/* * Copyright (C) 2014 Freie Universität Berlin * * This file is subject to the terms and conditions of the GNU Lesser * General Public License v2.1. See the file LICENSE in the top level * directory for more details. */ /** * @defgroup drivers_lsm303dlhc LSM303DLHC 3D accelerometer/magnetometer * @ingroup drivers_sensors * @brief Device driver for the LSM303DLHC 3D accelerometer/magnetometer * @{ * * @file * @brief Device driver interface for the LSM303DLHC 3D accelerometer/magnetometer * * @author Thomas Eichinger */ #ifndef LSM303DLHC_H #define LSM303DLHC_H #include #include "periph/i2c.h" #include "periph/gpio.h" #ifdef __cplusplus extern "C" { #endif /** * @brief The sensors default I2C address */ #define LSM303DLHC_ACC_DEFAULT_ADDRESS (0x19) #define LSM303DLHC_MAG_DEFAULT_ADDRESS (0x1e) /** * @brief Possible accelerometer sample rates */ typedef enum { LSM303DLHC_ACC_SAMPLE_RATE_1HZ = 0x10, /**< 1Hz sample rate */ LSM303DLHC_ACC_SAMPLE_RATE_10HZ = 0x20, /**< 10Hz sample rate */ LSM303DLHC_ACC_SAMPLE_RATE_25HZ = 0x30, /**< 25Hz sample rate */ LSM303DLHC_ACC_SAMPLE_RATE_50HZ = 0x40, /**< 50Hz sample rate */ LSM303DLHC_ACC_SAMPLE_RATE_100HZ = 0x50, /**< 100Hz sample rate */ LSM303DLHC_ACC_SAMPLE_RATE_200HZ = 0x60, /**< 200Hz sample rate */ LSM303DLHC_ACC_SAMPLE_RATE_400HZ = 0x70, /**< 400Hz sample rate */ LSM303DLHC_ACC_SAMPLE_RATE_1620HZ = 0x80, /**< 1620Hz sample rate */ LSM303DLHC_ACC_SAMPLE_RATE_N1344HZ_L5376HZ = 0x90 /**< 1344Hz normal mode, * 5376Hz low power mode */ } lsm303dlhc_acc_sample_rate_t; /** * @brief Possible accelerometer scales */ typedef enum { LSM303DLHC_ACC_SCALE_2G = 0x00, /**< +- 2g range */ LSM303DLHC_ACC_SCALE_4G = 0x10, /**< +- 4g range */ LSM303DLHC_ACC_SCALE_8G = 0x20, /**< +- 8g range */ LSM303DLHC_ACC_SCALE_16G = 0x30, /**< +-16g range */ } lsm303dlhc_acc_scale_t; /** * @brief Possible magnetometer sample rates */ typedef enum { LSM303DLHC_MAG_SAMPLE_RATE_0_75HZ = 0x00, /**< 0.75Hz sample rate */ LSM303DLHC_MAG_SAMPLE_RATE_1_5HZ = 0x04, /**< 1.5 Hz sample rate */ LSM303DLHC_MAG_SAMPLE_RATE_3HZ = 0x08, /**< 3 Hz sample rate */ LSM303DLHC_MAG_SAMPLE_RATE_7_5HZ = 0x0c, /**< 7.5 Hz sample rate */ LSM303DLHC_MAG_SAMPLE_RATE_15HZ = 0x10, /**< 15 Hz sample rate */ LSM303DLHC_MAG_SAMPLE_RATE_30HZ = 0x14, /**< 30 Hz sample rate */ LSM303DLHC_MAG_SAMPLE_RATE_75HZ = 0x18, /**< 75 Hz sample rate */ LSM303DLHC_MAG_SAMPLE_RATE_220HZ = 0x1c, /**< 220 Hz sample rate */ } lsm303dlhc_mag_sample_rate_t; /** * @brief Possible magnetometer gain values */ typedef enum { LSM303DLHC_MAG_GAIN_1100_980_GAUSS = 0x20, /**< 1100Gauss XYZ 980Gauss Z */ LSM303DLHC_MAG_GAIN_855_760_GAUSS = 0x40, /**< 855Gauss XYZ 760Gauss Z */ LSM303DLHC_MAG_GAIN_670_600_GAUSS = 0x60, /**< 670Gauss XYZ 600Gauss Z */ LSM303DLHC_MAG_GAIN_450_400_GAUSS = 0x80, /**< 450Gauss XYZ 400Gauss Z */ LSM303DLHC_MAG_GAIN_400_355_GAUSS = 0xa0, /**< 400Gauss XYZ 355Gauss Z */ LSM303DLHC_MAG_GAIN_330_295_GAUSS = 0xc0, /**< 330Gauss XYZ 295Gauss Z */ LSM303DLHC_MAG_GAIN_230_205_GAUSS = 0xe0, /**< 230Gauss XYZ 205Gauss Z */ } lsm303dlhc_mag_gain_t; /** * @brief 3d data container */ typedef struct { int16_t x_axis; int16_t y_axis; int16_t z_axis; } lsm303dlhc_3d_data_t; /** * @brief Device descriptor for LSM303DLHC sensors */ typedef struct { i2c_t i2c; /**< I2C device */ uint8_t acc_address; /**< accelerometer's I2C address */ uint8_t mag_address; /**< magnetometer's I2C address */ gpio_t acc_pin; /**< accelerometer's data ready pin */ gpio_t mag_pin; /**< magnetometer's data ready pin */ lsm303dlhc_acc_scale_t acc_scale; /**< accelerometer scale factor */ lsm303dlhc_mag_gain_t mag_gain; /**< magnetometer gain */ } lsm303dlhc_t; /** * @brief Data structure holding all the information needed for initialization */ typedef struct { i2c_t i2c; /**< I2C bus used */ uint8_t acc_addr; /**< accelerometer I2C address */ gpio_t acc_pin; /**< accelerometer EXTI pin */ lsm303dlhc_acc_sample_rate_t acc_rate; /**< accelerometer sample rate */ lsm303dlhc_acc_scale_t acc_scale; /**< accelerometer scale factor */ uint8_t mag_addr; /**< magnetometer I2C address */ gpio_t mag_pin; /**< magnetometer EXTI pin */ lsm303dlhc_mag_sample_rate_t mag_rate; /**< magnetometer sample rate */ lsm303dlhc_mag_gain_t mag_gain; /**< magnetometer gain */ } lsm303dlhc_params_t; /** * @brief Initialize a new LSM303DLHC device * * @param[in] dev device descriptor of an LSM303DLHC device * @param[in] i2c I2C device the sensor is connected to * @param[in] acc_pin GPIO pin connected to accelerometer * @param[in] mag_pin GPIO pin connected to magnetometer * @param[in] acc_address I2C address of the accelerometer * @param[in] acc_sample_rate accelerometer sample rate * @param[in] acc_scale accelerometer scale (from +- 2g to +-16g) * @param[in] mag_address I2C address of the magnetometer * @param[in] mag_sample_rate magnetometer sample rate * @param[in] mag_gain magnetometer gain * * @return 0 on success * @return -1 on error */ int lsm303dlhc_init(lsm303dlhc_t *dev, i2c_t i2c, gpio_t acc_pin, gpio_t mag_pin, uint8_t acc_address, lsm303dlhc_acc_sample_rate_t acc_sample_rate, lsm303dlhc_acc_scale_t acc_scale, uint8_t mag_address, lsm303dlhc_mag_sample_rate_t mag_sample_rate, lsm303dlhc_mag_gain_t mag_gain); /** * @brief Read a accelerometer value from the sensor. * * @details This function provides raw acceleration data. To get the * corresponding values in g please refer to the following * table: * measurement range | factor * --------------------+--------- * +- 2g | 1*10^-3 * +- 4g | 2*10^-3 * +- 8g | 4*10^-3 * +-16g | 8*10^-3 * * @param[in] dev device descriptor of an LSM303DLHC device * @param[out] data the measured accelerometer data * * @return 0 on success * @return -1 on error */ int lsm303dlhc_read_acc(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data); /** * @brief Read a magnetometer value from the sensor. * * @details This function returns raw magnetic data. To get the * corresponding values in gauss please refer to the following * table: * measurement range | factor * --------------------+--------- * +- 1.3 gauss | 1/1100 * +- 1.9 gauss | 1/855 * +- 2.5 gauss | 1/670 * +- 4.0 gauss | 1/450 * +- 4.7 gauss | 1/400 * +- 5.6 gauss | 1/330 * +- 8.1 gauss | 1/230 * * @param[in] dev device descriptor of an LSM303DLHC device * @param[out] data the measured magnetometer data * * @return 0 on success * @return -1 on error */ int lsm303dlhc_read_mag(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data); /** * @brief Read a temperature value from the sensor. * * @param[in] dev device descriptor of an LSM303DLHC device * @param[out] value the measured temperature * * @return 0 on success * @return -1 on error */ int lsm303dlhc_read_temp(lsm303dlhc_t *dev, int16_t *value); /** * @brief Enable the given sensor * * @param[in] dev device descriptor of an LSM303DLHC device * * @return 0 on success * @return -1 on error */ int lsm303dlhc_enable(lsm303dlhc_t *dev); /** * @brief Disable the given sensor * * @param[in] dev device descriptor of an LSM303DLHC device * * @return 0 on success * @return -1 on error */ int lsm303dlhc_disable(lsm303dlhc_t *dev); #ifdef __cplusplus } #endif #endif /* LSM303DLHC_H */ /** @} */