391 lines
8.9 KiB
C
391 lines
8.9 KiB
C
/**
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******************************************************************************
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* @file lsm303c.c
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* @author MCD Application Team
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* @brief This file provides a set of functions needed to manage the LSM303C
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* MEMS accelerometer.
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2015 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "lsm303c.h"
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/** @addtogroup BSP
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* @{
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*/
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/** @addtogroup Components
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* @{
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*/
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/** @addtogroup LSM303C
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* @{
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*/
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/** @defgroup LSM303C_Private_TypesDefinitions
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup LSM303C_Private_Defines
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup LSM303C_Private_Macros
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup LSM303C_Private_Functions
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup LSM303C_Private_Variables
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* @{
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*/
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ACCELERO_DrvTypeDef Lsm303cDrv_accelero =
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{
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LSM303C_AccInit,
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LSM303C_AccDeInit,
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LSM303C_AccReadID,
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0,
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LSM303C_AccLowPower,
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0,
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0,
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0,
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0,
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0,
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LSM303C_AccFilterConfig,
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0,
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LSM303C_AccReadXYZ
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};
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MAGNETO_DrvTypeDef Lsm303cDrv_magneto =
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{
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LSM303C_MagInit,
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LSM303C_MagDeInit,
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LSM303C_MagReadID,
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0,
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LSM303C_MagLowPower,
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0,
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0,
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0,
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0,
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0,
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0,
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0,
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LSM303C_MagReadXYZ
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};
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/**
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* @}
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*/
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/**
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* @brief Set LSM303C Accelerometer Initialization.
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* @param InitStruct: Init parameters
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* @retval None
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*/
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void LSM303C_AccInit(uint16_t InitStruct)
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{
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uint8_t ctrl = 0x00;
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/* Low level init */
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ACCELERO_IO_Init();
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/* Write value to ACC MEMS CTRL_REG1 register */
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ctrl = (uint8_t) InitStruct;
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ACCELERO_IO_Write(LSM303C_CTRL_REG1_A, ctrl);
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/* Write value to ACC MEMS CTRL_REG4 register */
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ctrl = ((uint8_t) (InitStruct >> 8));
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ACCELERO_IO_Write(LSM303C_CTRL_REG4_A, ctrl);
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}
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/**
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* @brief LSM303C Accelerometer De-initialization.
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* @param None
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* @retval None
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*/
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void LSM303C_AccDeInit(void)
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{
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}
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/**
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* @brief Read LSM303C ID.
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* @param None
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* @retval ID
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*/
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uint8_t LSM303C_AccReadID(void)
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{
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uint8_t ctrl = 0x00;
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/* Low level init */
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ACCELERO_IO_Init();
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/* Enabled SPI/I2C read communication */
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ACCELERO_IO_Write(LSM303C_CTRL_REG4_A, 0x5);
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/* Read value at Who am I register address */
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ctrl = ACCELERO_IO_Read(LSM303C_WHO_AM_I_ADDR);
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return ctrl;
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}
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/**
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* @brief Put Accelerometer in power down mode or not.
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* @param Mode equal to LSM303C_ACC_ODR_OFF means enable Low Power Mode, otherwise Output data rate is set.
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* This parameter can be a value of @ref Acc_OutPut_DataRate_Selection
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* @retval None
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*/
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void LSM303C_AccLowPower(uint16_t Mode)
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{
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uint8_t ctrl = 0x00;
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/* Read control register 1 value */
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ctrl = ACCELERO_IO_Read(LSM303C_CTRL_REG1_A);
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/* Clear ODR bits */
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ctrl &= ~(LSM303C_ACC_ODR_BITPOSITION);
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/* Set Power down */
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ctrl |= (uint8_t)Mode;
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/* write back control register */
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ACCELERO_IO_Write(LSM303C_CTRL_REG1_A, ctrl);
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}
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/**
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* @brief Set High Pass Filter Modality
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* @param FilterStruct: contains data for filter config
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* @retval None
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*/
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void LSM303C_AccFilterConfig(uint8_t FilterStruct)
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{
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uint8_t tmpreg;
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// /* Read CTRL_REG2 register */
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// tmpreg = ACCELERO_IO_Read(LSM303C_CTRL_REG2_A);
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//
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// tmpreg &= 0x0C;
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tmpreg = FilterStruct;
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/* Write value to ACC MEMS CTRL_REG2 register */
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ACCELERO_IO_Write(LSM303C_CTRL_REG2_A, tmpreg);
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}
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/**
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* @brief Read X, Y & Z Acceleration values
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* @param pData: Data out pointer
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* @retval None
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*/
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void LSM303C_AccReadXYZ(int16_t* pData)
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{
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int16_t pnRawData[3];
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uint8_t ctrlx[2]={0,0};
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uint8_t buffer[6];
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uint8_t i = 0;
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uint8_t sensitivity = LSM303C_ACC_SENSITIVITY_2G;
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/* Read the acceleration control register content */
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ctrlx[0] = ACCELERO_IO_Read(LSM303C_CTRL_REG4_A);
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ctrlx[1] = ACCELERO_IO_Read(LSM303C_CTRL_REG5_A);
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/* Read output register X, Y & Z acceleration */
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buffer[0] = ACCELERO_IO_Read(LSM303C_OUT_X_L_A);
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buffer[1] = ACCELERO_IO_Read(LSM303C_OUT_X_H_A);
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buffer[2] = ACCELERO_IO_Read(LSM303C_OUT_Y_L_A);
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buffer[3] = ACCELERO_IO_Read(LSM303C_OUT_Y_H_A);
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buffer[4] = ACCELERO_IO_Read(LSM303C_OUT_Z_L_A);
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buffer[5] = ACCELERO_IO_Read(LSM303C_OUT_Z_H_A);
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for(i=0; i<3; i++)
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{
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pnRawData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]);
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}
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/* Normal mode */
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/* Switch the sensitivity value set in the CRTL4 */
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switch(ctrlx[0] & LSM303C_ACC_FULLSCALE_8G)
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{
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case LSM303C_ACC_FULLSCALE_2G:
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sensitivity = LSM303C_ACC_SENSITIVITY_2G;
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break;
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case LSM303C_ACC_FULLSCALE_4G:
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sensitivity = LSM303C_ACC_SENSITIVITY_4G;
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break;
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case LSM303C_ACC_FULLSCALE_8G:
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sensitivity = LSM303C_ACC_SENSITIVITY_8G;
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break;
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}
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/* Obtain the mg value for the three axis */
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for(i=0; i<3; i++)
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{
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pData[i]=(pnRawData[i] * sensitivity);
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}
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}
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/***********************************************************************************************
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Magnetometer driver
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***********************************************************************************************/
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/**
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* @brief Set LSM303C Magnetometer Initialization.
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* @param LSM303C_InitStruct: pointer to a LSM303C_MagInitTypeDef structure
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* that contains the configuration setting for the LSM303C.
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* @retval None
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*/
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void LSM303C_MagInit(MAGNETO_InitTypeDef LSM303C_InitStruct)
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{
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MAGNETO_IO_Write(LSM303C_CTRL_REG1_M, LSM303C_InitStruct.Register1);
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MAGNETO_IO_Write(LSM303C_CTRL_REG2_M, LSM303C_InitStruct.Register2);
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MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, LSM303C_InitStruct.Register3);
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MAGNETO_IO_Write(LSM303C_CTRL_REG4_M, LSM303C_InitStruct.Register4);
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MAGNETO_IO_Write(LSM303C_CTRL_REG5_M, LSM303C_InitStruct.Register5);
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}
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/**
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* @brief LSM303C Magnetometer De-initialization.
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* @param None
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* @retval None
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*/
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void LSM303C_MagDeInit(void)
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{
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}
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/**
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* @brief Read LSM303C ID.
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* @param None
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* @retval ID
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*/
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uint8_t LSM303C_MagReadID(void)
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{
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/* Low level init */
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MAGNETO_IO_Init();
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/* Enabled the SPI/I2C read operation */
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MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, 0x84);
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/* Read value at Who am I register address */
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return MAGNETO_IO_Read(LSM303C_WHO_AM_I_ADDR);
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}
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/**
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* @brief Put Magnetometer in power down mode or not.
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* @param Mode equal to LSM303C_MAG_POWERDOWN2_MODE means enable deepest Low Power Mode, otherwise other mode is set.
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* This parameter can be a value of @ref Mag_Operation_Mode
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* @retval None
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*/
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void LSM303C_MagLowPower(uint16_t Mode)
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{
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uint8_t ctrl = 0x00;
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/* Read control register 1 value */
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ctrl = MAGNETO_IO_Read(LSM303C_CTRL_REG3_M);
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/* Clear ODR bits */
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ctrl &= ~(LSM303C_MAG_SELECTION_MODE);
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/* Set mode */
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ctrl |= (uint8_t)Mode;
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/* write back control register */
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MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, ctrl);
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}
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/**
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* @brief Get status for Mag LSM303C data
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* @param None
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* @retval Data status in a LSM303C Data register
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*/
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uint8_t LSM303C_MagGetDataStatus(void)
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{
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/* Read Mag STATUS register */
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return MAGNETO_IO_Read(LSM303C_STATUS_REG_M);
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}
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/**
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* @brief Read X, Y & Z Magnetometer values
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* @param pData: Data out pointer
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* @retval None
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*/
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void LSM303C_MagReadXYZ(int16_t* pData)
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{
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uint8_t ctrlx;
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uint8_t buffer[6];
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uint8_t i=0;
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/* Read the magnetometer control register content */
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ctrlx = MAGNETO_IO_Read(LSM303C_CTRL_REG4_M);
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/* Read output register X, Y & Z magnetometer */
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buffer[0] = MAGNETO_IO_Read(LSM303C_OUT_X_L_M);
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buffer[1] = MAGNETO_IO_Read(LSM303C_OUT_X_H_M);
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buffer[2] = MAGNETO_IO_Read(LSM303C_OUT_Y_L_M);
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buffer[3] = MAGNETO_IO_Read(LSM303C_OUT_Y_H_M);
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buffer[4] = MAGNETO_IO_Read(LSM303C_OUT_Z_L_M);
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buffer[5] = MAGNETO_IO_Read(LSM303C_OUT_Z_H_M);
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/* Check in the control register4 the data alignment*/
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if((ctrlx & LSM303C_MAG_BLE_MSB))
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{
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for(i=0; i<3; i++)
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{
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pData[i]=((int16_t)((uint16_t)buffer[2*i] << 8) + buffer[2*i+1]);
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}
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}
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else
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{
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for(i=0; i<3; i++)
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{
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pData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]);
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}
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}
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}
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/**
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* @}
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*/
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/**
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* @}
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*/
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/**
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* @}
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*/
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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