Collaboration diagram for LSM303AGR:

Detailed Description

Macros
#define	lsm303agrAccelerometerGetAxesNumber(devp) accelerometerGetAxesNumber(&((devp)->acc_if))
	Return the number of axes of the BaseAccelerometer. More...

#define	lsm303agrAccelerometerReadRaw(devp, axes) accelerometerReadRaw(&((devp)->acc_if), axes)
	Retrieves raw data from the BaseAccelerometer. More...

#define	lsm303agrAccelerometerReadCooked(devp, axes) accelerometerReadCooked(&((devp)->acc_if), axes)
	Retrieves cooked data from the BaseAccelerometer. More...

#define	lsm303agrAccelerometerSetBias(devp, bp) accelerometerSetBias(&((devp)->acc_if), bp)
	Set bias values for the BaseAccelerometer. More...

#define	lsm303agrAccelerometerResetBias(devp) accelerometerResetBias(&((devp)->acc_if))
	Reset bias values for the BaseAccelerometer. More...

#define	lsm303agrAccelerometerSetSensitivity(devp, sp) accelerometerSetSensitivity(&((devp)->acc_if), sp)
	Set sensitivity values for the BaseAccelerometer. More...

#define	lsm303agrAccelerometerResetSensitivity(devp) accelerometerResetSensitivity(&((devp)->acc_if))
	Reset sensitivity values for the BaseAccelerometer. More...

#define	lsm303agrAccelerometerSetFullScale(devp, fs) (devp)->vmt->acc_set_full_scale(devp, fs)
	Changes the LSM303AGRDriver accelerometer fullscale value. More...

#define	lsm303agrCompassGetAxesNumber(devp) compassGetAxesNumber(&((devp)->comp_if))
	Return the number of axes of the BaseCompass. More...

#define	lsm303agrCompassReadRaw(devp, axes) compassReadRaw(&((devp)->comp_if), axes)
	Retrieves raw data from the BaseCompass. More...

#define	lsm303agrCompassReadCooked(devp, axes) compassReadCooked(&((devp)->comp_if), axes)
	Retrieves cooked data from the BaseCompass. More...

#define	lsm303agrCompassSetBias(devp, bp) compassSetBias(&((devp)->comp_if), bp)
	Set bias values for the BaseCompass. More...

#define	lsm303agrCompassResetBias(devp) compassResetBias(&((devp)->comp_if))
	Reset bias values for the BaseCompass. More...

#define	lsm303agrCompassSetSensitivity(devp, sp) compassSetSensitivity(&((devp)->comp_if), sp)
	Set sensitivity values for the BaseCompass. More...

#define	lsm303agrCompassResetSensitivity(devp) compassResetSensitivity(&((devp)->comp_if))
	Reset sensitivity values for the BaseCompass. More...

Version identification
#define	EX_LSM303AGR_VERSION "1.0.1"
	LSM303AGR driver version string. More...

#define	EX_LSM303AGR_MAJOR 1
	LSM303AGR driver version major number. More...

#define	EX_LSM303AGR_MINOR 0
	LSM303AGR driver version minor number. More...

#define	EX_LSM303AGR_PATCH 1
	LSM303AGR driver version patch number. More...

#define	LSM303AGR_ACC_NUMBER_OF_AXES 3U
	LSM303AGR accelerometer subsystem characteristics. More...

#define	LSM303AGR_COMP_NUMBER_OF_AXES 3U
	LSM303AGR compass subsystem characteristics. More...

LSM303AGR communication interfaces related bit masks
#define	LSM303AGR_DI_MASK 0xFF

#define	LSM303AGR_DI(n) (1 << n)

#define	LSM303AGR_AD_MASK 0x7F

#define	LSM303AGR_AD(n) (1 << n)

#define	LSM303AGR_MS (1 << 7)

LSM303AGR register addresses
#define	LSM303AGR_AD_STATUS_REG_AUX_A 0x07

#define	LSM303AGR_AD_OUT_TEMP_L_A 0x0C

#define	LSM303AGR_AD_OUT_TEMP_H_A 0x0D

#define	LSM303AGR_AD_INT_COUNTER_REG_A 0x0E

#define	LSM303AGR_AD_WHO_AM_I_A 0x0F

#define	LSM303AGR_AD_TEMP_CFG_REG_A 0x1F

#define	LSM303AGR_AD_CTRL_REG1_A 0x20

#define	LSM303AGR_AD_CTRL_REG2_A 0x21

#define	LSM303AGR_AD_CTRL_REG3_A 0x22

#define	LSM303AGR_AD_CTRL_REG4_A 0x23

#define	LSM303AGR_AD_CTRL_REG5_A 0x24

#define	LSM303AGR_AD_CTRL_REG6_A 0x25

#define	LSM303AGR_AD_REFERENCE_A 0x26

#define	LSM303AGR_AD_STATUS_REG_A 0x27

#define	LSM303AGR_AD_OUT_X_L_A 0x28

#define	LSM303AGR_AD_OUT_X_H_A 0x29

#define	LSM303AGR_AD_OUT_Y_L_A 0x2A

#define	LSM303AGR_AD_OUT_Y_H_A 0x2B

#define	LSM303AGR_AD_OUT_Z_L_A 0x2C

#define	LSM303AGR_AD_OUT_Z_H_A 0x2D

#define	LSM303AGR_AD_FIFO_CTRL_REG_A 0x2E

#define	LSM303AGR_AD_FIFO_SRC_REG_A 0x2F

#define	LSM303AGR_AD_INT1_CFG_A 0x30

#define	LSM303AGR_AD_INT1_SRC_A 0x31

#define	LSM303AGR_AD_INT1_THS_A 0x32

#define	LSM303AGR_AD_INT1_DURATION_A 0x33

#define	LSM303AGR_AD_INT2_CFG_A 0x34

#define	LSM303AGR_AD_INT2_SRC_A 0x35

#define	LSM303AGR_AD_INT2_THS_A 0x36

#define	LSM303AGR_AD_INT2_DURATION_A 0x37

#define	LSM303AGR_AD_CLICK_CFG_A 0x38

#define	LSM303AGR_AD_CLICK_SRC_A 0x39

#define	LSM303AGR_AD_CLICK_THS_A 0x3A

#define	LSM303AGR_AD_TIME_LIMIT_A 0x3B

#define	LSM303AGR_AD_TIME_LATENCY_A 0x3C

#define	LSM303AGR_AD_TIME_WINDOW_A 0x3D

#define	LSM303AGR_AD_ACT_THS_A 0x3E

#define	LSM303AGR_AD_ACT_DUR_A 0x3F

#define	LSM303AGR_AD_OFFSET_X_REG_L_M 0x45

#define	LSM303AGR_AD_OFFSET_X_REG_H_M 0x46

#define	LSM303AGR_AD_OFFSET_Y_REG_L_M 0x47

#define	LSM303AGR_AD_OFFSET_Y_REG_H_M 0x48

#define	LSM303AGR_AD_OFFSET_Z_REG_L_M 0x49

#define	LSM303AGR_AD_OFFSET_Z_REG_H_M 0x4A

#define	LSM303AGR_AD_WHO_AM_I_M 0x4F

#define	LSM303AGR_AD_CFG_REG_A_M 0x60

#define	LSM303AGR_AD_CFG_REG_B_M 0x61

#define	LSM303AGR_AD_CFG_REG_C_M 0x62

#define	LSM303AGR_AD_INT_CRTL_REG_M 0x63

#define	LSM303AGR_AD_INT_SOURCE_REG_M 0x64

#define	LSM303AGR_AD_INT_THS_L_REG_M 0x65

#define	LSM303AGR_AD_INT_THS_H_REG_M 0x66

#define	LSM303AGR_AD_STATUS_REG_M 0x67

#define	LSM303AGR_AD_OUTX_L_REG_M 0x68

#define	LSM303AGR_AD_OUTX_H_REG_M 0x69

#define	LSM303AGR_AD_OUTY_L_REG_M 0x6A

#define	LSM303AGR_AD_OUTY_H_REG_M 0x6B

#define	LSM303AGR_AD_OUTZ_L_REG_M 0x6C

#define	LSM303AGR_AD_OUTZ_H_REG_M 0x6D

LSM303AGR_TEMP_CFG_REG_A register bits definitions
#define	LSM303AGR_TEMP_CFG_REG_A_TEMP_EN0 (1 << 0)

#define	LSM303AGR_TEMP_CFG_REG_A_TEMP_EN1 (1 << 0)

LSM303AGR_CTRL_REG1_A register bits definitions
#define	LSM303AGR_CTRL_REG1_A_XEN (1 << 0)

#define	LSM303AGR_CTRL_REG1_A_YEN (1 << 1)

#define	LSM303AGR_CTRL_REG1_A_ZEN (1 << 2)

#define	LSM303AGR_CTRL_REG1_A_LPEN (1 << 3)

#define	LSM303AGR_CTRL_REG1_A_ODR0 (1 << 4)

#define	LSM303AGR_CTRL_REG1_A_ODR1 (1 << 5)

#define	LSM303AGR_CTRL_REG1_A_ODR2 (1 << 6)

#define	LSM303AGR_CTRL_REG1_A_ODR3 (1 << 7)

LSM303AGR_CTRL_REG2_A register bits definitions
#define	LSM303AGR_CTRL_REG2_A_HPIS1 (1 << 0)

#define	LSM303AGR_CTRL_REG2_A_HPIS2 (1 << 1)

#define	LSM303AGR_CTRL_REG2_A_HPCLICK (1 << 2)

#define	LSM303AGR_CTRL_REG2_A_FDS (1 << 3)

#define	LSM303AGR_CTRL_REG2_A_HPCF1 (1 << 4)

#define	LSM303AGR_CTRL_REG2_A_HPCF2 (1 << 5)

#define	LSM303AGR_CTRL_REG2_A_HPM0 (1 << 6)

#define	LSM303AGR_CTRL_REG2_A_HPM1 (1 << 7)

LSM303AGR_CTRL_REG3_A register bits definitions
#define	LSM303AGR_CTRL_REG3_A_I1_OVERRUN (1 << 1)

#define	LSM303AGR_CTRL_REG3_A_I1_WTM (1 << 2)

#define	LSM303AGR_CTRL_REG3_A_I1_DRDY2 (1 << 3)

#define	LSM303AGR_CTRL_REG3_A_I1_DRDY1 (1 << 4)

#define	LSM303AGR_CTRL_REG3_A_I1_AOI2 (1 << 5)

#define	LSM303AGR_CTRL_REG3_A_I1_AOI1 (1 << 6)

#define	LSM303AGR_CTRL_REG3_A_I1_CLICK (1 << 7)

LSM303AGR_CTRL_REG4_A register bits definitions
#define	LSM303AGR_CTRL_REG4_A_SPI_ENABLE (1 << 0)

#define	LSM303AGR_CTRL_REG4_A_ST0 (1 << 1)

#define	LSM303AGR_CTRL_REG4_A_ST1 (1 << 2)

#define	LSM303AGR_CTRL_REG4_A_HR (1 << 3)

#define	LSM303AGR_CTRL_REG4_A_FS_MASK 0x30

#define	LSM303AGR_CTRL_REG4_A_FS0 (1 << 4)

#define	LSM303AGR_CTRL_REG4_A_FS1 (1 << 5)

#define	LSM303AGR_CTRL_REG4_A_BLE (1 << 6)

#define	LSM303AGR_CTRL_REG4_A_BDU (1 << 7)

LSM303AGR_CTRL_REG5_A register bits definitions
#define	LSM303AGR_CTRL_REG5_A_D4D_INT2 (1 << 0)

#define	LSM303AGR_CTRL_REG5_A_LIR_INT2 (1 << 1)

#define	LSM303AGR_CTRL_REG5_A_D4D_INT1 (1 << 2)

#define	LSM303AGR_CTRL_REG5_A_LIR_INT1 (1 << 3)

#define	LSM303AGR_CTRL_REG5_A_FIFO_EN (1 << 6)

#define	LSM303AGR_CTRL_REG5_A_BOOT (1 << 7)

LSM303AGR_CTRL_REG6_A register bits definitions
#define	LSM303AGR_CTRL_REG6_A_H_LACTIVE (1 << 1)

#define	LSM303AGR_CTRL_REG6_A_P2_ACT (1 << 3)

#define	LSM303AGR_CTRL_REG6_A_BOOT_I2 (1 << 4)

#define	LSM303AGR_CTRL_REG6_A_I2_INT2 (1 << 5)

#define	LSM303AGR_CTRL_REG6_A_I2_INT1 (1 << 6)

#define	LSM303AGR_CTRL_REG6_A_I2_CLICKEN (1 << 7)

LSM303AGR_CFG_REG_A register bits definitions
#define	LSM303AGR_CFG_REG_A_M_MD0 (1 << 0)

#define	LSM303AGR_CFG_REG_A_M_MD1 (1 << 1)

#define	LSM303AGR_CFG_REG_A_M_ODR0 (1 << 2)

#define	LSM303AGR_CFG_REG_A_M_ODR1 (1 << 3)

#define	LSM303AGR_CFG_REG_A_M_LP (1 << 4)

#define	LSM303AGR_CFG_REG_A_M_SOFT_RST (1 << 5)

#define	LSM303AGR_CFG_REG_A_M_REBOOT (1 << 6)

#define	LSM303AGR_CFG_REG_A_M_COMP_TEMP_EN (1 << 7)

LSM303AGR_CFG_REG_B register bits definitions
#define	LSM303AGR_CFG_REG_B_M_LPF (1 << 0)

#define	LSM303AGR_CFG_REG_B_M_OFF_CANC (1 << 1)

#define	LSM303AGR_CFG_REG_B_M_SET_FREQ (1 << 2)

#define	LSM303AGR_CFG_REG_B_M_INT_ON (1 << 3)

#define	LSM303AGR_CFG_REG_B_M_OFF_CANC_OS (1 << 4)

LSM303AGR_CFG_REG_C register bits definitions
#define	LSM303AGR_CFG_REG_C_M_INT_MAG (1 << 0)

#define	LSM303AGR_CFG_REG_C_M_SELF_TEST (1 << 1)

#define	LSM303AGR_CFG_REG_C_M_BLE (1 << 3)

#define	LSM303AGR_CFG_REG_C_M_BDU (1 << 4)

#define	LSM303AGR_CFG_REG_C_M_I2C_DIS (1 << 5)

#define	LSM303AGR_CFG_REG_C_M_INT_MAG_PIN (1 << 6)

Configuration options
#define	LSM303AGR_USE_SPI FALSE
	LSM303AGR SPI interface switch. More...

#define	LSM303AGR_SHARED_SPI FALSE
	LSM303AGR shared SPI switch. More...

#define	LSM303AGR_USE_I2C TRUE
	LSM303AGR I2C interface switch. More...

#define	LSM303AGR_SHARED_I2C FALSE
	LSM303AGR shared I2C switch. More...

#define	LSM303AGR_USE_ADVANCED FALSE
	LSM303AGR advanced configurations switch. More...

LSM303AGR accelerometer subsystem data structures and types.
enum	lsm303agr_acc_fs_t { LSM303AGR_ACC_FS_2G = 0x00, LSM303AGR_ACC_FS_4G = 0x10, LSM303AGR_ACC_FS_8G = 0x20, LSM303AGR_ACC_FS_16G = 0x30 }
	LSM303AGR accelerometer subsystem full scale. More...

enum	lsm303agr_acc_odr_t { LSM303AGR_ACC_ODR_PD = 0x00, LSM303AGR_ACC_ODR_1Hz = 0x10, LSM303AGR_ACC_ODR_10Hz = 0x20, LSM303AGR_ACC_ODR_25Hz = 0x30, LSM303AGR_ACC_ODR_50Hz = 0x40, LSM303AGR_ACC_ODR_100Hz = 0x50, LSM303AGR_ACC_ODR_200Hz = 0x60, LSM303AGR_ACC_ODR_400Hz = 0x70, LSM303AGR_ACC_ODR_1620Hz = 0x80, LSM303AGR_ACC_ODR_1344Hz = 0x90 }
	LSM303AGR accelerometer subsystem output data rate. More...

enum	lsm303agr_acc_ae_t { LSM303AGR_ACC_AE_DISABLED = 0x00, LSM303AGR_ACC_AE_X = 0x01, LSM303AGR_ACC_AE_Y = 0x02, LSM303AGR_ACC_AE_XY = 0x03, LSM303AGR_ACC_AE_Z = 0x04, LSM303AGR_ACC_AE_XZ = 0x05, LSM303AGR_ACC_AE_YZ = 0x06, LSM303AGR_ACC_AE_XYZ = 0x07 }
	LSM303AGR accelerometer subsystem axes enabling. More...

enum	lsm303agr_acc_mode_t { LSM303AGR_ACC_MODE_NORM = 0, LSM303AGR_ACC_MODE_LPOW = 1, LSM303AGR_ACC_MODE_HRES = 2 }
	LSM303AGR accelerometer subsystem operation mode. More...

enum	lsm303agr_acc_bdu_t { LSM303AGR_ACC_BDU_CONT = 0x00, LSM303AGR_ACC_BDU_BLOCK = 0x80 }
	LSM303AGR accelerometer subsystem block data update. More...

enum	lsm303agr_acc_end_t { LSM303AGR_ACC_END_LITTLE = 0x00, LSM303AGR_ACC_END_BIG = 0x40 }
	LSM303AGR accelerometer endianness. More...

typedef struct LSM303AGRDriver	LSM303AGRDriver
	Structure representing a LSM303AGR driver. More...

LSM303AGR compass subsystem data structures and types.
enum	lsm303agr_comp_odr_t { LSM303AGR_COMP_ODR_10HZ = 0x00, LSM303AGR_COMP_ODR_20HZ = 0x04, LSM303AGR_COMP_ODR_50HZ = 0x08, LSM303AGR_COMP_ODR_100HZ = 0x0C }
	LSM303AGR compass subsystem output data rate. More...

enum	lsm303agr_comp_mode_t { LSM303AGR_COMP_MODE_NORM = 0x00, LSM303AGR_COMP_MODE_SINGLE = 0x01, LSM303AGR_COMP_MODE_IDLE = 0x02 }
	LSM303AGR compass subsystem working mode. More...

enum	lsm303agr_comp_lpow_t { LSM303AGR_COMP_LPOW_DIS = 0x00, LSM303AGR_COMP_LPOW_EN = 0x10 }
	LSM303AGR compass subsystem working mode. More...

LSM303AGR main system data structures and types.
enum	lsm303agr_state_t { LSM303AGR_UNINIT = 0, LSM303AGR_STOP = 1, LSM303AGR_READY = 2 }
	Driver state machine possible states. More...

#define	_lsm303agr_methods_alone
	`LSM303AGR` specific methods. More...

#define	_lsm303agr_methods
	`LSM303AGR` specific methods with inherited ones. More...

#define	_lsm303agr_data
	`LSM303AGRDriver` specific data. More...

Data Structures
struct	LSM303AGRConfig
	LSM303AGR configuration structure. More...

struct	LSM303AGRVMT
	`LSM303AGR` virtual methods table. More...

struct	LSM303AGRDriver
	LSM303AGR 6-axis accelerometer/compass class. More...

Functions
static msg_t	lsm303agrI2CReadRegister (I2CDriver i2cp, lsm303agr_sad_t sad, uint8_t reg, uint8_t rxbuf, size_t n)
	Reads registers value using I2C. More...

static msg_t	lsm303agrI2CWriteRegister (I2CDriver i2cp, lsm303agr_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 (LSM303AGRDriver *devp, lsm303agr_acc_fs_t fs)
	Changes the LSM303AGRDriver 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...

void	lsm303agrObjectInit (LSM303AGRDriver *devp)
	Initializes an instance. More...

void	lsm303agrStart (LSM303AGRDriver devp, const LSM303AGRConfig config)
	Configures and activates LSM303AGR Complex Driver peripheral. More...

void	lsm303agrStop (LSM303AGRDriver *devp)
	Deactivates the LSM303AGR Complex Driver peripheral. More...

Enumerations
enum	lsm303agr_sad_t { LSM303AGR_SAD_ACC = 0x19, LSM303AGR_SAD_COMP = 0x1E }
	Accelerometer and Compass Slave Address. More...

Macro Definition Documentation

◆ EX_LSM303AGR_VERSION

#define EX_LSM303AGR_VERSION "1.0.1"

LSM303AGR driver version string.

Definition at line 46 of file lsm303agr.h.

◆ EX_LSM303AGR_MAJOR

#define EX_LSM303AGR_MAJOR 1

LSM303AGR driver version major number.

Definition at line 51 of file lsm303agr.h.

◆ EX_LSM303AGR_MINOR

#define EX_LSM303AGR_MINOR 0

LSM303AGR driver version minor number.

Definition at line 56 of file lsm303agr.h.

◆ EX_LSM303AGR_PATCH

#define EX_LSM303AGR_PATCH 1

LSM303AGR driver version patch number.

Definition at line 61 of file lsm303agr.h.

◆ LSM303AGR_ACC_NUMBER_OF_AXES

#define LSM303AGR_ACC_NUMBER_OF_AXES 3U

LSM303AGR 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 lsm303agr.h.

◆ LSM303AGR_COMP_NUMBER_OF_AXES

#define LSM303AGR_COMP_NUMBER_OF_AXES 3U

LSM303AGR 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 lsm303agr.h.

◆ LSM303AGR_USE_SPI

#define LSM303AGR_USE_SPI FALSE

LSM303AGR SPI interface switch.

If set to TRUE the support for SPI is included.

Note: The default is FALSE.

Definition at line 318 of file lsm303agr.h.

◆ LSM303AGR_SHARED_SPI

#define LSM303AGR_SHARED_SPI FALSE

LSM303AGR 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 328 of file lsm303agr.h.

◆ LSM303AGR_USE_I2C

#define LSM303AGR_USE_I2C TRUE

LSM303AGR I2C interface switch.

If set to TRUE the support for I2C is included.

Note: The default is TRUE.

Definition at line 337 of file lsm303agr.h.

◆ LSM303AGR_SHARED_I2C

#define LSM303AGR_SHARED_I2C FALSE

LSM303AGR 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 347 of file lsm303agr.h.

◆ LSM303AGR_USE_ADVANCED

#define LSM303AGR_USE_ADVANCED FALSE

LSM303AGR advanced configurations switch.

If set to TRUE more configurations are available.

Note: The default is FALSE.

Definition at line 356 of file lsm303agr.h.

◆ _lsm303agr_methods_alone

#define _lsm303agr_methods_alone

Value:

  /* Change full scale value of LSM303AGR accelerometer subsystem.*/        \
  msg_t (*acc_set_full_scale)(LSM303AGRDriver *devp,                        \
                              lsm303agr_acc_fs_t fs);

LSM303AGR specific methods.

Definition at line 584 of file lsm303agr.h.

◆ _lsm303agr_methods

#define _lsm303agr_methods

Value:

_base_object_methods \

_lsm303agr_methods_alone

LSM303AGR specific methods with inherited ones.

Definition at line 592 of file lsm303agr.h.

◆ _lsm303agr_data

#define _lsm303agr_data

Value:

  _base_sensor_data                                                         \
  /* Driver state.*/                                                        \
  lsm303agr_state_t        state;                                           \
  /* Current configuration data.*/                                          \
  const LSM303AGRConfig    *config;                                         \
  /* Accelerometer subsystem axes number.*/                                 \
  size_t                    accaxes;                                        \
  /* Accelerometer subsystem current sensitivity.*/                         \
  float                     accsensitivity[LSM303AGR_ACC_NUMBER_OF_AXES];   \
  /* Accelerometer subsystem current bias .*/                               \
  float                     accbias[LSM303AGR_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[LSM303AGR_COMP_NUMBER_OF_AXES]; \
  /* Compass subsystem current bias.*/                                      \
  float                     compbias[LSM303AGR_COMP_NUMBER_OF_AXES];        \
  /* Compass subsystem current full scale value.*/                          \
  float                     compfullscale;

LSM303AGRDriver specific data.

Definition at line 608 of file lsm303agr.h.

◆ lsm303agrAccelerometerGetAxesNumber

#define lsm303agrAccelerometerGetAxesNumber ( devp ) accelerometerGetAxesNumber(&((devp)->acc_if))

Return the number of axes of the BaseAccelerometer.

Parameters

[in] devp pointer to LSM303AGRDriver.

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 658 of file lsm303agr.h.

◆ lsm303agrAccelerometerReadRaw

#define lsm303agrAccelerometerReadRaw	(	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 `LSM303AGRDriver`.
[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 679 of file lsm303agr.h.

◆ lsm303agrAccelerometerReadCooked

#define lsm303agrAccelerometerReadCooked	(	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 `LSM303AGRDriver`.
[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 701 of file lsm303agr.h.

◆ lsm303agrAccelerometerSetBias

#define lsm303agrAccelerometerSetBias	(	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 `LSM303AGRDriver`.
[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 718 of file lsm303agr.h.

◆ lsm303agrAccelerometerResetBias

#define lsm303agrAccelerometerResetBias ( 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 LSM303AGRDriver.

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 733 of file lsm303agr.h.

◆ lsm303agrAccelerometerSetSensitivity

#define lsm303agrAccelerometerSetSensitivity	(	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 `LSM303AGRDriver`.
[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 750 of file lsm303agr.h.

◆ lsm303agrAccelerometerResetSensitivity

#define lsm303agrAccelerometerResetSensitivity ( 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 LSM303AGRDriver.

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 765 of file lsm303agr.h.

◆ lsm303agrAccelerometerSetFullScale

#define lsm303agrAccelerometerSetFullScale	(	devp,
		fs
	)	(devp)->vmt->acc_set_full_scale(devp, fs)

Changes the LSM303AGRDriver 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 `LSM303AGRDriver`.
[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 783 of file lsm303agr.h.

◆ lsm303agrCompassGetAxesNumber

#define lsm303agrCompassGetAxesNumber ( devp ) compassGetAxesNumber(&((devp)->comp_if))

Return the number of axes of the BaseCompass.

Parameters

[in] devp pointer to LSM303AGRDriver.

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 795 of file lsm303agr.h.

◆ lsm303agrCompassReadRaw

#define lsm303agrCompassReadRaw	(	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 816 of file lsm303agr.h.

◆ lsm303agrCompassReadCooked

#define lsm303agrCompassReadCooked	(	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 838 of file lsm303agr.h.

◆ lsm303agrCompassSetBias

#define lsm303agrCompassSetBias	(	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 855 of file lsm303agr.h.

◆ lsm303agrCompassResetBias

#define lsm303agrCompassResetBias ( 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 LSM303AGRDriver.

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 870 of file lsm303agr.h.

◆ lsm303agrCompassSetSensitivity

#define lsm303agrCompassSetSensitivity	(	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 `LSM303AGRDriver`.
[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 887 of file lsm303agr.h.

◆ lsm303agrCompassResetSensitivity

#define lsm303agrCompassResetSensitivity ( 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 LSM303AGRDriver.

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 902 of file lsm303agr.h.

Typedef Documentation

◆ LSM303AGRDriver

typedef struct LSM303AGRDriver LSM303AGRDriver

Structure representing a LSM303AGR driver.

Definition at line 402 of file lsm303agr.h.

Enumeration Type Documentation

◆ lsm303agr_sad_t

enum lsm303agr_sad_t

Accelerometer and Compass Slave Address.

Enumerator
LSM303AGR_SAD_ACC	SAD for accelerometer.
LSM303AGR_SAD_COMP	SAD for compass.

Definition at line 48 of file lsm303agr.c.

◆ lsm303agr_acc_fs_t

enum lsm303agr_acc_fs_t

LSM303AGR accelerometer subsystem full scale.

Enumerator
LSM303AGR_ACC_FS_2G	Full scale �2g.
LSM303AGR_ACC_FS_4G	Full scale �4g.
LSM303AGR_ACC_FS_8G	Full scale �8g.
LSM303AGR_ACC_FS_16G	Full scale �16g.

Definition at line 407 of file lsm303agr.h.

◆ lsm303agr_acc_odr_t

enum lsm303agr_acc_odr_t

LSM303AGR accelerometer subsystem output data rate.

Enumerator
LSM303AGR_ACC_ODR_PD	Power down
LSM303AGR_ACC_ODR_1Hz	ODR 1 Hz
LSM303AGR_ACC_ODR_10Hz	ODR 10 Hz
LSM303AGR_ACC_ODR_25Hz	ODR 25 Hz
LSM303AGR_ACC_ODR_50Hz	ODR 50 Hz
LSM303AGR_ACC_ODR_100Hz	ODR 100 Hz
LSM303AGR_ACC_ODR_200Hz	ODR 200 Hz
LSM303AGR_ACC_ODR_400Hz	ODR 400 Hz
LSM303AGR_ACC_ODR_1620Hz	ODR 1620 Hz (LP only)
LSM303AGR_ACC_ODR_1344Hz	ODR 1344 Hz or 5376 Hz in LP

Definition at line 417 of file lsm303agr.h.

◆ lsm303agr_acc_ae_t

enum lsm303agr_acc_ae_t

LSM303AGR accelerometer subsystem axes enabling.

Enumerator
LSM303AGR_ACC_AE_DISABLED	All axes disabled.
LSM303AGR_ACC_AE_X	Only X-axis enabled.
LSM303AGR_ACC_AE_Y	Only Y-axis enabled.
LSM303AGR_ACC_AE_XY	X and Y axes enabled.
LSM303AGR_ACC_AE_Z	Only Z-axis enabled.
LSM303AGR_ACC_AE_XZ	X and Z axes enabled.
LSM303AGR_ACC_AE_YZ	Y and Z axes enabled.
LSM303AGR_ACC_AE_XYZ	All axes enabled.

Definition at line 433 of file lsm303agr.h.

◆ lsm303agr_acc_mode_t

enum lsm303agr_acc_mode_t

LSM303AGR accelerometer subsystem operation mode.

Enumerator
LSM303AGR_ACC_MODE_NORM	Normal mode.
LSM303AGR_ACC_MODE_LPOW	Low power mode.
LSM303AGR_ACC_MODE_HRES	High resolution mode.

Definition at line 447 of file lsm303agr.h.

◆ lsm303agr_acc_bdu_t

enum lsm303agr_acc_bdu_t

LSM303AGR accelerometer subsystem block data update.

Enumerator
LSM303AGR_ACC_BDU_CONT	Continuous update
LSM303AGR_ACC_BDU_BLOCK	Update blocked

Definition at line 456 of file lsm303agr.h.

◆ lsm303agr_acc_end_t

enum lsm303agr_acc_end_t

LSM303AGR accelerometer endianness.

Enumerator
LSM303AGR_ACC_END_LITTLE	Little Endian
LSM303AGR_ACC_END_BIG	Big Endian

Definition at line 464 of file lsm303agr.h.

◆ lsm303agr_comp_odr_t

enum lsm303agr_comp_odr_t

LSM303AGR compass subsystem output data rate.

Enumerator
LSM303AGR_COMP_ODR_10HZ	ODR 10 Hz
LSM303AGR_COMP_ODR_20HZ	ODR 20 Hz
LSM303AGR_COMP_ODR_50HZ	ODR 50 Hz
LSM303AGR_COMP_ODR_100HZ	ODR 100 Hz

Definition at line 477 of file lsm303agr.h.

◆ lsm303agr_comp_mode_t

enum lsm303agr_comp_mode_t

LSM303AGR compass subsystem working mode.

Enumerator
LSM303AGR_COMP_MODE_NORM	Continuous-Conversion Mode
LSM303AGR_COMP_MODE_SINGLE	Single-Conversion Mode
LSM303AGR_COMP_MODE_IDLE	Sleep Mode

Definition at line 487 of file lsm303agr.h.

◆ lsm303agr_comp_lpow_t

enum lsm303agr_comp_lpow_t

LSM303AGR compass subsystem working mode.

Enumerator
LSM303AGR_COMP_LPOW_DIS	High Resolution Mode
LSM303AGR_COMP_LPOW_EN	Low Power Mode

Definition at line 496 of file lsm303agr.h.

◆ lsm303agr_state_t

enum lsm303agr_state_t

Driver state machine possible states.

Enumerator
LSM303AGR_UNINIT	Not initialized.
LSM303AGR_STOP	Stopped.
LSM303AGR_READY	Ready.

Definition at line 509 of file lsm303agr.h.

Function Documentation

◆ lsm303agrI2CReadRegister()

static msg_t lsm303agrI2CReadRegister	(	I2CDriver *	i2cp,
		lsm303agr_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 lsm303agr.c.

Referenced by acc_read_raw(), and comp_read_raw().

◆ lsm303agrI2CWriteRegister()

static msg_t lsm303agrI2CWriteRegister	(	I2CDriver *	i2cp,
		lsm303agr_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 lsm303agr.c.

◆ acc_get_axes_number()

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 lsm303agr.c.

References LSM303AGR_ACC_NUMBER_OF_AXES.

◆ acc_read_raw()

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 lsm303agr.c.

References I2C_READY, i2cAcquireBus(), i2cStart(), LSM303AGR_ACC_NUMBER_OF_AXES, LSM303AGR_READY, LSM303AGR_SAD_ACC, lsm303agrI2CReadRegister(), objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by acc_read_cooked().

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◆ acc_read_cooked()

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 lsm303agr.c.

References acc_read_raw(), LSM303AGR_ACC_NUMBER_OF_AXES, LSM303AGR_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

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◆ acc_set_bias()

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 lsm303agr.c.

References LSM303AGR_ACC_NUMBER_OF_AXES, LSM303AGR_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_reset_bias()

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 lsm303agr.c.

References LSM303AGR_ACC_NUMBER_OF_AXES, LSM303AGR_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_set_sensivity()

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 lsm303agr.c.

References LSM303AGR_ACC_NUMBER_OF_AXES, LSM303AGR_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_reset_sensivity()

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 lsm303agr.c.

References LSM303AGR_ACC_FS_2G, LSM303AGR_ACC_NUMBER_OF_AXES, LSM303AGR_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_set_full_scale()

static msg_t acc_set_full_scale	(	LSM303AGRDriver *	devp,
		lsm303agr_acc_fs_t	fs
	)

static

Changes the LSM303AGRDriver 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 `LSM303AGRDriver` interface.
[in]	fs	new fullscale value.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 355 of file lsm303agr.c.

References I2C_READY, LSM303AGR_ACC_FS_2G, LSM303AGR_READY, osalDbgAssert, and osalDbgCheck.

◆ comp_get_axes_number()

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 445 of file lsm303agr.c.

References LSM303AGR_COMP_NUMBER_OF_AXES, and osalDbgCheck.

◆ comp_read_raw()

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 467 of file lsm303agr.c.

References I2C_READY, i2cAcquireBus(), i2cStart(), LSM303AGR_COMP_NUMBER_OF_AXES, LSM303AGR_READY, LSM303AGR_SAD_COMP, lsm303agrI2CReadRegister(), objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_read_cooked().

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◆ comp_read_cooked()

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 521 of file lsm303agr.c.

References comp_read_raw(), LSM303AGR_COMP_NUMBER_OF_AXES, LSM303AGR_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

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◆ comp_set_bias()

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 555 of file lsm303agr.c.

References LSM303AGR_COMP_NUMBER_OF_AXES, LSM303AGR_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ comp_reset_bias()

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 584 of file lsm303agr.c.

References LSM303AGR_COMP_NUMBER_OF_AXES, LSM303AGR_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ comp_set_sensivity()

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 614 of file lsm303agr.c.

References LSM303AGR_COMP_NUMBER_OF_AXES, LSM303AGR_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ comp_reset_sensivity()

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 643 of file lsm303agr.c.

References LSM303AGR_COMP_NUMBER_OF_AXES, LSM303AGR_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ lsm303agrObjectInit()

void lsm303agrObjectInit ( LSM303AGRDriver * devp )

Initializes an instance.

Parameters

[out] devp pointer to the LSM303AGRDriver object

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

Definition at line 690 of file lsm303agr.c.

References LSM303AGRDriver::vmt.

◆ lsm303agrStart()

void lsm303agrStart	(	LSM303AGRDriver *	devp,
		const LSM303AGRConfig *	config
	)

Configures and activates LSM303AGR Complex Driver peripheral.

Parameters

[in]	devp	pointer to the `LSM303AGRDriver` object
[in]	config	pointer to the `LSM303AGRConfig` object

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

Definition at line 711 of file lsm303agr.c.

References LSM303AGR_READY, LSM303AGR_STOP, osalDbgAssert, and osalDbgCheck.

◆ lsm303agrStop()

void lsm303agrStop ( LSM303AGRDriver * devp )

Deactivates the LSM303AGR Complex Driver peripheral.

Parameters

[in] devp pointer to the LSM303AGRDriver object

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

Definition at line 873 of file lsm303agr.c.

References i2cAcquireBus(), i2cStart(), LSM303AGR_READY, LSM303AGR_STOP, osalDbgAssert, and osalDbgCheck.

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Detailed Description

Macros

Version identification

LSM303AGR communication interfaces related bit masks

LSM303AGR register addresses

LSM303AGR_TEMP_CFG_REG_A register bits definitions

LSM303AGR_CTRL_REG1_A register bits definitions

LSM303AGR_CTRL_REG2_A register bits definitions

LSM303AGR_CTRL_REG3_A register bits definitions

LSM303AGR_CTRL_REG4_A register bits definitions

LSM303AGR_CTRL_REG5_A register bits definitions

LSM303AGR_CTRL_REG6_A register bits definitions

LSM303AGR_CFG_REG_A register bits definitions

LSM303AGR_CFG_REG_B register bits definitions

LSM303AGR_CFG_REG_C register bits definitions

Configuration options

LSM303AGR accelerometer subsystem data structures and types.

LSM303AGR compass subsystem data structures and types.

LSM303AGR main system data structures and types.

Data Structures

Functions

Enumerations

Macro Definition Documentation

◆ EX_LSM303AGR_VERSION

◆ EX_LSM303AGR_MAJOR

◆ EX_LSM303AGR_MINOR

◆ EX_LSM303AGR_PATCH

◆ LSM303AGR_ACC_NUMBER_OF_AXES

◆ LSM303AGR_COMP_NUMBER_OF_AXES

◆ LSM303AGR_USE_SPI

◆ LSM303AGR_SHARED_SPI

◆ LSM303AGR_USE_I2C

◆ LSM303AGR_SHARED_I2C

◆ LSM303AGR_USE_ADVANCED

◆ _lsm303agr_methods_alone

◆ _lsm303agr_methods

◆ _lsm303agr_data

◆ lsm303agrAccelerometerGetAxesNumber

◆ lsm303agrAccelerometerReadRaw

◆ lsm303agrAccelerometerReadCooked

◆ lsm303agrAccelerometerSetBias

◆ lsm303agrAccelerometerResetBias

◆ lsm303agrAccelerometerSetSensitivity

◆ lsm303agrAccelerometerResetSensitivity

◆ lsm303agrAccelerometerSetFullScale

◆ lsm303agrCompassGetAxesNumber

◆ lsm303agrCompassReadRaw

◆ lsm303agrCompassReadCooked

◆ lsm303agrCompassSetBias

◆ lsm303agrCompassResetBias

◆ lsm303agrCompassSetSensitivity

◆ lsm303agrCompassResetSensitivity

Typedef Documentation

◆ LSM303AGRDriver

Enumeration Type Documentation

◆ lsm303agr_sad_t

◆ lsm303agr_acc_fs_t

◆ lsm303agr_acc_odr_t

◆ lsm303agr_acc_ae_t

◆ lsm303agr_acc_mode_t

◆ lsm303agr_acc_bdu_t

◆ lsm303agr_acc_end_t

◆ lsm303agr_comp_odr_t

◆ lsm303agr_comp_mode_t

◆ lsm303agr_comp_lpow_t

◆ lsm303agr_state_t

Function Documentation

◆ lsm303agrI2CReadRegister()

◆ lsm303agrI2CWriteRegister()

◆ acc_get_axes_number()

◆ acc_read_raw()

◆ acc_read_cooked()

◆ acc_set_bias()

◆ acc_reset_bias()

◆ acc_set_sensivity()

◆ acc_reset_sensivity()

◆ acc_set_full_scale()

◆ comp_get_axes_number()

◆ comp_read_raw()

◆ comp_read_cooked()