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.
enum	lsm303dlhc_acc_fs_t { LSM303DLHC_ACC_FS_2G = 0x00, LSM303DLHC_ACC_FS_4G = 0x10, LSM303DLHC_ACC_FS_8G = 0x20, LSM303DLHC_ACC_FS_16G = 0x30 }
	LSM303DLHC accelerometer subsystem full scale. More...

enum	lsm303dlhc_acc_odr_t { LSM303DLHC_ACC_ODR_PD = 0x00, LSM303DLHC_ACC_ODR_1Hz = 0x10, LSM303DLHC_ACC_ODR_10Hz = 0x20, LSM303DLHC_ACC_ODR_25Hz = 0x30, LSM303DLHC_ACC_ODR_50Hz = 0x40, LSM303DLHC_ACC_ODR_100Hz = 0x50, LSM303DLHC_ACC_ODR_200Hz = 0x60, LSM303DLHC_ACC_ODR_400Hz = 0x70, LSM303DLHC_ACC_ODR_1620Hz = 0x80, LSM303DLHC_ACC_ODR_1344Hz = 0x90 }
	LSM303DLHC accelerometer subsystem output data rate. More...

enum	lsm303dlhc_acc_ae_t { LSM303DLHC_ACC_AE_DISABLED = 0x00, LSM303DLHC_ACC_AE_X = 0x01, LSM303DLHC_ACC_AE_Y = 0x02, LSM303DLHC_ACC_AE_XY = 0x03, LSM303DLHC_ACC_AE_Z = 0x04, LSM303DLHC_ACC_AE_XZ = 0x05, LSM303DLHC_ACC_AE_YZ = 0x06, LSM303DLHC_ACC_AE_XYZ = 0x07 }
	LSM303DLHC accelerometer subsystem axes enabling. More...

enum	lsm303dlhc_acc_lp_t { LSM303DLHC_ACC_LP_DISABLED = 0x00, LSM303DLHC_ACC_LP_ENABLED = 0x40 }
	LSM303DLHC accelerometer subsystem low power mode. More...

enum	lsm303dlhc_acc_hr_t { LSM303DLHC_ACC_HR_DISABLED = 0x00, LSM303DLHC_ACC_HR_ENABLED = 0x08 }
	LSM303DLHC accelerometer subsystem high resolution mode. More...

enum	lsm303dlhc_acc_bdu_t { LSM303DLHC_ACC_BDU_CONT = 0x00, LSM303DLHC_ACC_BDU_BLOCK = 0x80 }
	LSM303DLHC accelerometer subsystem block data update. More...

enum	lsm303dlhc_acc_end_t { LSM303DLHC_ACC_END_LITTLE = 0x00, LSM303DLHC_ACC_END_BIG = 0x40 }
	LSM303DLHC accelerometer endianness. More...

typedef struct LSM303DLHCDriver	LSM303DLHCDriver
	Structure representing a LSM303DLHC driver. More...

LSM303DLHC compass subsystem data structures and types.
enum	lsm303dlhc_comp_fs_t { LSM303DLHC_COMP_FS_1P3GA = 0x20, LSM303DLHC_COMP_FS_1P9GA = 0x40, LSM303DLHC_COMP_FS_2P5GA = 0x60, LSM303DLHC_COMP_FS_4P0GA = 0x80, LSM303DLHC_COMP_FS_4P7GA = 0xA0, LSM303DLHC_COMP_FS_5P6GA = 0xC0, LSM303DLHC_COMP_FS_8P1GA = 0xE0 }
	LSM303DLHC compass subsystem full scale. More...

enum	lsm303dlhc_comp_odr_t { LSM303DLHC_COMP_ODR_0P75HZ = 0x00, LSM303DLHC_COMP_ODR_1P5HZ = 0x04, LSM303DLHC_COMP_ODR_3P0HZ = 0x08, LSM303DLHC_COMP_ODR_7P5HZ = 0x0C, LSM303DLHC_COMP_ODR_15HZ = 0x10, LSM303DLHC_COMP_ODR_30HZ = 0x14, LSM303DLHC_COMP_ODR_75HZ = 0x18, LSM303DLHC_COMP_ODR_220HZ = 0x1C }
	LSM303DLHC compass subsystem output data rate. More...

enum	lsm303dlhc_comp_md_t { LSM303DLHC_COMP_MD_CONT = 0x00, LSM303DLHC_COMP_MD_BLOCK = 0x01, LSM303DLHC_COMP_MD_SLEEP = 0x02 }
	LSM303DLHC compass subsystem working mode. More...

LSM303DLHC main system data structures and types.
enum	lsm303dlhc_state_t { LSM303DLHC_UNINIT = 0, LSM303DLHC_STOP = 1, LSM303DLHC_READY = 2 }
	Driver state machine possible states. More...

#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
enum	lsm303dlhc_sad_t { LSM303DLHC_SAD_ACC = 0x19, LSM303DLHC_SAD_COMP = 0x1E }
	Accelerometer and Compass Slave Address. More...

Macro Definition Documentation

◆ EX_LSM303DLHC_VERSION

#define EX_LSM303DLHC_VERSION "1.1.2"

LSM303DLHC driver version string.

Definition at line 46 of file lsm303dlhc.h.

◆ EX_LSM303DLHC_MAJOR

#define EX_LSM303DLHC_MAJOR 1

LSM303DLHC driver version major number.

Definition at line 51 of file lsm303dlhc.h.

◆ EX_LSM303DLHC_MINOR

#define EX_LSM303DLHC_MINOR 1

LSM303DLHC driver version minor number.

Definition at line 56 of file lsm303dlhc.h.

◆ EX_LSM303DLHC_PATCH

#define EX_LSM303DLHC_PATCH 2

LSM303DLHC driver version patch number.

Definition at line 61 of file lsm303dlhc.h.

◆ LSM303DLHC_ACC_NUMBER_OF_AXES

#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.

◆ LSM303DLHC_COMP_NUMBER_OF_AXES

#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.

◆ LSM303DLHC_USE_SPI

#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 314 of file lsm303dlhc.h.

◆ LSM303DLHC_SHARED_SPI

#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 324 of file lsm303dlhc.h.

◆ LSM303DLHC_USE_I2C

#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 333 of file lsm303dlhc.h.

◆ LSM303DLHC_SHARED_I2C

#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 343 of file lsm303dlhc.h.

◆ LSM303DLHC_USE_ADVANCED

#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 352 of file lsm303dlhc.h.

◆ _lsm303dlhc_methods_alone

#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 600 of file lsm303dlhc.h.

◆ _lsm303dlhc_methods

#define _lsm303dlhc_methods

Value:

_base_object_methods \

_lsm303dlhc_methods_alone

LSM303DLHC specific methods with inherited ones.

Definition at line 611 of file lsm303dlhc.h.

◆ _lsm303dlhc_data

#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 627 of file lsm303dlhc.h.

◆ lsm303dlhcAccelerometerGetAxesNumber

#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 677 of file lsm303dlhc.h.

◆ lsm303dlhcAccelerometerReadRaw

#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 698 of file lsm303dlhc.h.

◆ lsm303dlhcAccelerometerReadCooked

#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 720 of file lsm303dlhc.h.

◆ lsm303dlhcAccelerometerSetBias

#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 737 of file lsm303dlhc.h.

◆ lsm303dlhcAccelerometerResetBias

#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 752 of file lsm303dlhc.h.

◆ lsm303dlhcAccelerometerSetSensitivity

#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 769 of file lsm303dlhc.h.

◆ lsm303dlhcAccelerometerResetSensitivity

#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 784 of file lsm303dlhc.h.

◆ lsm303dlhcAccelerometerSetFullScale

#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 802 of file lsm303dlhc.h.

◆ lsm303dlhcCompassGetAxesNumber

#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 814 of file lsm303dlhc.h.

◆ lsm303dlhcCompassReadRaw

#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 835 of file lsm303dlhc.h.

◆ lsm303dlhcCompassReadCooked

#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 857 of file lsm303dlhc.h.

◆ lsm303dlhcCompassSetBias

#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 874 of file lsm303dlhc.h.

◆ lsm303dlhcCompassResetBias

#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 889 of file lsm303dlhc.h.

◆ lsm303dlhcCompassSetSensitivity

#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 906 of file lsm303dlhc.h.

◆ lsm303dlhcCompassResetSensitivity

#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 921 of file lsm303dlhc.h.

◆ lsm303dlhcCompassSetFullScale

#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 939 of file lsm303dlhc.h.

Typedef Documentation

◆ LSM303DLHCDriver

typedef struct LSM303DLHCDriver LSM303DLHCDriver

Structure representing a LSM303DLHC driver.

Definition at line 398 of file lsm303dlhc.h.

Enumeration Type Documentation

◆ lsm303dlhc_sad_t

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.

◆ lsm303dlhc_acc_fs_t

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 403 of file lsm303dlhc.h.

◆ lsm303dlhc_acc_odr_t

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 413 of file lsm303dlhc.h.

◆ lsm303dlhc_acc_ae_t

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 429 of file lsm303dlhc.h.

◆ lsm303dlhc_acc_lp_t

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 443 of file lsm303dlhc.h.

◆ lsm303dlhc_acc_hr_t

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 451 of file lsm303dlhc.h.

◆ lsm303dlhc_acc_bdu_t

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 459 of file lsm303dlhc.h.

◆ lsm303dlhc_acc_end_t

enum lsm303dlhc_acc_end_t

LSM303DLHC accelerometer endianness.

Enumerator
LSM303DLHC_ACC_END_LITTLE	Little Endian
LSM303DLHC_ACC_END_BIG	Big Endian

Definition at line 467 of file lsm303dlhc.h.

◆ lsm303dlhc_comp_fs_t

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 480 of file lsm303dlhc.h.

◆ lsm303dlhc_comp_odr_t

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 493 of file lsm303dlhc.h.

◆ lsm303dlhc_comp_md_t

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 507 of file lsm303dlhc.h.

◆ lsm303dlhc_state_t

enum lsm303dlhc_state_t

Driver state machine possible states.

Enumerator
LSM303DLHC_UNINIT	Not initialized.
LSM303DLHC_STOP	Stopped.
LSM303DLHC_READY	Ready.

Definition at line 521 of file lsm303dlhc.h.

Function Documentation

◆ lsm303dlhcI2CReadRegister()

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.

Referenced by acc_read_raw(), and comp_read_raw().

◆ lsm303dlhcI2CWriteRegister()

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.

◆ 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 lsm303dlhc.c.

References LSM303DLHC_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 lsm303dlhc.c.

References I2C_READY, i2cAcquireBus(), i2cStart(), LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_READY, LSM303DLHC_SAD_ACC, lsm303dlhcI2CReadRegister(), 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 lsm303dlhc.c.

References acc_read_raw(), LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_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 lsm303dlhc.c.

References LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_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 lsm303dlhc.c.

References LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_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 lsm303dlhc.c.

References LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_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 lsm303dlhc.c.

References LSM303DLHC_ACC_FS_2G, LSM303DLHC_ACC_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_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, LSM303DLHC_ACC_FS_2G, LSM303DLHC_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 437 of file lsm303dlhc.c.

References LSM303DLHC_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 459 of file lsm303dlhc.c.

References I2C_READY, i2cAcquireBus(), i2cStart(), LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, LSM303DLHC_SAD_COMP, lsm303dlhcI2CReadRegister(), 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 513 of file lsm303dlhc.c.

References comp_read_raw(), LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_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 547 of file lsm303dlhc.c.

References LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_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 576 of file lsm303dlhc.c.

References LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_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 606 of file lsm303dlhc.c.

References LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_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 635 of file lsm303dlhc.c.

References LSM303DLHC_COMP_FS_1P3GA, LSM303DLHC_COMP_NUMBER_OF_AXES, LSM303DLHC_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ 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 I2C_READY, LSM303DLHC_COMP_FS_1P3GA, LSM303DLHC_READY, osalDbgAssert, and osalDbgCheck.

◆ lsm303dlhcObjectInit()

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::vmt.

◆ lsm303dlhcStart()

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 LSM303DLHC_READY, LSM303DLHC_STOP, osalDbgAssert, and osalDbgCheck.

◆ lsm303dlhcStop()

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(), i2cStart(), LSM303DLHC_READY, LSM303DLHC_STOP, osalDbgAssert, and osalDbgCheck.

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Detailed Description

Macros

Version identification

LSM303DLHC communication interfaces related bit masks

LSM303DLHC register addresses

LSM303DLHC_CTRL_REG1_A register bits definitions

LSM303DLHC_CTRL_REG2_A register bits definitions

LSM303DLHC_CTRL_REG3_A register bits definitions

LSM303DLHC_CTRL_REG4_A register bits definitions

LSM303DLHC_CTRL_REG5_A register bits definitions

LSM303DLHC_CTRL_REG6_A register bits definitions

LSM303DLHC_CRA_REG_M register bits definitions

LSM303DLHC_CRB_REG_M register bits definitions

Configuration options

LSM303DLHC accelerometer subsystem data structures and types.

LSM303DLHC compass subsystem data structures and types.

LSM303DLHC main system data structures and types.

Data Structures

Functions

Enumerations

Macro Definition Documentation

◆ EX_LSM303DLHC_VERSION

◆ EX_LSM303DLHC_MAJOR

◆ EX_LSM303DLHC_MINOR

◆ EX_LSM303DLHC_PATCH

◆ LSM303DLHC_ACC_NUMBER_OF_AXES

◆ LSM303DLHC_COMP_NUMBER_OF_AXES

◆ LSM303DLHC_USE_SPI

◆ LSM303DLHC_SHARED_SPI

◆ LSM303DLHC_USE_I2C

◆ LSM303DLHC_SHARED_I2C

◆ LSM303DLHC_USE_ADVANCED

◆ _lsm303dlhc_methods_alone

◆ _lsm303dlhc_methods

◆ _lsm303dlhc_data

◆ lsm303dlhcAccelerometerGetAxesNumber

◆ lsm303dlhcAccelerometerReadRaw

◆ lsm303dlhcAccelerometerReadCooked

◆ lsm303dlhcAccelerometerSetBias

◆ lsm303dlhcAccelerometerResetBias

◆ lsm303dlhcAccelerometerSetSensitivity

◆ lsm303dlhcAccelerometerResetSensitivity

◆ lsm303dlhcAccelerometerSetFullScale

◆ lsm303dlhcCompassGetAxesNumber

◆ lsm303dlhcCompassReadRaw

◆ lsm303dlhcCompassReadCooked

◆ lsm303dlhcCompassSetBias

◆ lsm303dlhcCompassResetBias

◆ lsm303dlhcCompassSetSensitivity

◆ lsm303dlhcCompassResetSensitivity

◆ lsm303dlhcCompassSetFullScale

Typedef Documentation

◆ LSM303DLHCDriver

Enumeration Type Documentation

◆ lsm303dlhc_sad_t

◆ lsm303dlhc_acc_fs_t

◆ lsm303dlhc_acc_odr_t

◆ lsm303dlhc_acc_ae_t

◆ lsm303dlhc_acc_lp_t

◆ lsm303dlhc_acc_hr_t

◆ lsm303dlhc_acc_bdu_t

◆ lsm303dlhc_acc_end_t

◆ lsm303dlhc_comp_fs_t

◆ lsm303dlhc_comp_odr_t

◆ lsm303dlhc_comp_md_t

◆ lsm303dlhc_state_t

Function Documentation

◆ lsm303dlhcI2CReadRegister()

◆ lsm303dlhcI2CWriteRegister()

◆ 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()