array must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	ip	pointer to BaseAccelerometer interface.
[out]	axes	a buffer which would be filled with cooked data.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using i2cGetErrors().
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 181 of file lsm303dlhc.c.

References acc_read_raw(), LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

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static msg_t acc_set_bias ( void *  ip, float *  bp  )

static

Set bias values for the BaseAccelerometer.

Note

Bias must be expressed as milli-G.

The bias buffer must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	ip	pointer to BaseAccelerometer interface.
[in]	bp	a buffer which contains biases.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Definition at line 214 of file lsm303dlhc.c.

References LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t acc_reset_bias ( void *  ip )

static

Reset bias values for the BaseAccelerometer.

Note

Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in]

ip

pointer to BaseAccelerometer interface.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Definition at line 243 of file lsm303dlhc.c.

References LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t acc_set_sensivity ( void *  ip, float *  sp  )

static

Set sensitivity values for the BaseAccelerometer.

Note

Sensitivity must be expressed as milli-G/LSB.

The sensitivity buffer must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	ip	pointer to BaseAccelerometer interface.
[in]	sp	a buffer which contains sensitivities.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Definition at line 273 of file lsm303dlhc.c.

References LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t acc_reset_sensivity ( void *  ip )

static

Reset sensitivity values for the BaseAccelerometer.

Note

Default sensitivities value are obtained from device datasheet.

Parameters

[in]

ip

pointer to BaseAccelerometer interface.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 302 of file lsm303dlhc.c.

References FALSE, LSM303DLHC_ACC_FS_16G, LSM303DLHC_ACC_FS_2G, LSM303DLHC_ACC_FS_4G, LSM303DLHC_ACC_FS_8G, LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, MSG_RESET, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t acc_set_full_scale ( LSM303DLHCDriver *  devp, lsm303dlhc_acc_fs_t  fs  )

static

Changes the LSM303DLHCDriver accelerometer fullscale value.

Note

This function also rescale sensitivities and biases based on previous and next fullscale value.

A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to LSM303DLHCDriver interface.
[in]	fs	new fullscale value.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 347 of file lsm303dlhc.c.

References I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM303DLHC_ACC_FS_16G, LSM303DLHC_ACC_FS_2G, LSM303DLHC_ACC_FS_4G, LSM303DLHC_ACC_FS_8G, LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_READY, LSM303DLHC_SAD_ACC, lsm303dlhcI2CReadRegister(), lsm303dlhcI2CWriteRegister(), MSG_OK, MSG_RESET, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

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static size_t comp_get_axes_number ( void *  ip )

static

Return the number of axes of the BaseCompass.

Parameters

[in]

ip

pointer to BaseCompass interface

Returns

the number of axes.

Definition at line 437 of file lsm303dlhc.c.

References LSM303DLHC_COMP_NUMBER_OF_AXES, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_read_raw ( void *  ip, int32_t  axes[]  )

static

Retrieves raw data from the BaseCompass.

Note

This data is retrieved from MEMS register without any algebraical manipulation.

The axes array must be at least the same size of the BaseCompass axes number.

Parameters

[in]	ip	pointer to BaseCompass interface.
[out]	axes	a buffer which would be filled with raw data.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using i2cGetErrors().
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 459 of file lsm303dlhc.c.

References I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, LSM303DLHC_SAD_COMP, lsm303dlhcI2CReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_read_cooked(), and comp_set_full_scale().

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static msg_t comp_read_cooked ( void *  ip, float  axes[]  )

static

Retrieves cooked data from the BaseCompass.

Note

This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.

Final data is expressed as G.

The axes array must be at least the same size of the BaseCompass axes number.

Parameters

[in]	ip	pointer to BaseCompass interface.
[out]	axes	a buffer which would be filled with cooked data.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using i2cGetErrors().
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 513 of file lsm303dlhc.c.

References comp_read_raw(), LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

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static msg_t comp_set_bias ( void *  ip, float *  bp  )

static

Set bias values for the BaseCompass.

Note

Bias must be expressed as G.

The bias buffer must be at least the same size of the BaseCompass axes number.

Parameters

[in]	ip	pointer to BaseCompass interface.
[in]	bp	a buffer which contains biases.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Definition at line 547 of file lsm303dlhc.c.

References LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_reset_bias ( void *  ip )

static

Reset bias values for the BaseCompass.

Note

Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in]

ip

pointer to BaseCompass interface.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Definition at line 576 of file lsm303dlhc.c.

References LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_set_sensivity ( void *  ip, float *  sp  )

static

Set sensitivity values for the BaseCompass.

Note

Sensitivity must be expressed as G/LSB.

The sensitivity buffer must be at least the same size of the BaseCompass axes number.

Parameters

[in]	ip	pointer to BaseCompass interface.
[in]	sp	a buffer which contains sensitivities.

Returns

The operation status.

Return values

MSG_OK

if the function succeeded.

Definition at line 606 of file lsm303dlhc.c.

References LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_reset_sensivity ( void *  ip )

static

Reset sensitivity values for the BaseCompass.

Note

Default sensitivities value are obtained from device datasheet.

Parameters

[in]

ip

pointer to BaseCompass interface.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 635 of file lsm303dlhc.c.

References FALSE, LSM303DLHC_COMP_FS_1P3GA, LSM303DLHC_COMP_FS_1P9GA, LSM303DLHC_COMP_FS_2P5GA, LSM303DLHC_COMP_FS_4P0GA, LSM303DLHC_COMP_FS_4P7GA, LSM303DLHC_COMP_FS_5P6GA, LSM303DLHC_COMP_FS_8P1GA, LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, MSG_RESET, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_set_full_scale ( LSM303DLHCDriver *  devp, lsm303dlhc_comp_fs_t  fs  )

static

Changes the LSM303DLHCDriver compass fullscale value.

Note

This function also rescale sensitivities and biases based on previous and next fullscale value.

A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to LSM303DLHCDriver interface.
[in]	fs	new fullscale value.

Returns

The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 731 of file lsm303dlhc.c.

References acc_get_axes_number(), acc_read_cooked(), acc_read_raw(), acc_reset_bias(), acc_reset_sensivity(), acc_set_bias(), acc_set_full_scale(), acc_set_sensivity(), comp_get_axes_number(), comp_read_cooked(), comp_read_raw(), comp_reset_bias(), comp_reset_sensivity(), comp_set_bias(), comp_set_sensivity(), I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM303DLHC_COMP_FS_1P3GA, LSM303DLHC_COMP_FS_1P9GA, LSM303DLHC_COMP_FS_2P5GA, LSM303DLHC_COMP_FS_4P0GA, LSM303DLHC_COMP_FS_4P7GA, LSM303DLHC_COMP_FS_5P6GA, LSM303DLHC_COMP_FS_8P1GA, LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, LSM303DLHC_SAD_COMP, lsm303dlhcI2CReadRegister(), lsm303dlhcI2CWriteRegister(), MSG_OK, MSG_RESET, osalDbgAssert, and osalDbgCheck.

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void lsm303dlhcObjectInit

(

LSM303DLHCDriver *

devp

)

Initializes an instance.

Parameters

[out]

devp

pointer to the LSM303DLHCDriver object

Function Class:Initializer, this function just initializes an object and can be invoked before the kernel is initialized.

Definition at line 847 of file lsm303dlhc.c.

References LSM303DLHCDriver::acc_if, LSM303DLHCDriver::comp_if, LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_STOP, BaseAccelerometer::vmt, BaseCompass::vmt, and LSM303DLHCDriver::vmt.

void lsm303dlhcStart	(	LSM303DLHCDriver *	devp,
		const LSM303DLHCConfig *	config
	)

Configures and activates LSM303DLHC Complex Driver peripheral.

Parameters

[in]	devp	pointer to the LSM303DLHCDriver object
[in]	config	pointer to the LSM303DLHCConfig object

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 868 of file lsm303dlhc.c.

References I2CDriver::config, FALSE, i2cAcquireBus(), LSM303DLHCConfig::i2cp, i2cReleaseBus(), i2cStart(), LSM303DLHC_ACC_FS_16G, LSM303DLHC_ACC_FS_2G, LSM303DLHC_ACC_FS_4G, LSM303DLHC_ACC_FS_8G, LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_COMP_FS_1P3GA, LSM303DLHC_COMP_FS_1P9GA, LSM303DLHC_COMP_FS_2P5GA, LSM303DLHC_COMP_FS_4P0GA, LSM303DLHC_COMP_FS_4P7GA, LSM303DLHC_COMP_FS_5P6GA, LSM303DLHC_COMP_FS_8P1GA, LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, LSM303DLHC_SAD_ACC, LSM303DLHC_SAD_COMP, LSM303DLHC_STOP, lsm303dlhcI2CWriteRegister(), osalDbgAssert, osalDbgCheck, and osalThreadSleepMilliseconds.

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void lsm303dlhcStop

(

LSM303DLHCDriver *

devp

)

Deactivates the LSM303DLHC Complex Driver peripheral.

Parameters

[in]

devp

pointer to the LSM303DLHCDriver object

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 1142 of file lsm303dlhc.c.

References i2cAcquireBus(), i2cReleaseBus(), i2cStart(), i2cStop(), LSM303DLHC_ACC_AE_DISABLED, LSM303DLHC_ACC_ODR_PD, LSM303DLHC_COMP_MD_SLEEP, LSM303DLHC_READY, LSM303DLHC_SAD_ACC, LSM303DLHC_SAD_COMP, LSM303DLHC_STOP, lsm303dlhcI2CWriteRegister(), osalDbgAssert, and osalDbgCheck.

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