lsm303dlhc.h File Reference

Driver for ST LSM303DLHC 3D accelerometer and magnetometer. More...

#include "std.h"
#include "mcu_periph/i2c.h"
#include "math/pprz_algebra_int.h"
#include "peripherals/lsm303dlhc_regs.h"

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Data Structures
struct	Lsm303dlhcAccConfig
struct	Lsm303dlhcMagConfig
struct	Lsm303dlhc
union	Lsm303dlhc.init_status
union	Lsm303dlhc.data
union	Lsm303dlhc.config

Enumerations
enum	Lsm303dlhcAccConfStatus {   LSM_CONF_ACC_UNINIT, LSM_CONF_ACC_CTRL_REG4_A, LSM_CONF_ACC_CTRL_REG1_A, LSM_CONF_ACC_CTRL_REG3_A,   LSM_CONF_ACC_DONE }
	config status states More...
enum	Lsm303dlhcMagConfStatus {   LSM_CONF_MAG_UNINIT, LSM_CONF_MAG_CRA_REG_M, LSM_CONF_MAG_CRB_REG_M, LSM_CONF_MAG_MR_REG_M,   LSM_CONF_MAG_DONE }
	config status states More...

Functions
void	lsm303dlhc_init (struct Lsm303dlhc *lsm, struct i2c_periph *i2c_p, uint8_t addr)
	Initialize Lsm303dlhc struct and set default config options. More...
void	lsm303dlhc_start_configure (struct Lsm303dlhc *lsm)
void	lsm303dlhc_read (struct Lsm303dlhc *lsm)
void	lsm303dlhc_event (struct Lsm303dlhc *lsm)
static void	lsm303dlhc_periodic (struct Lsm303dlhc *lsm)
	convenience function: read or start configuration if not already initialized More...

Detailed Description

Driver for ST LSM303DLHC 3D accelerometer and magnetometer.

Definition in file lsm303dlhc.h.

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Data Structure Documentation

struct Lsm303dlhcAccConfig

Definition at line 39 of file lsm303dlhc.h.

Data Fields
uint8_t	hres	high resolution output mode
uint8_t	lp_mode	Low power mode.
uint8_t	rate	Data Output Rate Bits(6 -> 50Hz with HMC5843, 75Hz with HMC5883)
uint8_t	scale	full scale selection

struct Lsm303dlhcMagConfig

Definition at line 46 of file lsm303dlhc.h.

Data Fields
uint8_t	gain	Gain configuration (1 -> +- 1 Gauss)
uint8_t	mode	Measurement mode.
uint8_t	rate	Data Output Rate Bits(6 -> 50Hz with HMC5843, 75Hz with HMC5883)

struct Lsm303dlhc

Definition at line 70 of file lsm303dlhc.h.

Collaboration diagram for Lsm303dlhc:

Data Fields
union Lsm303dlhc	config
union Lsm303dlhc	data
volatile bool_t	data_available	data ready flag
struct i2c_periph *	i2c_p
struct i2c_transaction	i2c_trans
union Lsm303dlhc	init_status
bool_t	initialized	config done flag

union Lsm303dlhc.init_status

Definition at line 74 of file lsm303dlhc.h.

Data Fields
enum Lsm303dlhcAccConfStatus	acc	init status
enum Lsm303dlhcMagConfStatus	mag	init status

union Lsm303dlhc.data

Definition at line 79 of file lsm303dlhc.h.

Data Fields
int16_t	value[3]	data values accessible by channel index
struct Int16Vect3	vect	data vector in acc coordinate system

union Lsm303dlhc.config

Definition at line 83 of file lsm303dlhc.h.

Data Fields
struct Lsm303dlhcAccConfig	acc
struct Lsm303dlhcMagConfig	mag

Enumeration Type Documentation

enum Lsm303dlhcAccConfStatus

config status states

Enumerator
LSM_CONF_ACC_UNINIT
LSM_CONF_ACC_CTRL_REG4_A
LSM_CONF_ACC_CTRL_REG1_A
LSM_CONF_ACC_CTRL_REG3_A
LSM_CONF_ACC_DONE

Definition at line 53 of file lsm303dlhc.h.

enum Lsm303dlhcMagConfStatus

config status states

Enumerator
LSM_CONF_MAG_UNINIT
LSM_CONF_MAG_CRA_REG_M
LSM_CONF_MAG_CRB_REG_M
LSM_CONF_MAG_MR_REG_M
LSM_CONF_MAG_DONE

Definition at line 62 of file lsm303dlhc.h.

Function Documentation

void lsm303dlhc_event

(

struct Lsm303dlhc *

lsm

)

Definition at line 209 of file lsm303dlhc.c.

References i2c_transaction::buf, Lsm303dlhc::data, Lsm303dlhc::data_available, Lsm303dlhc::i2c_trans, I2CTransDone, I2CTransFailed, I2CTransSuccess, Lsm303dlhc::init_status, Lsm303dlhc::initialized, Int16FromBuf, LSM303DLHC_ACC_ADDR, lsm303dlhc_send_config(), LSM_CONF_ACC_UNINIT, LSM_CONF_MAG_UNINIT, i2c_transaction::slave_addr, i2c_transaction::status, and TRUE.

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void lsm303dlhc_init	(	struct Lsm303dlhc *	lsm,
		struct i2c_periph *	i2c_p,
		uint8_t	addr
	)

Initialize Lsm303dlhc struct and set default config options.

Parameters

lsm	Lsm303dlhc struct
i2c_p	I2C peripheral to use
addr	I2C address of Lsm303dlhc

Definition at line 82 of file lsm303dlhc.c.

References Lsm303dlhc::config, FALSE, Lsm303dlhc::i2c_p, Lsm303dlhc::i2c_trans, I2CTransDone, Lsm303dlhc::init_status, Lsm303dlhc::initialized, LSM303DLHC_ACC_ADDR, lsm303dlhc_acc_set_default_config(), lsm303dlhc_mag_set_default_config(), LSM_CONF_ACC_UNINIT, LSM_CONF_MAG_UNINIT, i2c_transaction::slave_addr, and i2c_transaction::status.

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static void lsm303dlhc_periodic ( struct Lsm303dlhc *  lsm )

inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 100 of file lsm303dlhc.h.

References Lsm303dlhc::initialized, lsm303dlhc_read(), and lsm303dlhc_start_configure().

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void lsm303dlhc_read

(

struct Lsm303dlhc *

lsm

)

Definition at line 185 of file lsm303dlhc.c.

References i2c_transaction::buf, Lsm303dlhc::i2c_p, i2c_submit(), Lsm303dlhc::i2c_trans, I2CTransDone, I2CTransTxRx, Lsm303dlhc::initialized, i2c_transaction::len_r, i2c_transaction::len_w, LSM303DLHC_ACC_ADDR, LSM303DLHC_REG_OUT_X_H_M, LSM303DLHC_REG_OUT_X_L_A, i2c_transaction::slave_addr, i2c_transaction::status, and i2c_transaction::type.

Referenced by lsm303dlhc_periodic(), and lsm303dlhc_send_config().

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void lsm303dlhc_start_configure

(

struct Lsm303dlhc *

lsm

)

Definition at line 165 of file lsm303dlhc.c.

References Lsm303dlhc::i2c_trans, I2CTransDone, I2CTransSuccess, Lsm303dlhc::init_status, LSM303DLHC_ACC_ADDR, lsm303dlhc_send_config(), LSM_CONF_ACC_UNINIT, LSM_CONF_MAG_UNINIT, i2c_transaction::slave_addr, and i2c_transaction::status.

Referenced by lsm303dlhc_periodic().

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