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/**
******************************************************************************
* @file lsm303agr.c
* @author MCD Application Team
* @version V1.0.0
* @date 10-October-2016
* @brief This file provides a set of functions needed to manage the lsm303agr
* MEMS accelerometer.
******************************************************************************
* @attention
*
* Copyright (c) 2014 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "lsm303agr.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup Components
* @{
*/
/** @addtogroup LSM303AGR
* @{
*/
/** @defgroup LSM303AGR_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @defgroup LSM303AGR_Private_Defines
* @{
*/
/**
* @}
*/
/** @defgroup LSM303AGR_Private_Macros
* @{
*/
/**
* @}
*/
/** @defgroup LSM303AGR_Private_Variables
* @{
*/
ACCELERO_DrvTypeDef Lsm303agrDrv =
{
LSM303AGR_AccInit,
LSM303AGR_AccDeInit,
LSM303AGR_AccReadID,
LSM303AGR_AccRebootCmd,
0,
LSM303AGR_AccZClickITConfig,
0,
0,
0,
0,
LSM303AGR_AccFilterConfig,
LSM303AGR_AccFilterCmd,
LSM303AGR_AccReadXYZ
};
uint8_t tmpreg2A[8] = {0x00};
uint8_t tmpreg3A = 0x00;
uint8_t tmpregcfgA = 0x00;
/**
* @}
*/
/** @defgroup LSM303AGR_Private_Functions
* @{
*/
/**
* @brief Set LSM303AGR Initialization.
* @param InitStruct: Init parameters
* @retval None
*/
void LSM303AGR_AccInit(uint16_t InitStruct)
{
uint8_t ctrl = 0x00;
/* Low level init */
COMPASSACCELERO_IO_Init();
/* Write value to ACC MEMS CTRL_REG1 register */
ctrl = (uint8_t) InitStruct;
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG1_A, ctrl);
/* Write value to ACC MEMS CTRL_REG4 register */
ctrl = (uint8_t) (InitStruct << 8);
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG4_A, ctrl);
}
/**
* @brief LSM303AGR De-initialization.
* @param None
* @retval None
*/
void LSM303AGR_AccDeInit(void)
{
}
/**
* @brief Read LSM303AGR ID.
* @param None
* @retval ID
*/
uint8_t LSM303AGR_AccReadID(void)
{
uint8_t ctrl = 0x00;
/* Low level init */
COMPASSACCELERO_IO_Init();
/* Read value at Who am I register address */
ctrl = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_WHO_AM_I_ADDR);
return ctrl;
}
/**
* @brief Reboot memory content of LSM303AGR
* @param None
* @retval None
*/
void LSM303AGR_AccRebootCmd(void)
{
uint8_t tmpreg;
/* Read CTRL_REG5 register */
tmpreg = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG5_A);
/* Enable or Disable the reboot memory */
tmpreg |= LSM303AGR_BOOT_REBOOTMEMORY;
/* Write value to ACC MEMS CTRL_REG5 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG5_A, tmpreg);
}
/**
* @brief Set High Pass Filter Modality
* @param FilterStruct: contains data for filter config
* @retval None
*/
void LSM303AGR_AccFilterConfig(uint8_t FilterStruct)
{
uint8_t tmpreg;
/* Read CTRL_REG2 register */
tmpreg = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG2_A);
tmpreg &= 0x0C;
tmpreg |= FilterStruct;
/* Write value to ACC MEMS CTRL_REG2 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_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: LSM303AGR_HIGHPASSFILTER_DISABLE
* @arg: LSM303AGR_HIGHPASSFILTER_ENABLE
* @retval None
*/
void LSM303AGR_AccFilterCmd(uint8_t HighPassFilterState)
{
uint8_t tmpreg;
/* Read CTRL_REG2 register */
tmpreg = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG2_A);
tmpreg &= 0xF7;
tmpreg |= HighPassFilterState;
/* Write value to ACC MEMS CTRL_REG2 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG2_A, tmpreg);
}
/**
* @brief Read X, Y & Z Acceleration values
* @param pData: Data out pointer
* @retval None
*/
void LSM303AGR_AccReadXYZ(int16_t* pData)
{
int16_t pnRawData[3];
uint8_t ctrlx[2]={0,0};
int8_t buffer[6];
uint8_t i = 0;
uint8_t sensitivity = LSM303AGR_ACC_SENSITIVITY_2G;
/* Read the acceleration control register content */
ctrlx[0] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG4_A);
ctrlx[1] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG5_A);
/* Read output register X, Y & Z acceleration */
buffer[0] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_OUT_X_L_A);
buffer[1] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_OUT_X_H_A);
buffer[2] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_OUT_Y_L_A);
buffer[3] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_OUT_Y_H_A);
buffer[4] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_OUT_Z_L_A);
buffer[5] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_OUT_Z_H_A);
/* Check in the control register4 the data alignment*/
if(!(ctrlx[0] & LSM303AGR_BLE_MSB))
{
for(i=0; i<3; i++)
{
pnRawData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]);
}
}
else /* Big Endian Mode */
{
for(i=0; i<3; i++)
{
pnRawData[i]=((int16_t)((uint16_t)buffer[2*i] << 8) + buffer[2*i+1]);
}
}
/* Normal mode */
/* Switch the sensitivity value set in the CRTL4 */
switch(ctrlx[0] & LSM303AGR_FULLSCALE_16G)
{
case LSM303AGR_FULLSCALE_2G:
sensitivity = LSM303AGR_ACC_SENSITIVITY_2G;
break;
case LSM303AGR_FULLSCALE_4G:
sensitivity = LSM303AGR_ACC_SENSITIVITY_4G;
break;
case LSM303AGR_FULLSCALE_8G:
sensitivity = LSM303AGR_ACC_SENSITIVITY_8G;
break;
case LSM303AGR_FULLSCALE_16G:
sensitivity = LSM303AGR_ACC_SENSITIVITY_16G;
break;
}
/* Obtain the mg value for the three axis */
for(i=0; i<3; i++)
{
pData[i]=(pnRawData[i] * sensitivity);
}
}
/**
* @brief Enable or Disable High Pass Filter on CLick
* @param HighPassFilterState: new state of the High Pass Filter feature.
* This parameter can be:
* @arg: LSM303AGR_HPF_CLICK_DISABLE
* @arg: LSM303AGR_HPF_CLICK_ENABLE
* @retval None
*/
void LSM303AGR_AccFilterClickCmd(uint8_t HighPassFilterClickState)
{
uint8_t tmpreg = 0x00;
/* Read CTRL_REG2 register */
tmpreg = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG2_A);
tmpreg &= ~(LSM303AGR_HPF_CLICK_ENABLE);
tmpreg |= HighPassFilterClickState;
/* Write value to ACC MEMS CTRL_REG2 regsister */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG2_A, tmpreg);
}
/**
* @brief Enable LSM303AGR Interrupt1
* @param LSM303AGR_IT: specifies the LSM303AGR interrupt source to be enabled.
* This parameter can be any combination of the following values:
* @arg LSM303AGR_IT1_CLICK
* @arg LSM303AGR_IT1_AOI1
* @arg LSM303AGR_IT1_AOI2
* @arg LSM303AGR_IT1_DRY1
* @arg LSM303AGR_IT1_DRY2
* @arg LSM303AGR_IT1_WTM
* @arg LSM303AGR_IT1_OVERRUN
* @retval None
*/
void LSM303AGR_AccIT1Enable(uint8_t LSM303AGR_IT)
{
uint8_t tmpval = 0x00;
/* Read CTRL_REG3 register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG3_A);
/* Enable IT1 */
tmpval |= LSM303AGR_IT;
/* Write value to MEMS CTRL_REG3 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG3_A, tmpval);
}
/**
* @brief Disable LSM303AGR Interrupt1
* @param LSM303AGR_IT: specifies the LSM303AGR interrupt source to be disabled.
* This parameter can be any combination of the following values:
* @arg LSM303AGR_IT1_CLICK
* @arg LSM303AGR_IT1_AOI1
* @arg LSM303AGR_IT1_AOI2
* @arg LSM303AGR_IT1_DRY1
* @arg LSM303AGR_IT1_DRY2
* @arg LSM303AGR_IT1_WTM
* @arg LSM303AGR_IT1_OVERRUN
* @retval None
*/
void LSM303AGR_AccIT1Disable(uint8_t LSM303AGR_IT)
{
uint8_t tmpval = 0x00;
/* Read CTRL_REG3 register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG3_A);
/* Disable IT1 */
tmpval &= ~LSM303AGR_IT;
/* Write value to MEMS CTRL_REG3 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG3_A, tmpval);
}
/**
* @brief Enable LSM303AGR Interrupt2
* @param LSM303AGR_IT: specifies the LSM303AGR interrupt source to be enabled.
* This parameter can be any combination of the following values:
* @arg LSM303AGR_IT2_CLICK
* @arg LSM303AGR_IT2_INT1
* @arg LSM303AGR_IT2_INT2
* @arg LSM303AGR_IT2_BOOT
* @arg LSM303AGR_IT2_ACT
* @arg LSM303AGR_IT2_HLACTIVE
* @retval None
*/
void LSM303AGR_AccIT2Enable(uint8_t LSM303AGR_IT)
{
uint8_t tmpval = 0x00;
/* Read CTRL_REG3 register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG6_A);
/* Enable IT2 */
tmpval |= LSM303AGR_IT;
/* Write value to MEMS CTRL_REG3 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG6_A, tmpval);
}
/**
* @brief Disable LSM303AGR Interrupt2
* @param LSM303AGR_IT: specifies the LSM303AGR interrupt source to be disabled.
* This parameter can be any combination of the following values:
* @arg LSM303AGR_IT2_CLICK
* @arg LSM303AGR_IT2_INT1
* @arg LSM303AGR_IT2_INT2
* @arg LSM303AGR_IT2_BOOT
* @arg LSM303AGR_IT2_ACT
* @arg LSM303AGR_IT2_HLACTIVE
* @retval None
*/
void LSM303AGR_AccIT2Disable(uint8_t LSM303AGR_IT)
{
uint8_t tmpval = 0x00;
/* Read CTRL_REG3 register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG6_A);
/* Disable IT2 */
tmpval &= ~LSM303AGR_IT;
/* Write value to MEMS CTRL_REG3 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CTRL_REG6_A, tmpval);
}
/**
* @brief INT1 interrupt enable
* @param ITCombination: Or or And combination
* ITAxes: Axes to be enabled
* @retval None
*/
void LSM303AGR_AccINT1InterruptEnable(uint8_t ITCombination, uint8_t ITAxes)
{
uint8_t tmpval = 0x00;
/* Read INT1_CFR register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_INT1_CFG_A);
/* Enable the selected interrupt */
tmpval |= (ITAxes | ITCombination);
/* Write value to MEMS INT1_CFR register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_INT1_CFG_A, tmpval);
}
/**
* @brief INT1 interrupt disable
* @param ITCombination: Or or And combination
* ITAxes: Axes to be enabled
* @retval None
*/
void LSM303AGR_AccINT1InterruptDisable(uint8_t ITCombination, uint8_t ITAxes)
{
uint8_t tmpval = 0x00;
/* Read INT1_CFR register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_INT1_CFG_A);
/* Disable the selected interrupt */
tmpval &= ~(ITAxes | ITCombination);
/* Write value to MEMS INT1_CFR register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_INT1_CFG_A, tmpval);
}
/**
* @brief INT2 interrupt enable
* @param ITCombination: Or or And combination
* ITAxes: axes to be enabled
* @retval None
*/
void LSM303AGR_AccINT2InterruptEnable(uint8_t ITCombination, uint8_t ITAxes)
{
uint8_t tmpval = 0x00;
/* Read INT2_CFR register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_INT2_CFG_A);
/* Enable the selected interrupt */
tmpval |= (ITAxes | ITCombination);
/* Write value to MEMS INT2_CFR register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_INT2_CFG_A, tmpval);
}
/**
* @brief INT2 interrupt config
* @param ITCombination: Or or And combination
* ITAxes: axes to be enabled
* @retval None
*/
void LSM303AGR_AccINT2InterruptDisable(uint8_t ITCombination, uint8_t ITAxes)
{
uint8_t tmpval = 0x00;
/* Read INT2_CFR register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_INT2_CFG_A);
/* Disable the selected interrupt */
tmpval &= ~(ITAxes | ITCombination);
/* Write value to MEMS INT2_CFR register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_INT2_CFG_A, tmpval);
}
/**
* @brief Click interrupt enable
* @param ITClick: the selected interrupt to enable
* @retval None
*/
void LSM303AGR_AccClickITEnable(uint8_t ITClick)
{
uint8_t tmpval = 0x00;
/* Read CLICK_CFR register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CLICK_CFG_A);
/* Enable the selected interrupt */
tmpval |= ITClick;
/* Write value to MEMS CLICK CFG register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CLICK_CFG_A, tmpval);
/* Configure Click Threshold on Z axis */
tmpval = 0x0A;
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CLICK_THS_A, tmpval);
/* Configure Time Limit */
tmpval = 0x05;
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_TIME_LIMIT_A, tmpval);
/* Configure Latency */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_TIME_LATENCY_A, tmpval);
/* Configure Click Window */
tmpval = 0x32;
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_TIME_WINDOW_A, tmpval);
}
/**
* @brief Click interrupt disable
* @param ITClick: the selected click interrupt to disable
* @retval None
*/
void LSM303AGR_AccClickITDisable(uint8_t ITClick)
{
uint8_t tmpval = 0x00;
/* Read CLICK_CFR register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303AGR_CLICK_CFG_A);
/* Disable the selected interrupt */
tmpval &= ~ITClick;
/* Write value to MEMS CLICK_CFR register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303AGR_CLICK_CFG_A, tmpval);
}
/**
* @brief Click on Z axis interrupt config
* @param None
* @retval None
*/
void LSM303AGR_AccZClickITConfig(void)
{
/* Configure low level IT config */
COMPASSACCELERO_IO_ITConfig();
/* Select click IT as INT1 interrupt */
LSM303AGR_AccIT1Enable(LSM303AGR_IT1_CLICK);
/* Enable High pass filter for click IT */
LSM303AGR_AccFilterClickCmd(LSM303AGR_HPF_CLICK_ENABLE);
/* Enable simple click IT on Z axis, */
LSM303AGR_AccClickITEnable(LSM303AGR_Z_SINGLE_CLICK);
}
#ifdef MAGNET
/**
* @brief Set LSM303AGR Mag Initialization.
* @param LSM303AGR_InitStruct: pointer to a LSM303AGR_MagInitTypeDef structure
* that contains the configuration setting for the LSM303AGR.
* @retval None
*/
void LSM303AGR_MagInit(LSM303AGRMag_InitTypeDef *LSM303AGR_InitStruct)
{
uint8_t cra_regm = 0x00, crb_regm = 0x00, mr_regm = 0x00;
/* Configure MEMS: temp and Data rate */
cra_regm |= (uint8_t) (LSM303AGR_InitStruct->Temperature_Sensor | LSM303AGR_InitStruct->MagOutput_DataRate);
/* Configure MEMS: full Scale */
crb_regm |= (uint8_t) (LSM303AGR_InitStruct->MagFull_Scale);
/* Configure MEMS: working mode */
mr_regm |= (uint8_t) (LSM303AGR_InitStruct->Working_Mode);
/* Write value to Mag MEMS CRA_REG register */
COMPASSACCELERO_IO_Write(MAG_I2C_ADDRESS, LSM303AGR_CRA_REG_M, 1, &cra_regm);
/* Write value to Mag MEMS CRB_REG register */
COMPASSACCELERO_IO_Write(MAG_I2C_ADDRESS, LSM303AGR_CRB_REG_M, 1, &crb_regm);
/* Write value to Mag MEMS MR_REG register */
COMPASSACCELERO_IO_Write(MAG_I2C_ADDRESS, LSM303AGR_MR_REG_M, 1, &mr_regm);
}
/**
* @brief Get status for Mag LSM303AGR data
* @param None
* @retval Data status in a LSM303AGR Data register
*/
uint8_t LSM303AGR_MagGetDataStatus(void)
{
uint8_t tmpreg;
/* Read Mag STATUS register */
COMPASSACCELERO_IO_Read(MAG_I2C_ADDRESS, LSM303AGR_SR_REG_M, 1, &tmpreg);
return tmpreg;
}
#endif /* MAGNET */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
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