lsm303c.c

00001 /**
00002   ******************************************************************************
00003   * @file    lsm303c.c
00004   * @author  MCD Application Team
00005   * @brief   This file provides a set of functions needed to manage the LSM303C
00006   *          MEMS accelerometer.
00007   ******************************************************************************
00008   * @attention
00009   *
00010   * <h2><center>&copy; Copyright (c) 2015 STMicroelectronics.
00011   * All rights reserved.</center></h2>
00012   *
00013   * This software component is licensed by ST under BSD 3-Clause license,
00014   * the "License"; You may not use this file except in compliance with the
00015   * License. You may obtain a copy of the License at:
00016   *                        opensource.org/licenses/BSD-3-Clause
00017   *
00018   ******************************************************************************
00019   */
00020 /* Includes ------------------------------------------------------------------*/
00021 #include "lsm303c.h"
00022 
00023 /** @addtogroup BSP
00024   * @{
00025   */ 
00026 
00027 /** @addtogroup Components
00028   * @{
00029   */ 
00030 
00031 /** @addtogroup LSM303C
00032   * @{
00033   */
00034 
00035 /** @defgroup LSM303C_Private_TypesDefinitions
00036   * @{
00037   */
00038 
00039 /**
00040   * @}
00041   */
00042 
00043 /** @defgroup LSM303C_Private_Defines
00044   * @{
00045   */
00046 
00047 /**
00048   * @}
00049   */
00050 
00051 /** @defgroup LSM303C_Private_Macros
00052   * @{
00053   */
00054 
00055 /**
00056   * @}
00057   */ 
00058 
00059 /** @defgroup LSM303C_Private_Functions
00060   * @{
00061   */
00062 
00063 /**
00064   * @}
00065   */ 
00066 
00067 
00068 /** @defgroup LSM303C_Private_Variables
00069   * @{
00070   */ 
00071 ACCELERO_DrvTypeDef Lsm303cDrv_accelero =
00072 {
00073   LSM303C_AccInit,
00074   LSM303C_AccDeInit,
00075   LSM303C_AccReadID,
00076   0,
00077   LSM303C_AccLowPower,
00078   0,
00079   0,
00080   0,
00081   0,
00082   0,
00083   LSM303C_AccFilterConfig,
00084   0,
00085   LSM303C_AccReadXYZ
00086 };
00087 
00088 MAGNETO_DrvTypeDef Lsm303cDrv_magneto =
00089 {
00090   LSM303C_MagInit,
00091   LSM303C_MagDeInit,
00092   LSM303C_MagReadID,
00093   0,
00094   LSM303C_MagLowPower,
00095   0,
00096   0,
00097   0,
00098   0,
00099   0,
00100   0,
00101   0,
00102   LSM303C_MagReadXYZ
00103   
00104 };
00105 
00106 /**
00107   * @}
00108   */
00109 
00110 
00111 /**
00112   * @brief  Set LSM303C Accelerometer Initialization.
00113   * @param  InitStruct: Init parameters
00114   * @retval None
00115   */
00116 void LSM303C_AccInit(uint16_t InitStruct)
00117 {  
00118   uint8_t ctrl = 0x00;
00119   
00120   /*  Low level init */
00121   ACCELERO_IO_Init();
00122   
00123   /* Write value to ACC MEMS CTRL_REG1 register */
00124   ctrl = (uint8_t) InitStruct;
00125   ACCELERO_IO_Write(LSM303C_CTRL_REG1_A, ctrl);
00126   
00127   /* Write value to ACC MEMS CTRL_REG4 register */
00128   ctrl = ((uint8_t) (InitStruct >> 8));
00129   ACCELERO_IO_Write(LSM303C_CTRL_REG4_A, ctrl);
00130 }
00131 
00132 /**
00133   * @brief  LSM303C Accelerometer De-initialization.
00134   * @param  None
00135   * @retval None
00136   */
00137 void LSM303C_AccDeInit(void)
00138 {  
00139 }
00140 
00141 /**
00142   * @brief  Read LSM303C ID.
00143   * @param  None
00144   * @retval ID 
00145   */
00146 uint8_t LSM303C_AccReadID(void)
00147 {  
00148   uint8_t ctrl = 0x00;
00149   
00150   /* Low level init */
00151   ACCELERO_IO_Init();
00152   
00153   /* Enabled SPI/I2C read communication */
00154   ACCELERO_IO_Write(LSM303C_CTRL_REG4_A, 0x5);
00155   
00156   /* Read value at Who am I register address */
00157   ctrl = ACCELERO_IO_Read(LSM303C_WHO_AM_I_ADDR);
00158   
00159   return ctrl;
00160 }
00161 
00162 /**
00163   * @brief  Put Accelerometer in power down mode or not.
00164   * @param  Mode equal to LSM303C_ACC_ODR_OFF means enable Low Power Mode, otherwise Output data rate is set.
00165   *         This parameter can be a value of @ref Acc_OutPut_DataRate_Selection
00166   * @retval None 
00167   */
00168 void LSM303C_AccLowPower(uint16_t Mode)
00169 {  
00170   uint8_t ctrl = 0x00;
00171   
00172   /* Read control register 1 value */
00173   ctrl = ACCELERO_IO_Read(LSM303C_CTRL_REG1_A);
00174 
00175   /* Clear ODR bits */
00176   ctrl &= ~(LSM303C_ACC_ODR_BITPOSITION);
00177 
00178   /* Set Power down */
00179   ctrl |= (uint8_t)Mode;
00180   
00181   /* write back control register */
00182   ACCELERO_IO_Write(LSM303C_CTRL_REG1_A, ctrl);
00183 }
00184 
00185 /**
00186   * @brief  Set High Pass Filter Modality
00187   * @param  FilterStruct: contains data for filter config
00188   * @retval None
00189   */
00190 void LSM303C_AccFilterConfig(uint8_t FilterStruct) 
00191 {
00192   uint8_t tmpreg;
00193   
00194 //  /* Read CTRL_REG2 register */
00195 //  tmpreg = ACCELERO_IO_Read(LSM303C_CTRL_REG2_A);
00196 //  
00197 //  tmpreg &= 0x0C;
00198   tmpreg = FilterStruct;
00199   
00200   /* Write value to ACC MEMS CTRL_REG2 register */
00201   ACCELERO_IO_Write(LSM303C_CTRL_REG2_A, tmpreg);
00202 }
00203 
00204 /**
00205   * @brief  Read X, Y & Z Acceleration values 
00206   * @param  pData: Data out pointer
00207   * @retval None
00208   */
00209 void LSM303C_AccReadXYZ(int16_t* pData)
00210 {
00211   int16_t pnRawData[3];
00212   uint8_t ctrlx[2]={0,0};
00213   uint8_t buffer[6];
00214   uint8_t i = 0;
00215   uint8_t sensitivity = LSM303C_ACC_SENSITIVITY_2G;
00216   
00217   /* Read the acceleration control register content */
00218   ctrlx[0] = ACCELERO_IO_Read(LSM303C_CTRL_REG4_A);
00219   ctrlx[1] = ACCELERO_IO_Read(LSM303C_CTRL_REG5_A);
00220   
00221   /* Read output register X, Y & Z acceleration */
00222   buffer[0] = ACCELERO_IO_Read(LSM303C_OUT_X_L_A); 
00223   buffer[1] = ACCELERO_IO_Read(LSM303C_OUT_X_H_A);
00224   buffer[2] = ACCELERO_IO_Read(LSM303C_OUT_Y_L_A);
00225   buffer[3] = ACCELERO_IO_Read(LSM303C_OUT_Y_H_A);
00226   buffer[4] = ACCELERO_IO_Read(LSM303C_OUT_Z_L_A);
00227   buffer[5] = ACCELERO_IO_Read(LSM303C_OUT_Z_H_A);
00228   
00229   for(i=0; i<3; i++)
00230   {
00231     pnRawData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]);
00232   }
00233   
00234   /* Normal mode */
00235   /* Switch the sensitivity value set in the CRTL4 */
00236   switch(ctrlx[0] & LSM303C_ACC_FULLSCALE_8G)
00237   {
00238   case LSM303C_ACC_FULLSCALE_2G:
00239     sensitivity = LSM303C_ACC_SENSITIVITY_2G;
00240     break;
00241   case LSM303C_ACC_FULLSCALE_4G:
00242     sensitivity = LSM303C_ACC_SENSITIVITY_4G;
00243     break;
00244   case LSM303C_ACC_FULLSCALE_8G:
00245     sensitivity = LSM303C_ACC_SENSITIVITY_8G;
00246     break;
00247   }
00248   
00249   /* Obtain the mg value for the three axis */
00250   for(i=0; i<3; i++)
00251   {
00252     pData[i]=(pnRawData[i] * sensitivity);
00253   }
00254 }
00255 
00256 /***********************************************************************************************
00257   Magnetometer driver 
00258 ***********************************************************************************************/
00259 
00260 /**
00261   * @brief  Set LSM303C Magnetometer Initialization.
00262   * @param  LSM303C_InitStruct: pointer to a LSM303C_MagInitTypeDef structure 
00263   *         that contains the configuration setting for the LSM303C.
00264   * @retval None
00265   */
00266 void LSM303C_MagInit(MAGNETO_InitTypeDef LSM303C_InitStruct)
00267 {  
00268   MAGNETO_IO_Write(LSM303C_CTRL_REG1_M, LSM303C_InitStruct.Register1);
00269   MAGNETO_IO_Write(LSM303C_CTRL_REG2_M, LSM303C_InitStruct.Register2);
00270   MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, LSM303C_InitStruct.Register3);
00271   MAGNETO_IO_Write(LSM303C_CTRL_REG4_M, LSM303C_InitStruct.Register4);
00272   MAGNETO_IO_Write(LSM303C_CTRL_REG5_M, LSM303C_InitStruct.Register5);
00273 }
00274 
00275 /**
00276   * @brief  LSM303C Magnetometer De-initialization.
00277   * @param  None
00278   * @retval None
00279   */
00280 void LSM303C_MagDeInit(void)
00281 {  
00282 }
00283 
00284 /**
00285   * @brief  Read LSM303C ID.
00286   * @param  None
00287   * @retval ID 
00288   */
00289 uint8_t LSM303C_MagReadID(void)
00290 {  
00291   /* Low level init */
00292   MAGNETO_IO_Init();
00293   
00294   /* Enabled the SPI/I2C read operation */
00295   MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, 0x84);
00296   
00297   /* Read value at Who am I register address */
00298   return MAGNETO_IO_Read(LSM303C_WHO_AM_I_ADDR);
00299 }
00300 
00301 /**
00302   * @brief  Put Magnetometer in power down mode or not.
00303   * @param  Mode equal to LSM303C_MAG_POWERDOWN2_MODE means enable deepest Low Power Mode, otherwise other mode is set.
00304   *         This parameter can be a value of @ref Mag_Operation_Mode
00305   * @retval None 
00306   */
00307 void LSM303C_MagLowPower(uint16_t Mode)
00308 {  
00309   uint8_t ctrl = 0x00;
00310   
00311   /* Read control register 1 value */
00312   ctrl = MAGNETO_IO_Read(LSM303C_CTRL_REG3_M);
00313 
00314   /* Clear ODR bits */
00315   ctrl &= ~(LSM303C_MAG_SELECTION_MODE);
00316 
00317   /* Set mode */
00318   ctrl |= (uint8_t)Mode;
00319   
00320   /* write back control register */
00321   MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, ctrl);
00322 }
00323 
00324 /**
00325   * @brief  Get status for Mag LSM303C data
00326   * @param  None
00327   * @retval Data status in a LSM303C Data register
00328   */
00329 uint8_t LSM303C_MagGetDataStatus(void)
00330 {
00331   /* Read Mag STATUS register */
00332   return MAGNETO_IO_Read(LSM303C_STATUS_REG_M);
00333 }
00334 
00335 /**
00336   * @brief  Read X, Y & Z Magnetometer values 
00337   * @param  pData: Data out pointer
00338   * @retval None
00339   */
00340 void LSM303C_MagReadXYZ(int16_t* pData)
00341 {
00342   uint8_t ctrlx;
00343   uint8_t buffer[6];
00344   uint8_t i=0;
00345   
00346   /* Read the magnetometer control register content */
00347   ctrlx = MAGNETO_IO_Read(LSM303C_CTRL_REG4_M);
00348 
00349   /* Read output register X, Y & Z magnetometer */
00350   buffer[0] = MAGNETO_IO_Read(LSM303C_OUT_X_L_M); 
00351   buffer[1] = MAGNETO_IO_Read(LSM303C_OUT_X_H_M);
00352   buffer[2] = MAGNETO_IO_Read(LSM303C_OUT_Y_L_M);
00353   buffer[3] = MAGNETO_IO_Read(LSM303C_OUT_Y_H_M);
00354   buffer[4] = MAGNETO_IO_Read(LSM303C_OUT_Z_L_M);
00355   buffer[5] = MAGNETO_IO_Read(LSM303C_OUT_Z_H_M);
00356   
00357   /* Check in the control register4 the data alignment*/
00358   if((ctrlx & LSM303C_MAG_BLE_MSB)) 
00359   {
00360     for(i=0; i<3; i++)
00361     {
00362       pData[i]=((int16_t)((uint16_t)buffer[2*i] << 8) + buffer[2*i+1]);
00363     }
00364   }
00365   else
00366   {
00367     for(i=0; i<3; i++)
00368     {
00369       pData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]);
00370     }
00371   }
00372 }
00373 
00374 /**
00375   * @}
00376   */ 
00377 
00378 /**
00379   * @}
00380   */ 
00381   
00382 /**
00383   * @}
00384   */ 
00385 
00386 /**
00387   * @}
00388   */ 
00389   
00390 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/