Diff: stm32f3_discovery_lsm303dlhc.c

Revision:

0:404dae88af71

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stm32f3_discovery_lsm303dlhc.c	Tue Mar 01 02:40:19 2016 +0000
@@ -0,0 +1,684 @@
+/**
+  ******************************************************************************
+  * @file    stm32f3_discovery_lsm303dlhc.c
+  * @author  MCD Application Team
+  * @version V1.1.0
+  * @date    20-September-2012
+  * @brief   This file provides a set of functions needed to manage the lsm303dlhc
+  *          MEMS accelerometer available on STM32F3-Discovery Kit.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT 2012 STMicroelectronics</center></h2>
+  *
+  * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
+  * You may not use this file except in compliance with the License.
+  * You may obtain a copy of the License at:
+  *
+  *        http://www.st.com/software_license_agreement_liberty_v2
+  *
+  * Unless required by applicable law or agreed to in writing, software 
+  * distributed under the License is distributed on an "AS IS" BASIS, 
+  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  * See the License for the specific language governing permissions and
+  * limitations under the License.
+  *
+  ******************************************************************************
+  */
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f3_discovery_lsm303dlhc.h"
+
+/** @addtogroup Utilities
+  * @{
+  */ 
+
+/** @addtogroup STM32F3_DISCOVERY
+  * @{
+  */ 
+
+/** @addtogroup STM32F3_DISCOVERY_LSM303DLHC
+  * @{
+  */
+
+
+/** @defgroup STM32F3_DISCOVERY_LSM303DLHC_Private_TypesDefinitions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup STM32F3_DISCOVERY_LSM303DLHC_Private_Defines
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup STM32F3_DISCOVERY_LSM303DLHC_Private_Macros
+  * @{
+  */
+
+/**
+  * @}
+  */ 
+  
+/** @defgroup STM32F3_DISCOVERY_LSM303DLHC_Private_Variables
+  * @{
+  */ 
+__IO uint32_t  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT; 
+/**
+  * @}
+  */
+
+/** @defgroup STM32F3_DISCOVERY_LSM303DLHC_Private_FunctionPrototypes
+  * @{
+  */
+static void LSM303DLHC_LowLevel_Init(void);
+/**
+  * @}
+  */
+
+/** @defgroup STM32F3_DISCOVERY_LSM303DLHC_Private_Functions
+  * @{
+  */
+
+/**
+  * @brief  Set LSM303DLHC Initialization.
+  * @param  LSM303DLHC_InitStruct: pointer to a LSM303DLHC_InitTypeDef structure 
+  *         that contains the configuration setting for the LSM303DLHC.
+  * @retval None
+  */
+void LSM303DLHC_AccInit(LSM303DLHCAcc_InitTypeDef *LSM303DLHC_InitStruct)
+{  
+  uint8_t ctrl1 = 0x00, ctrl4 = 0x00;
+  
+  /* Configure the low level interface ---------------------------------------*/
+  LSM303DLHC_LowLevel_Init();
+  
+  /* Configure MEMS: data rate, power mode, full scale and axes */
+  ctrl1 |= (uint8_t) (LSM303DLHC_InitStruct->Power_Mode | LSM303DLHC_InitStruct->AccOutput_DataRate | \
+                    LSM303DLHC_InitStruct->Axes_Enable);
+  
+  ctrl4 |= (uint8_t) (LSM303DLHC_InitStruct->BlockData_Update | LSM303DLHC_InitStruct->Endianness | \
+                    LSM303DLHC_InitStruct->AccFull_Scale|LSM303DLHC_InitStruct->High_Resolution);
+                    
+  /* Write value to ACC MEMS CTRL_REG1 regsister */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG1_A, &ctrl1);
+  
+  /* Write value to ACC MEMS CTRL_REG4 regsister */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG4_A, &ctrl4);
+}
+
+/**
+  * @brief  Reboot memory content of LSM303DLHC
+  * @param  None
+  * @retval None
+  */
+void LSM303DLHC_AccRebootCmd(void)
+{
+  uint8_t tmpreg;
+  
+  /* Read CTRL_REG5 register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG5_A, &tmpreg, 1);
+  
+  /* Enable or Disable the reboot memory */
+  tmpreg |= LSM303DLHC_BOOT_REBOOTMEMORY;
+  
+  /* Write value to ACC MEMS CTRL_REG5 regsister */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG5_A, &tmpreg);
+}
+
+/**
+  * @brief  Set High Pass Filter Modality
+  * @param  LSM303DLHC_FilterStruct: pointer to a LSM303DLHC_FilterConfigTypeDef structure 
+  *         that contains the configuration setting for the LSM303DLHC.        
+  * @retval None
+  */
+void LSM303DLHC_AccFilterConfig(LSM303DLHCAcc_FilterConfigTypeDef *LSM303DLHC_FilterStruct) 
+{
+  uint8_t tmpreg;
+  
+  /* Read CTRL_REG2 register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A, &tmpreg, 1);
+  
+  tmpreg &= 0x0C;
+  
+  /* Configure MEMS: mode, cutoff frquency, Filter status, Click, AOI1 and AOI2 */
+  tmpreg |= (uint8_t) (LSM303DLHC_FilterStruct->HighPassFilter_Mode_Selection |\
+                      LSM303DLHC_FilterStruct->HighPassFilter_CutOff_Frequency|\
+                      LSM303DLHC_FilterStruct->HighPassFilter_AOI1|\
+                      LSM303DLHC_FilterStruct->HighPassFilter_AOI2);                             
+  
+  /* Write value to ACC MEMS CTRL_REG2 regsister */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A, &tmpreg);
+}
+
+/**
+  * @brief  Enable or Disable High Pass Filter
+  * @param  HighPassFilterState: new state of the High Pass Filter feature.
+  *      This parameter can be: 
+  *         @arg: LSM303DLHC_HighPassFilter_DISABLE 
+  *         @arg: LSM303DLHC_HighPassFilter_ENABLE          
+  * @retval None
+  */
+void LSM303DLHC_AccFilterCmd(uint8_t HighPassFilterState)
+ {
+  uint8_t tmpreg;
+  
+  /* Read CTRL_REG2 register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A, &tmpreg, 1);
+                  
+  tmpreg &= 0xF7;
+
+  tmpreg |= HighPassFilterState;
+
+  /* Write value to ACC MEMS CTRL_REG2 regsister */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A, &tmpreg);
+}
+
+/**
+  * @brief  Enable or Disable High Pass Filter on CLick
+  * @param  HighPassFilterState: new state of the High Pass Filter feature.
+  *      This parameter can be: 
+  *         @arg: LSM303DLHC_HighPassFilter_DISABLE 
+  *         @arg: LSM303DLHC_HighPassFilter_ENABLE          
+  * @retval None
+  */
+void LSM303DLHC_AccFilterClickCmd(uint8_t HighPassFilterClickState)
+ {
+  uint8_t tmpreg;
+  
+  /* Read CTRL_REG2 register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A, &tmpreg, 1);
+                  
+  tmpreg &= 0xFB;
+
+  tmpreg |= HighPassFilterClickState;
+
+  /* Write value to ACC MEMS CTRL_REG2 regsister */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A, &tmpreg);
+}
+
+/**
+  * @brief Set LSM303DLHC Interrupt1 configuration
+  * @param  LSM303DLHC_IT: specifies the LSM303DLHC interrupt source to be enabled.
+  *           This parameter can be any combination of the following values: 
+  *         @arg   LSM303DLHC_IT1_CLICK
+  *         @arg   LSM303DLHC_IT1_AOI1
+  *         @arg   LSM303DLHC_IT1_AOI2
+  *         @arg   LSM303DLHC_IT1_DRY1
+  *         @arg   LSM303DLHC_IT1_WTM
+  *         @arg   LSM303DLHC_IT1_OVERRUN              
+  * @param  NewState: new state of the selected LSM303DLHC interrupts.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void LSM303DLHC_AccIT1Config(uint8_t LSM303DLHC_IT, FunctionalState NewState)
+{
+  uint8_t tmpval = 0x00;
+  
+  /* Read CTRL_REG3 register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG3_A, &tmpval, 1 );
+    
+  tmpval &= ~LSM303DLHC_IT;
+  
+  if (NewState != DISABLE)
+  {
+    tmpval |= LSM303DLHC_IT;
+  }
+  else
+  {
+    /* Disable the selected interrupt */
+    tmpval =~ LSM303DLHC_IT;
+  }
+      
+  /* Write value to MEMS CTRL_REG3 register */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG3_A, &tmpval);  
+}
+
+/**
+  * @brief Set LSM303DLHC Interrupt2 configuration
+  * @param  LSM303DLHC_IT: specifies the LSM303DLHC interrupt source to be enabled.
+  *           This parameter can be any combination of the following values: 
+  *         @arg   LSM303DLHC_IT2_CLICK2
+  *         @arg   LSM303DLHC_IT2_INT1
+  *         @arg   LSM303DLHC_IT2_INT2
+  *         @arg   LSM303DLHC_IT2_BOOT
+  *         @arg   LSM303DLHC_IT2_ACT
+  *         @arg   LSM303DLHC_IT2_HLACTIVE              
+  * @param  NewState: new state of the selected LSM303DLHC interrupts.
+  *          This parameter can be: ENABLE or DISABLE.
+  * @retval None
+  */
+void LSM303DLHC_AccIT2Config(uint8_t LSM303DLHC_IT, FunctionalState NewState)
+{
+  uint8_t tmpval = 0x00;
+  
+  /* Read CTRL_REG3 register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG6_A, &tmpval, 1);
+    
+  tmpval &= ~LSM303DLHC_IT;
+  
+  if (NewState != DISABLE)
+  {
+    tmpval |= LSM303DLHC_IT;
+  }
+  else
+  {
+    /* Disable the selected interrupt */
+    tmpval =~ LSM303DLHC_IT;
+  }
+      
+  /* Write value to MEMS CTRL_REG3 register */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG6_A, &tmpval);  
+}
+
+/**
+  * @brief  INT1 interrupt config
+  * @param  ITCombination: Or or And combination
+  *         ITAxes: axes to be enabled 
+  *         NewState: Enable or Disable    
+  * @retval None
+  */
+void LSM303DLHC_AccINT1InterruptConfig(uint8_t ITCombination, uint8_t ITAxes, FunctionalState NewState )
+{  
+  uint8_t tmpval = ITCombination;
+  
+  /* Read INT1_CFR register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_INT1_CFG_A, &tmpval, 1);
+  
+  if (NewState != DISABLE)
+  {
+    tmpval |= ITAxes;
+  }
+  else
+  {
+    /* Disable the selected interrupt */
+    tmpval =(~ITAxes)|ITCombination;
+  }
+      
+  /* Write value to MEMS INT1_CFR register */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_INT1_CFG_A, &tmpval);  
+}
+
+/**
+  * @brief  INT1 interrupt config
+  * @param  ITCombination: Or or And combination
+  *         ITAxes: axes to be enabled 
+  *         NewState: Enable or Disable    
+  * @retval None
+  */
+void LSM303DLHC_AccINT2InterruptConfig(uint8_t ITCombination, uint8_t ITAxes, FunctionalState NewState )
+{  
+  uint8_t tmpval = ITCombination;
+  
+  /* Read INT2_CFR register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_INT2_CFG_A, &tmpval, 1);
+  
+  if (NewState != DISABLE)
+  {
+    tmpval |= ITAxes;
+  }
+  else
+  {
+    /* Disable the selected interrupt */
+    tmpval =(~ITAxes)|ITCombination;
+  }
+      
+  /* Write value to MEMS INT2_CFR register */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_INT2_CFG_A, &tmpval);  
+}
+
+/**
+  * @brief  INT1 interrupt config
+  * @param  ITCombination: Or or And combination
+  *         ITAxes: axes to be enabled 
+  *         NewState: Enable or Disable    
+  * @retval None
+  */
+void LSM303DLHC_AccClickITConfig(uint8_t ITClick, FunctionalState NewState)
+{  
+  uint8_t tmpval;
+  
+  /* Read CLICK_CFR register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CLICK_CFG_A, &tmpval, 1);
+  
+  if (NewState != DISABLE)
+  {
+    tmpval |= ITClick;
+  }
+  else
+  {
+    /* Disable the selected interrupt */
+    tmpval =~ITClick;
+  }
+      
+  /* Write value to MEMS CLICK_CFR register */
+  LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_CLICK_CFG_A, &tmpval);  
+}
+
+/**
+  * @brief  Get status for Acc LSM303DLHC data
+  * @param  None         
+  * @retval Data status in a LSM303DLHC Data register
+  */
+uint8_t LSM303DLHC_AccGetDataStatus(void)
+{
+  uint8_t tmpreg;
+  
+  /* Read Mag STATUS register */
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_STATUS_REG_A, &tmpreg, 1);
+                  
+  return tmpreg;
+}
+
+/**
+  * @brief  Set LSM303DLHC Mag Initialization.
+  * @param  LSM303DLHC_InitStruct: pointer to a LSM303DLHC_MagInitTypeDef structure 
+  *         that contains the configuration setting for the LSM303DLHC.
+  * @retval None
+  */
+void LSM303DLHC_MagInit(LSM303DLHCMag_InitTypeDef *LSM303DLHC_InitStruct)
+{  
+  uint8_t cra_regm = 0x00, crb_regm = 0x00, mr_regm = 0x00;
+  
+  /* Configure the low level interface ---------------------------------------*/
+  LSM303DLHC_LowLevel_Init();
+  
+  /* Configure MEMS: temp and Data rate */
+  cra_regm |= (uint8_t) (LSM303DLHC_InitStruct->Temperature_Sensor | LSM303DLHC_InitStruct->MagOutput_DataRate);
+    
+  /* Configure MEMS: full Scale */
+  crb_regm |= (uint8_t) (LSM303DLHC_InitStruct->MagFull_Scale);
+      
+  /* Configure MEMS: working mode */
+  mr_regm |= (uint8_t) (LSM303DLHC_InitStruct->Working_Mode);
+                    
+  /* Write value to Mag MEMS CRA_REG regsister */
+  LSM303DLHC_Write(MAG_I2C_ADDRESS, LSM303DLHC_CRA_REG_M, &cra_regm);
+  
+  /* Write value to Mag MEMS CRB_REG regsister */
+  LSM303DLHC_Write(MAG_I2C_ADDRESS, LSM303DLHC_CRB_REG_M, &crb_regm);
+
+  /* Write value to Mag MEMS MR_REG regsister */
+  LSM303DLHC_Write(MAG_I2C_ADDRESS, LSM303DLHC_MR_REG_M, &mr_regm);
+}
+
+/**
+  * @brief  Get status for Mag LSM303DLHC data
+  * @param  None         
+  * @retval Data status in a LSM303DLHC Data register
+  */
+uint8_t LSM303DLHC_MagGetDataStatus(void)
+{
+  uint8_t tmpreg;
+  
+  /* Read Mag STATUS register */
+  LSM303DLHC_Read(MAG_I2C_ADDRESS, LSM303DLHC_SR_REG_M, &tmpreg, 1 );
+                  
+  return tmpreg;
+}
+
+/**
+  * @brief  Writes one byte to the LSM303DLHC.
+  * @param  DeviceAddr : specifies the slave address to be programmed.
+  * @param  RegAddr : specifies the LSM303DLHC register to be written.
+  * @param  pBuffer : pointer to the buffer  containing the data to be written to the LSM303DLH.
+  * @retval LSM303DLHC Status
+  */
+uint16_t LSM303DLHC_Write(uint8_t DeviceAddr, uint8_t RegAddr, uint8_t* pBuffer)
+{  
+  /* Test on BUSY Flag */
+  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
+  while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_BUSY) != RESET)
+  {
+    if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+  }
+  
+  /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+  I2C_TransferHandling(LSM303DLHC_I2C, DeviceAddr, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
+  
+  /* Wait until TXIS flag is set */
+  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;  
+  while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_TXIS) == RESET)   
+  {
+    if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+  }
+  
+  /* Send Register address */
+  I2C_SendData(LSM303DLHC_I2C, (uint8_t) RegAddr);
+  
+  /* Wait until TCR flag is set */
+  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
+  while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_TCR) == RESET)
+  {
+    if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+  }
+  
+  /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+  I2C_TransferHandling(LSM303DLHC_I2C, DeviceAddr, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
+       
+  /* Wait until TXIS flag is set */
+  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
+  while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_TXIS) == RESET)
+  {
+    if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+  }  
+    
+  /* Write data to TXDR */
+  I2C_SendData(LSM303DLHC_I2C, *pBuffer);
+      
+  /* Wait until STOPF flag is set */
+  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
+  while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_STOPF) == RESET)
+  {
+    if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+  }   
+  
+  /* Clear STOPF flag */
+  I2C_ClearFlag(LSM303DLHC_I2C, I2C_ICR_STOPCF);
+  
+  return LSM303DLHC_OK;
+}
+
+/**
+  * @brief  Reads a block of data from the LSM303DLHC.
+  * @param  DeviceAddr : specifies the slave address to be programmed(ACC_I2C_ADDRESS or MAG_I2C_ADDRESS).
+  * @param  RegAddr : specifies the LSM303DLHC internal address register to read from.
+  * @param  pBuffer : pointer to the buffer that receives the data read from the LSM303DLH.
+  * @param  NumByteToRead : number of bytes to read from the LSM303DLH ( NumByteToRead >1  only for the Mgnetometer readinf).
+  * @retval LSM303DLHC register value
+  */
+uint16_t LSM303DLHC_Read(uint8_t DeviceAddr, uint8_t RegAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
+{    
+  /* Test on BUSY Flag */
+  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
+  while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_BUSY) != RESET)
+  {
+    if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+  }
+  
+  /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+  I2C_TransferHandling(LSM303DLHC_I2C, DeviceAddr, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
+  
+  /* Wait until TXIS flag is set */
+  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
+  while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_TXIS) == RESET)
+  {
+    if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+  }
+  
+  if(NumByteToRead>1)
+      RegAddr |= 0x80;
+
+  
+  /* Send Register address */
+  I2C_SendData(LSM303DLHC_I2C, (uint8_t)RegAddr);
+  
+  /* Wait until TC flag is set */
+  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
+  while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_TC) == RESET)
+  {
+    if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+  }  
+  
+  /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+  I2C_TransferHandling(LSM303DLHC_I2C, DeviceAddr, NumByteToRead, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
+  
+  /* Wait until all data are received */
+  while (NumByteToRead)
+  {   
+    /* Wait until RXNE flag is set */
+    LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
+    while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_RXNE) == RESET)    
+    {
+      if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+    }
+    
+    /* Read data from RXDR */
+    *pBuffer = I2C_ReceiveData(LSM303DLHC_I2C);
+    /* Point to the next location where the byte read will be saved */
+    pBuffer++;
+    
+    /* Decrement the read bytes counter */
+    NumByteToRead--;
+  } 
+  
+  /* Wait until STOPF flag is set */
+  LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
+  while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_STOPF) == RESET)   
+  {
+    if((LSM303DLHC_Timeout--) == 0) return LSM303DLHC_TIMEOUT_UserCallback();
+  }
+  
+  /* Clear STOPF flag */
+  I2C_ClearFlag(LSM303DLHC_I2C, I2C_ICR_STOPCF);
+  
+  /* If all operations OK */
+  return LSM303DLHC_OK;  
+}  
+/**
+* @brief  Initializes the low level interface used to drive the LSM303DLHC
+* @param  None
+* @retval None
+*/
+static void LSM303DLHC_LowLevel_Init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure;
+  EXTI_InitTypeDef EXTI_InitStructure;
+  I2C_InitTypeDef  I2C_InitStructure;
+  
+  /* Enable the I2C periph */
+  RCC_APB1PeriphClockCmd(LSM303DLHC_I2C_CLK, ENABLE);
+  
+  /* Enable SCK and SDA GPIO clocks */
+  RCC_AHBPeriphClockCmd(LSM303DLHC_I2C_SCK_GPIO_CLK | LSM303DLHC_I2C_SDA_GPIO_CLK , ENABLE);
+  
+  /* Enable INT1 GPIO clock */
+  RCC_AHBPeriphClockCmd(LSM303DLHC_I2C_INT1_GPIO_CLK, ENABLE);
+  
+  /* Enable INT2 GPIO clock */
+  RCC_AHBPeriphClockCmd(LSM303DLHC_I2C_INT2_GPIO_CLK, ENABLE);
+  
+  /* Enable DRDY clock */
+  RCC_AHBPeriphClockCmd(LSM303DLHC_DRDY_GPIO_CLK, ENABLE);
+  
+  GPIO_PinAFConfig(LSM303DLHC_I2C_SCK_GPIO_PORT, LSM303DLHC_I2C_SCK_SOURCE, LSM303DLHC_I2C_SCK_AF);
+  GPIO_PinAFConfig(LSM303DLHC_I2C_SDA_GPIO_PORT, LSM303DLHC_I2C_SDA_SOURCE, LSM303DLHC_I2C_SDA_AF);
+  
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_DOWN;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  
+  /* I2C SCK pin configuration */
+  GPIO_InitStructure.GPIO_Pin = LSM303DLHC_I2C_SCK_PIN;
+  GPIO_Init(LSM303DLHC_I2C_SCK_GPIO_PORT, &GPIO_InitStructure);
+  
+  /* I2C SDA pin configuration */
+  GPIO_InitStructure.GPIO_Pin =  LSM303DLHC_I2C_SDA_PIN;
+  GPIO_Init(LSM303DLHC_I2C_SDA_GPIO_PORT, &GPIO_InitStructure);
+  
+  /* Mems DRDY */
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  
+  /* Mems DRDY pin configuration */
+  GPIO_InitStructure.GPIO_Pin = LSM303DLHC_DRDY_PIN;
+  GPIO_Init(LSM303DLHC_DRDY_GPIO_PORT, &GPIO_InitStructure);
+  
+  /* Connect EXTI Line to Mems DRDY Pin */
+  SYSCFG_EXTILineConfig(LSM303DLHC_DRDY_EXTI_PORT_SOURCE, LSM303DLHC_DRDY_EXTI_PIN_SOURCE);
+  
+  EXTI_InitStructure.EXTI_Line = LSM303DLHC_DRDY_EXTI_LINE;
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
+  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+  
+  EXTI_Init(&EXTI_InitStructure);
+  
+  /* I2C configuration -------------------------------------------------------*/
+  I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
+  I2C_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
+  I2C_InitStructure.I2C_DigitalFilter = 0x00;
+  I2C_InitStructure.I2C_OwnAddress1 = 0x00;
+  I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
+  I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
+  I2C_InitStructure.I2C_Timing = 0x00902025;
+  
+  /* Apply LSM303DLHC_I2C configuration after enabling it */
+  I2C_Init(LSM303DLHC_I2C, &I2C_InitStructure);
+  
+  /* LSM303DLHC_I2C Peripheral Enable */
+  I2C_Cmd(LSM303DLHC_I2C, ENABLE);
+  
+  /* Configure GPIO PINs to detect Interrupts */
+  GPIO_InitStructure.GPIO_Pin = LSM303DLHC_I2C_INT1_PIN;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+  GPIO_Init(LSM303DLHC_I2C_INT1_GPIO_PORT, &GPIO_InitStructure);
+  
+  GPIO_InitStructure.GPIO_Pin = LSM303DLHC_I2C_INT2_PIN;
+  GPIO_Init(LSM303DLHC_I2C_INT2_GPIO_PORT, &GPIO_InitStructure);
+}  
+
+#ifdef USE_DEFAULT_TIMEOUT_CALLBACK
+/**
+  * @brief  Basic management of the timeout situation.
+  * @param  None.
+  * @retval None.
+  */
+uint32_t LSM303DLHC_TIMEOUT_UserCallback(void)
+{
+  /* Block communication and all processes */
+  while (1)
+  {   
+  }
+}
+#endif /* USE_DEFAULT_TIMEOUT_CALLBACK */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+  
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+  
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/