Diff: Components/lsm303c/lsm303c.c

Revision:

0:ad9dfc0179dc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm303c/lsm303c.c	Mon Nov 02 19:38:36 2015 +0000
@@ -0,0 +1,445 @@
+/**
+  ******************************************************************************
+  * @file    lsm303c.c
+  * @author  MCD Application Team
+  * @version V1.0.0
+  * @date    24-June-2015
+  * @brief   This file provides a set of functions needed to manage the LSM303C
+  *          MEMS accelerometer.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+/* Includes ------------------------------------------------------------------*/
+#include "lsm303c.h"
+
+/** @addtogroup BSP
+  * @{
+  */ 
+
+/** @addtogroup Components
+  * @{
+  */ 
+
+/** @addtogroup LSM303C
+  * @{
+  */
+
+/** @defgroup LSM303C_Private_TypesDefinitions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup LSM303C_Private_Defines
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup LSM303C_Private_Macros
+  * @{
+  */
+
+/**
+  * @}
+  */ 
+
+/** @defgroup LSM303C_Private_Functions
+  * @{
+  */
+
+/* ACCELEROMETER functions */
+void    LSM303C_AccInit(uint16_t InitStruct);
+void    LSM303C_AccDeInit(void);
+uint8_t LSM303C_AccReadID(void);
+void    LSM303C_AccLowPower(void);
+void    LSM303C_AccFilterConfig(uint8_t FilterStruct);
+void    LSM303C_AccFilterCmd(uint8_t HighPassFilterState);
+void    LSM303C_AccReadXYZ(int16_t* pData);
+void    LSM303C_AccFilterClickCmd(uint8_t HighPassFilterClickState);
+void    LSM303C_AccIT1Enable(uint8_t LSM303C_IT);
+void    LSM303C_AccIT1Disable(uint8_t LSM303C_IT);
+void    LSM303C_AccIT2Enable(uint8_t LSM303C_IT);
+void    LSM303C_AccIT2Disable(uint8_t LSM303C_IT);
+void    LSM303C_AccClickITEnable(uint8_t ITClick);
+void    LSM303C_AccClickITDisable(uint8_t ITClick);
+void    LSM303C_AccZClickITConfig(void);
+
+/* MAGNETOMETER functions */
+void    LSM303C_MagInit(MAGNETO_InitTypeDef LSM303C_InitStruct);
+void    LSM303C_MagDeInit(void);
+uint8_t LSM303C_MagReadID(void);
+void    LSM303C_MagLowPower(void);
+void    LSM303C_MagReadXYZ(int16_t* pData);
+uint8_t LSM303C_MagGetDataStatus(void);
+
+
+/* COMPASS / ACCELERO IO functions */
+extern void    ACCELERO_IO_Init(void);
+extern void    ACCELERO_IO_ITConfig(void);
+extern void    ACCELERO_IO_Write(uint8_t RegisterAddr, uint8_t Value);
+extern uint8_t ACCELERO_IO_Read(uint8_t RegisterAddr);
+
+/* COMPASS IO function */
+extern void    MAGNETO_IO_Init(void);
+extern void    MAGNETO_IO_ITConfig(void);
+extern void    MAGNETO_IO_Write(uint8_t RegisterAddr, uint8_t Value);
+extern uint8_t MAGNETO_IO_Read(uint8_t RegisterAddr);
+
+/**
+  * @}
+  */ 
+
+
+/** @defgroup LSM303C_Private_Variables
+  * @{
+  */ 
+ACCELERO_DrvTypeDef Lsm303cDrv_accelero =
+{
+  LSM303C_AccInit,
+  LSM303C_AccDeInit,
+  LSM303C_AccReadID,
+  0,
+  LSM303C_AccLowPower,
+  0,
+  0,
+  0,
+  0,
+  0,
+  LSM303C_AccFilterConfig,
+  0,
+  LSM303C_AccReadXYZ
+};
+
+MAGNETO_DrvTypeDef Lsm303cDrv_magneto =
+{
+  LSM303C_MagInit,
+  LSM303C_MagDeInit,
+  LSM303C_MagReadID,
+  0,
+  LSM303C_MagLowPower,
+  0,
+  0,
+  0,
+  0,
+  0,
+  0,
+  0,
+  LSM303C_MagReadXYZ
+  
+};
+
+/**
+  * @}
+  */
+
+
+/**
+  * @brief  Set LSM303C Accelerometer Initialization.
+  * @param  InitStruct: Init parameters
+  * @retval None
+  */
+void LSM303C_AccInit(uint16_t InitStruct)
+{  
+  uint8_t ctrl = 0x00;
+  
+  /*  Low level init */
+  ACCELERO_IO_Init();
+  
+  /* Write value to ACC MEMS CTRL_REG1 register */
+  ctrl = (uint8_t) InitStruct;
+  ACCELERO_IO_Write(LSM303C_CTRL_REG1_A, ctrl);
+  
+  /* Write value to ACC MEMS CTRL_REG4 register */
+  ctrl = ((uint8_t) (InitStruct >> 8));
+  ACCELERO_IO_Write(LSM303C_CTRL_REG4_A, ctrl);
+}
+
+/**
+  * @brief  LSM303C Accelerometer De-initialization.
+  * @param  None
+  * @retval None
+  */
+void LSM303C_AccDeInit(void)
+{  
+}
+
+/**
+  * @brief  Read LSM303C ID.
+  * @param  None
+  * @retval ID 
+  */
+uint8_t LSM303C_AccReadID(void)
+{  
+  uint8_t ctrl = 0x00;
+  
+  /* Low level init */
+  ACCELERO_IO_Init();
+  
+  /* Enabled SPI/I2C read communication */
+  ACCELERO_IO_Write(LSM303C_CTRL_REG4_A, 0x5);
+  
+  /* Read value at Who am I register address */
+  ctrl = ACCELERO_IO_Read(LSM303C_WHO_AM_I_ADDR);
+  
+  return ctrl;
+}
+
+/**
+  * @brief  Put Accelerometer in power down mode.
+  * @param  None
+  * @retval None 
+  */
+void LSM303C_AccLowPower(void)
+{  
+  uint8_t ctrl = 0x00;
+  
+  /* Read control register 1 value */
+  ctrl = ACCELERO_IO_Read(LSM303C_CTRL_REG1_A);
+
+  /* Clear ODR bits */
+  ctrl &= ~(LSM303C_ACC_ODR_BITPOSITION);
+
+  /* Set Power down */
+  ctrl |= LSM303C_ACC_ODR_OFF;
+  
+  /* write back control register */
+  ACCELERO_IO_Write(LSM303C_CTRL_REG1_A, ctrl);
+}
+
+/**
+  * @brief  Set High Pass Filter Modality
+  * @param  FilterStruct: contains data for filter config
+  * @retval None
+  */
+void LSM303C_AccFilterConfig(uint8_t FilterStruct) 
+{
+  uint8_t tmpreg;
+  
+//  /* Read CTRL_REG2 register */
+//  tmpreg = ACCELERO_IO_Read(LSM303C_CTRL_REG2_A);
+//  
+//  tmpreg &= 0x0C;
+  tmpreg = FilterStruct;
+  
+  /* Write value to ACC MEMS CTRL_REG2 register */
+  ACCELERO_IO_Write(LSM303C_CTRL_REG2_A, tmpreg);
+}
+
+/**
+  * @brief  Read X, Y & Z Acceleration values 
+  * @param  pData: Data out pointer
+  * @retval None
+  */
+void LSM303C_AccReadXYZ(int16_t* pData)
+{
+  int16_t pnRawData[3];
+  uint8_t ctrlx[2]={0,0};
+  uint8_t buffer[6];
+  uint8_t i = 0;
+  uint8_t sensitivity = LSM303C_ACC_SENSITIVITY_2G;
+  
+  /* Read the acceleration control register content */
+  ctrlx[0] = ACCELERO_IO_Read(LSM303C_CTRL_REG4_A);
+  ctrlx[1] = ACCELERO_IO_Read(LSM303C_CTRL_REG5_A);
+  
+  /* Read output register X, Y & Z acceleration */
+  buffer[0] = ACCELERO_IO_Read(LSM303C_OUT_X_L_A); 
+  buffer[1] = ACCELERO_IO_Read(LSM303C_OUT_X_H_A);
+  buffer[2] = ACCELERO_IO_Read(LSM303C_OUT_Y_L_A);
+  buffer[3] = ACCELERO_IO_Read(LSM303C_OUT_Y_H_A);
+  buffer[4] = ACCELERO_IO_Read(LSM303C_OUT_Z_L_A);
+  buffer[5] = ACCELERO_IO_Read(LSM303C_OUT_Z_H_A);
+  
+  for(i=0; i<3; i++)
+  {
+    pnRawData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]);
+  }
+  
+  /* Normal mode */
+  /* Switch the sensitivity value set in the CRTL4 */
+  switch(ctrlx[0] & LSM303C_ACC_FULLSCALE_8G)
+  {
+  case LSM303C_ACC_FULLSCALE_2G:
+    sensitivity = LSM303C_ACC_SENSITIVITY_2G;
+    break;
+  case LSM303C_ACC_FULLSCALE_4G:
+    sensitivity = LSM303C_ACC_SENSITIVITY_4G;
+    break;
+  case LSM303C_ACC_FULLSCALE_8G:
+    sensitivity = LSM303C_ACC_SENSITIVITY_8G;
+    break;
+  }
+  
+  /* Obtain the mg value for the three axis */
+  for(i=0; i<3; i++)
+  {
+    pData[i]=(pnRawData[i] * sensitivity);
+  }
+}
+
+/***********************************************************************************************
+  Magnetometer driver 
+***********************************************************************************************/
+
+/**
+  * @brief  Set LSM303C Magnetometer Initialization.
+  * @param  LSM303C_InitStruct: pointer to a LSM303C_MagInitTypeDef structure 
+  *         that contains the configuration setting for the LSM303C.
+  * @retval None
+  */
+void LSM303C_MagInit(MAGNETO_InitTypeDef LSM303C_InitStruct)
+{  
+  MAGNETO_IO_Write(LSM303C_CTRL_REG1_M, LSM303C_InitStruct.Register1);
+  MAGNETO_IO_Write(LSM303C_CTRL_REG2_M, LSM303C_InitStruct.Register2);
+  MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, LSM303C_InitStruct.Register3);
+  MAGNETO_IO_Write(LSM303C_CTRL_REG4_M, LSM303C_InitStruct.Register4);
+  MAGNETO_IO_Write(LSM303C_CTRL_REG5_M, LSM303C_InitStruct.Register5);
+}
+
+/**
+  * @brief  LSM303C Magnetometer De-initialization.
+  * @param  None
+  * @retval None
+  */
+void LSM303C_MagDeInit(void)
+{  
+}
+
+/**
+  * @brief  Read LSM303C ID.
+  * @param  None
+  * @retval ID 
+  */
+uint8_t LSM303C_MagReadID(void)
+{  
+  /* Low level init */
+  MAGNETO_IO_Init();
+  
+  /* Enabled the SPI/I2C read operation */
+  MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, 0x84);
+  
+  /* Read value at Who am I register address */
+  return MAGNETO_IO_Read(LSM303C_WHO_AM_I_ADDR);
+}
+
+/**
+  * @brief  Put Magnetometer in power down mode.
+  * @param  None
+  * @retval None 
+  */
+void LSM303C_MagLowPower(void)
+{  
+  uint8_t ctrl = 0x00;
+  
+  /* Read control register 1 value */
+  ctrl = MAGNETO_IO_Read(LSM303C_CTRL_REG3_M);
+
+  /* Clear ODR bits */
+  ctrl &= ~(LSM303C_MAG_SELECTION_MODE);
+
+  /* Set Power down */
+  ctrl |= LSM303C_MAG_POWERDOWN2_MODE;
+  
+  /* write back control register */
+  MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, ctrl);
+}
+
+/**
+  * @brief  Get status for Mag LSM303C data
+  * @param  None
+  * @retval Data status in a LSM303C Data register
+  */
+uint8_t LSM303C_MagGetDataStatus(void)
+{
+  /* Read Mag STATUS register */
+  return MAGNETO_IO_Read(LSM303C_STATUS_REG_M);
+}
+
+/**
+  * @brief  Read X, Y & Z Magnetometer values 
+  * @param  pData: Data out pointer
+  * @retval None
+  */
+void LSM303C_MagReadXYZ(int16_t* pData)
+{
+  uint8_t ctrlx;
+  uint8_t buffer[6];
+  uint8_t i=0;
+  
+  /* Read the magnetometer control register content */
+  ctrlx = MAGNETO_IO_Read(LSM303C_CTRL_REG4_M);
+
+  /* Read output register X, Y & Z magnetometer */
+  buffer[0] = MAGNETO_IO_Read(LSM303C_OUT_X_L_M); 
+  buffer[1] = MAGNETO_IO_Read(LSM303C_OUT_X_H_M);
+  buffer[2] = MAGNETO_IO_Read(LSM303C_OUT_Y_L_M);
+  buffer[3] = MAGNETO_IO_Read(LSM303C_OUT_Y_H_M);
+  buffer[4] = MAGNETO_IO_Read(LSM303C_OUT_Z_L_M);
+  buffer[5] = MAGNETO_IO_Read(LSM303C_OUT_Z_H_M);
+  
+  /* Check in the control register4 the data alignment*/
+  if((ctrlx & LSM303C_MAG_BLE_MSB)) 
+  {
+    for(i=0; i<3; i++)
+    {
+      pData[i]=((int16_t)((uint16_t)buffer[2*i] << 8) + buffer[2*i+1]);
+    }
+  }
+  else
+  {
+    for(i=0; i<3; i++)
+    {
+      pData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]);
+    }
+  }
+}
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+  
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+  
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/     
+