File content as of revision 1:1b37c4b989b4:

#include "stm32f30x.h"
#include "stm32f3_discovery.h"
#include <stdio.h>
#include "stm32f3_discovery_lsm303dlhc.h"

#define PI                         (float)     3.14159265f

#define LSM_Acc_Sensitivity_2g     (float)     1.0f            /*!< accelerometer sensitivity with 2 g full scale [LSB/mg] */
#define LSM_Acc_Sensitivity_4g     (float)     0.5f            /*!< accelerometer sensitivity with 4 g full scale [LSB/mg] */
#define LSM_Acc_Sensitivity_8g     (float)     0.25f           /*!< accelerometer sensitivity with 8 g full scale [LSB/mg] */
#define LSM_Acc_Sensitivity_16g    (float)     0.0834f         /*!< accelerometer sensitivity with 12 g full scale [LSB/mg] */
#define ABS(x)         (x < 0) ? (-x) : x

void Demo_CompassConfig(void)
{
  LSM303DLHCMag_InitTypeDef LSM303DLHC_InitStructure;
  LSM303DLHCAcc_InitTypeDef LSM303DLHCAcc_InitStructure;
  LSM303DLHCAcc_FilterConfigTypeDef LSM303DLHCFilter_InitStructure;
  
  /* Configure MEMS magnetometer main parameters: temp, working mode, full Scale and Data rate */
  LSM303DLHC_InitStructure.Temperature_Sensor = LSM303DLHC_TEMPSENSOR_DISABLE;
  LSM303DLHC_InitStructure.MagOutput_DataRate =LSM303DLHC_ODR_30_HZ ;
  LSM303DLHC_InitStructure.MagFull_Scale = LSM303DLHC_FS_8_1_GA;
  LSM303DLHC_InitStructure.Working_Mode = LSM303DLHC_CONTINUOS_CONVERSION;
  LSM303DLHC_MagInit(&LSM303DLHC_InitStructure);
  
   /* Fill the accelerometer structure */
  LSM303DLHCAcc_InitStructure.Power_Mode = LSM303DLHC_NORMAL_MODE;
  LSM303DLHCAcc_InitStructure.AccOutput_DataRate = LSM303DLHC_ODR_50_HZ;
  LSM303DLHCAcc_InitStructure.Axes_Enable= LSM303DLHC_AXES_ENABLE;
  LSM303DLHCAcc_InitStructure.AccFull_Scale = LSM303DLHC_FULLSCALE_2G;
  LSM303DLHCAcc_InitStructure.BlockData_Update = LSM303DLHC_BlockUpdate_Continous;
  LSM303DLHCAcc_InitStructure.Endianness=LSM303DLHC_BLE_LSB;
  LSM303DLHCAcc_InitStructure.High_Resolution=LSM303DLHC_HR_ENABLE;
  /* Configure the accelerometer main parameters */
  LSM303DLHC_AccInit(&LSM303DLHCAcc_InitStructure);
  
  /* Fill the accelerometer LPF structure */
  LSM303DLHCFilter_InitStructure.HighPassFilter_Mode_Selection =LSM303DLHC_HPM_NORMAL_MODE;
  LSM303DLHCFilter_InitStructure.HighPassFilter_CutOff_Frequency = LSM303DLHC_HPFCF_16;
  LSM303DLHCFilter_InitStructure.HighPassFilter_AOI1 = LSM303DLHC_HPF_AOI1_DISABLE;
  LSM303DLHCFilter_InitStructure.HighPassFilter_AOI2 = LSM303DLHC_HPF_AOI2_DISABLE;

  /* Configure the accelerometer LPF main parameters */
  LSM303DLHC_AccFilterConfig(&LSM303DLHCFilter_InitStructure);
}

void Demo_CompassReadAcc(float* pfData)
{
  int16_t pnRawData[3];
  uint8_t ctrlx[2];
  uint8_t buffer[6], cDivider;
  uint8_t i = 0;
  float LSM_Acc_Sensitivity = LSM_Acc_Sensitivity_2g;
  
  /* Read the register content */
  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG4_A, ctrlx,2);
  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_X_L_A, buffer, 6);
   
  if(ctrlx[1]&0x40)
    cDivider=64;
  else
    cDivider=16;

  /* check in the control register4 the data alignment*/
  if(!(ctrlx[0] & 0x40) || (ctrlx[1] & 0x40)) /* Little Endian Mode or FIFO mode */
  {
    for(i=0; i<3; i++)
    {
      pnRawData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i])/cDivider;
    }
  }
  else /* Big Endian Mode */
  {
    for(i=0; i<3; i++)
      pnRawData[i]=((int16_t)((uint16_t)buffer[2*i] << 8) + buffer[2*i+1])/cDivider;
  }
  /* Read the register content */
  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG4_A, ctrlx,2);


  if(ctrlx[1]&0x40)
  {
    /* FIFO mode */
    LSM_Acc_Sensitivity = 0.25;
  }
  else
  {
    /* normal mode */
    /* switch the sensitivity value set in the CRTL4*/
    switch(ctrlx[0] & 0x30)
    {
    case LSM303DLHC_FULLSCALE_2G:
      LSM_Acc_Sensitivity = LSM_Acc_Sensitivity_2g;
      break;
    case LSM303DLHC_FULLSCALE_4G:
      LSM_Acc_Sensitivity = LSM_Acc_Sensitivity_4g;
      break;
    case LSM303DLHC_FULLSCALE_8G:
      LSM_Acc_Sensitivity = LSM_Acc_Sensitivity_8g;
      break;
    case LSM303DLHC_FULLSCALE_16G:
      LSM_Acc_Sensitivity = LSM_Acc_Sensitivity_16g;
      break;
    }
  }

  /* Obtain the mg value for the three axis */
  for(i=0; i<3; i++)
  {
    pfData[i]=(float)pnRawData[i]/LSM_Acc_Sensitivity;
  }

}