accgyro_lsm303dlhc.h

Go to the documentation of this file.

/*
 * This file is part of Ninjaflight.
 *
 * Ninjaflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Ninjaflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Ninjaflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

/* LSM303DLHC ACC struct */
typedef struct
{
  uint8_t Power_Mode;                         /* Power-down/Normal Mode */
  uint8_t AccOutput_DataRate;                 /* OUT data rate */
  uint8_t Axes_Enable;                        /* Axes enable */
  uint8_t High_Resolution;                    /* High Resolution enabling/disabling */
  uint8_t BlockData_Update;                   /* Block Data Update */
  uint8_t Endianness;                         /* Endian Data selection */
  uint8_t AccFull_Scale;                      /* Full Scale selection */
}LSM303DLHCAcc_InitTypeDef;

/* LSM303DLHC Acc High Pass Filter struct */
typedef struct
{
  uint8_t HighPassFilter_Mode_Selection;      /* Internal filter mode */
  uint8_t HighPassFilter_CutOff_Frequency;    /* High pass filter cut-off frequency */
  uint8_t HighPassFilter_AOI1;                /* HPF_enabling/disabling for AOI function on interrupt 1 */
  uint8_t HighPassFilter_AOI2;                /* HPF_enabling/disabling for AOI function on interrupt 2 */
}LSM303DLHCAcc_FilterConfigTypeDef;

/* LSM303DLHC Mag struct */
typedef struct
{
  uint8_t Temperature_Sensor;                /* Temperature sensor enable/disable */
  uint8_t MagOutput_DataRate;                /* OUT data rate */
  uint8_t Working_Mode;                      /* operating mode */
  uint8_t MagFull_Scale;                     /* Full Scale selection */
}LSM303DLHCMag_InitTypeDef;
#define LSM303DLHC_OK                       ((uint32_t) 0)
#define LSM303DLHC_FAIL                     ((uint32_t) 0)

/* Uncomment the following line to use the default LSM303DLHC_TIMEOUT_UserCallback()
   function implemented in stm32f3_discovery_lgd20.c file.
   LSM303DLHC_TIMEOUT_UserCallback() function is called whenever a timeout condition
   occure during communication (waiting transmit data register empty flag(TXE)
   or waiting receive data register is not empty flag (RXNE)). */
/* #define USE_DEFAULT_TIMEOUT_CALLBACK */

/* Maximum Timeout values for flags waiting loops. These timeouts are not based
   on accurate values, they just guarantee that the application will not remain
   stuck if the I2C communication is corrupted.
   You may modify these timeout values depending on CPU frequency and application
   conditions (interrupts routines ...). */
#define LSM303DLHC_FLAG_TIMEOUT             ((uint32_t)0x1000)
#define LSM303DLHC_LONG_TIMEOUT             ((uint32_t)(10 * LSM303DLHC_FLAG_TIMEOUT))

#define LSM303DLHC_I2C                       I2C1
#define LSM303DLHC_I2C_CLK                   RCC_APB1Periph_I2C1

#define LSM303DLHC_I2C_SCK_PIN               GPIO_Pin_6                  /* PB.06 */
#define LSM303DLHC_I2C_SCK_GPIO_PORT         GPIOB                       /* GPIOB */
#define LSM303DLHC_I2C_SCK_GPIO_CLK          RCC_AHBPeriph_GPIOB
#define LSM303DLHC_I2C_SCK_SOURCE            GPIO_PinSource6
#define LSM303DLHC_I2C_SCK_AF                GPIO_AF_4

#define LSM303DLHC_I2C_SDA_PIN               GPIO_Pin_7                  /* PB.7 */
#define LSM303DLHC_I2C_SDA_GPIO_PORT         GPIOB                       /* GPIOB */
#define LSM303DLHC_I2C_SDA_GPIO_CLK          RCC_AHBPeriph_GPIOB
#define LSM303DLHC_I2C_SDA_SOURCE            GPIO_PinSource7
#define LSM303DLHC_I2C_SDA_AF                GPIO_AF_4

#define LSM303DLHC_DRDY_PIN                  GPIO_Pin_2                  /* PE.02 */
#define LSM303DLHC_DRDY_GPIO_PORT            GPIOE                       /* GPIOE */
#define LSM303DLHC_DRDY_GPIO_CLK             RCC_AHBPeriph_GPIOE
#define LSM303DLHC_DRDY_EXTI_LINE            EXTI_Line2
#define LSM303DLHC_DRDY_EXTI_PORT_SOURCE     EXTI_PortSourceGPIOE
#define LSM303DLHC_DRDY_EXTI_PIN_SOURCE      EXTI_PinSource2
#define LSM303DLHC_DRDY_EXTI_IRQn            EXTI2_TS_IRQn

#define LSM303DLHC_I2C_INT1_PIN              GPIO_Pin_4                  /* PE.04 */
#define LSM303DLHC_I2C_INT1_GPIO_PORT        GPIOE                       /* GPIOE */
#define LSM303DLHC_I2C_INT1_GPIO_CLK         RCC_AHBPeriph_GPIOE
#define LSM303DLHC_I2C_INT1_EXTI_LINE        EXTI_Line4
#define LSM303DLHC_I2C_INT1_EXTI_PORT_SOURCE EXTI_PortSourceGPIOE
#define LSM303DLHC_I2C_INT1_EXTI_PIN_SOURCE  EXTI_PinSource4
#define LSM303DLHC_I2C_INT1_EXTI_IRQn        EXTI4_IRQn

#define LSM303DLHC_I2C_INT2_PIN              GPIO_Pin_5                  /* PE.05 */
#define LSM303DLHC_I2C_INT2_GPIO_PORT        GPIOE                       /* GPIOE */
#define LSM303DLHC_I2C_INT2_GPIO_CLK         RCC_AHBPeriph_GPIOE
#define LSM303DLHC_I2C_INT2_EXTI_LINE        EXTI_Line5
#define LSM303DLHC_I2C_INT2_EXTI_PORT_SOURCE EXTI_PortSourceGPIOE
#define LSM303DLHC_I2C_INT2_EXTI_PIN_SOURCE  EXTI_PinSource5ss
#define LSM303DLHC_I2C_INT2_EXTI_IRQn        EXTI9_5_IRQn

/******************************************************************************/
/*************************** START REGISTER MAPPING  **************************/
/******************************************************************************/
/* Acceleration Registers */
#define LSM303DLHC_CTRL_REG1_A               0x20  /* Control register 1 acceleration */
#define LSM303DLHC_CTRL_REG2_A               0x21  /* Control register 2 acceleration */
#define LSM303DLHC_CTRL_REG3_A               0x22  /* Control register 3 acceleration */
#define LSM303DLHC_CTRL_REG4_A               0x23  /* Control register 4 acceleration */
#define LSM303DLHC_CTRL_REG5_A               0x24  /* Control register 5 acceleration */
#define LSM303DLHC_CTRL_REG6_A               0x25  /* Control register 6 acceleration */
#define LSM303DLHC_REFERENCE_A               0x26  /* Reference register acceleration */
#define LSM303DLHC_STATUS_REG_A              0x27  /* Status register acceleration */
#define LSM303DLHC_OUT_X_L_A                 0x28  /* Output Register X acceleration */
#define LSM303DLHC_OUT_X_H_A                 0x29  /* Output Register X acceleration */
#define LSM303DLHC_OUT_Y_L_A                 0x2A  /* Output Register Y acceleration */
#define LSM303DLHC_OUT_Y_H_A                 0x2B  /* Output Register Y acceleration */
#define LSM303DLHC_OUT_Z_L_A                 0x2C  /* Output Register Z acceleration */
#define LSM303DLHC_OUT_Z_H_A                 0x2D  /* Output Register Z acceleration */
#define LSM303DLHC_FIFO_CTRL_REG_A           0x2E  /* Fifo control Register acceleration */
#define LSM303DLHC_FIFO_SRC_REG_A            0x2F  /* Fifo src Register acceleration */

#define LSM303DLHC_INT1_CFG_A                0x30  /* Interrupt 1 configuration Register acceleration */
#define LSM303DLHC_INT1_SOURCE_A             0x31  /* Interrupt 1 source Register acceleration */
#define LSM303DLHC_INT1_THS_A                0x32  /* Interrupt 1 Threshold register acceleration */
#define LSM303DLHC_INT1_DURATION_A           0x33  /* Interrupt 1 DURATION register acceleration */

#define LSM303DLHC_INT2_CFG_A                0x34  /* Interrupt 2 configuration Register acceleration */
#define LSM303DLHC_INT2_SOURCE_A             0x35  /* Interrupt 2 source Register acceleration */
#define LSM303DLHC_INT2_THS_A                0x36  /* Interrupt 2 Threshold register acceleration */
#define LSM303DLHC_INT2_DURATION_A           0x37  /* Interrupt 2 DURATION register acceleration */

#define LSM303DLHC_CLICK_CFG_A               0x38  /* Click configuration Register acceleration */
#define LSM303DLHC_CLICK_SOURCE_A            0x39  /* Click 2 source Register acceleration */
#define LSM303DLHC_CLICK_THS_A               0x3A  /* Click 2 Threshold register acceleration */

#define LSM303DLHC_TIME_LIMIT_A              0x3B  /* Time Limit Register acceleration */
#define LSM303DLHC_TIME_LATENCY_A            0x3C  /* Time Latency Register acceleration */
#define LSM303DLHC_TIME_WINDOW_A             0x3D  /* Time window register acceleration */

/* Magnetic field Registers */
#define LSM303DLHC_CRA_REG_M                 0x00  /* Control register A magnetic field */
#define LSM303DLHC_CRB_REG_M                 0x01  /* Control register B magnetic field */
#define LSM303DLHC_MR_REG_M                  0x02  /* Control register MR magnetic field */
#define LSM303DLHC_OUT_X_H_M                 0x03  /* Output Register X magnetic field */
#define LSM303DLHC_OUT_X_L_M                 0x04  /* Output Register X magnetic field */
#define LSM303DLHC_OUT_Z_H_M                 0x05  /* Output Register Z magnetic field */
#define LSM303DLHC_OUT_Z_L_M                 0x06  /* Output Register Z magnetic field */
#define LSM303DLHC_OUT_Y_H_M                 0x07  /* Output Register Y magnetic field */
#define LSM303DLHC_OUT_Y_L_M                 0x08  /* Output Register Y magnetic field */

#define LSM303DLHC_SR_REG_M                  0x09  /* Status Register magnetic field */
#define LSM303DLHC_IRA_REG_M                 0x0A  /* IRA Register magnetic field */
#define LSM303DLHC_IRB_REG_M                 0x0B  /* IRB Register magnetic field */
#define LSM303DLHC_IRC_REG_M                 0x0C  /* IRC Register magnetic field */

#define LSM303DLHC_TEMP_OUT_H_M              0x31  /* Temperature Register magnetic field */
#define LSM303DLHC_TEMP_OUT_L_M              0x32  /* Temperature Register magnetic field */
/******************************************************************************/
/**************************** END REGISTER MAPPING  ***************************/
/******************************************************************************/

#define ACC_I2C_ADDRESS                      0x32
#define MAG_I2C_ADDRESS                      0x3C

#define LSM303DLHC_NORMAL_MODE            ((uint8_t)0x00)
#define LSM303DLHC_LOWPOWER_MODE          ((uint8_t)0x08)

#define LSM303DLHC_ODR_1_HZ                ((uint8_t)0x10)  
#define LSM303DLHC_ODR_10_HZ               ((uint8_t)0x20)  
#define LSM303DLHC_ODR_25_HZ               ((uint8_t)0x30)  
#define LSM303DLHC_ODR_50_HZ               ((uint8_t)0x40)  
#define LSM303DLHC_ODR_100_HZ              ((uint8_t)0x50)  
#define LSM303DLHC_ODR_200_HZ              ((uint8_t)0x60)  
#define LSM303DLHC_ODR_400_HZ              ((uint8_t)0x70)  
#define LSM303DLHC_ODR_1620_HZ_LP          ((uint8_t)0x80)  
#define LSM303DLHC_ODR_1344_HZ             ((uint8_t)0x90)  
#define LSM303DLHC_X_ENABLE                ((uint8_t)0x01)
#define LSM303DLHC_Y_ENABLE                ((uint8_t)0x02)
#define LSM303DLHC_Z_ENABLE                ((uint8_t)0x04)
#define LSM303DLHC_AXES_ENABLE             ((uint8_t)0x07)
#define LSM303DLHC_AXES_DISABLE            ((uint8_t)0x00)

#define LSM303DLHC_HR_ENABLE               ((uint8_t)0x08)
#define LSM303DLHC_HR_DISABLE              ((uint8_t)0x00)

#define LSM303DLHC_FULLSCALE_2G            ((uint8_t)0x00)  
#define LSM303DLHC_FULLSCALE_4G            ((uint8_t)0x10)  
#define LSM303DLHC_FULLSCALE_8G            ((uint8_t)0x20)  
#define LSM303DLHC_FULLSCALE_16G           ((uint8_t)0x30)  
#define LSM303DLHC_BlockUpdate_Continous   ((uint8_t)0x00) 
#define LSM303DLHC_BlockUpdate_Single      ((uint8_t)0x80) 
#define LSM303DLHC_BLE_LSB                 ((uint8_t)0x00) 
#define LSM303DLHC_BLE_MSB             ((uint8_t)0x40) 
#define LSM303DLHC_BOOT_NORMALMODE         ((uint8_t)0x00)
#define LSM303DLHC_BOOT_REBOOTMEMORY       ((uint8_t)0x80)

#define LSM303DLHC_HPM_NORMAL_MODE_RES     ((uint8_t)0x00)
#define LSM303DLHC_HPM_REF_SIGNAL          ((uint8_t)0x40)
#define LSM303DLHC_HPM_NORMAL_MODE         ((uint8_t)0x80)
#define LSM303DLHC_HPM_AUTORESET_INT       ((uint8_t)0xC0)

#define LSM303DLHC_HPFCF_8                 ((uint8_t)0x00)
#define LSM303DLHC_HPFCF_16                ((uint8_t)0x10)
#define LSM303DLHC_HPFCF_32                ((uint8_t)0x20)
#define LSM303DLHC_HPFCF_64                ((uint8_t)0x30)

#define LSM303DLHC_HIGHPASSFILTER_DISABLE  ((uint8_t)0x00)
#define LSM303DLHC_HIGHPASSFILTER_ENABLE   ((uint8_t)0x08)

#define LSM303DLHC_HPF_CLICK_DISABLE       ((uint8_t)0x00)
#define LSM303DLHC_HPF_CLICK_ENABLE        ((uint8_t)0x04)

#define LSM303DLHC_HPF_AOI1_DISABLE        ((uint8_t)0x00)
#define LSM303DLHC_HPF_AOI1_ENABLE         ((uint8_t)0x01)

#define LSM303DLHC_HPF_AOI2_DISABLE        ((uint8_t)0x00)
#define LSM303DLHC_HPF_AOI2_ENABLE     ((uint8_t)0x02)

#define LSM303DLHC_IT1_CLICK               ((uint8_t)0x80)
#define LSM303DLHC_IT1_AOI1                ((uint8_t)0x40)
#define LSM303DLHC_IT1_AOI2                ((uint8_t)0x20)
#define LSM303DLHC_IT1_DRY1                ((uint8_t)0x10)
#define LSM303DLHC_IT1_DRY2                ((uint8_t)0x08)
#define LSM303DLHC_IT1_WTM                 ((uint8_t)0x04)
#define LSM303DLHC_IT1_OVERRUN             ((uint8_t)0x02)

#define LSM303DLHC_IT2_CLICK               ((uint8_t)0x80)
#define LSM303DLHC_IT2_INT1                ((uint8_t)0x40)
#define LSM303DLHC_IT2_INT2                ((uint8_t)0x20)
#define LSM303DLHC_IT2_BOOT                ((uint8_t)0x10)
#define LSM303DLHC_IT2_ACT                 ((uint8_t)0x08)
#define LSM303DLHC_IT2_HLACTIVE            ((uint8_t)0x02)

#define LSM303DLHC_OR_COMBINATION          ((uint8_t)0x00)  
#define LSM303DLHC_AND_COMBINATION         ((uint8_t)0x80)  
#define LSM303DLHC_MOV_RECOGNITION         ((uint8_t)0x40)  
#define LSM303DLHC_POS_RECOGNITION         ((uint8_t)0xC0)  
#define LSM303DLHC_Z_HIGH                  ((uint8_t)0x20)  
#define LSM303DLHC_Z_LOW                     ((uint8_t)0x10)  
#define LSM303DLHC_Y_HIGH                  ((uint8_t)0x08)  
#define LSM303DLHC_Y_LOW                     ((uint8_t)0x04)  
#define LSM303DLHC_X_HIGH                  ((uint8_t)0x02)  
#define LSM303DLHC_X_LOW                     ((uint8_t)0x01)  
#define LSM303DLHC_Z_DOUBLE_CLICK          ((uint8_t)0x20)  
#define LSM303DLHC_Z_SINGLE_CLICK            ((uint8_t)0x10)  
#define LSM303DLHC_Y_DOUBLE_CLICK          ((uint8_t)0x08)  
#define LSM303DLHC_Y_SINGLE_CLICK            ((uint8_t)0x04)  
#define LSM303DLHC_X_DOUBLE_CLICK          ((uint8_t)0x02)  
#define LSM303DLHC_X_SINGLE_CLICK            ((uint8_t)0x01)  
#define LSM303DLHC_INT1INTERRUPT_DISABLE   ((uint8_t)0x00)
#define LSM303DLHC_INT1INTERRUPT_ENABLE    ((uint8_t)0x80)

#define LSM303DLHC_INT1INTERRUPT_LOW_EDGE  ((uint8_t)0x20)
#define LSM303DLHC_INT1INTERRUPT_HIGH_EDGE ((uint8_t)0x00)

#define LSM303DLHC_ODR_0_75_HZ              ((uint8_t) 0x00)  
#define LSM303DLHC_ODR_1_5_HZ               ((uint8_t) 0x04)  
#define LSM303DLHC_ODR_3_0_HZ               ((uint8_t) 0x08)  
#define LSM303DLHC_ODR_7_5_HZ               ((uint8_t) 0x0C)  
#define LSM303DLHC_ODR_15_HZ                ((uint8_t) 0x10)  
#define LSM303DLHC_ODR_30_HZ                ((uint8_t) 0x14)  
#define LSM303DLHC_ODR_75_HZ                ((uint8_t) 0x18)  
#define LSM303DLHC_ODR_220_HZ               ((uint8_t) 0x1C)  
#define  LSM303DLHC_FS_1_3_GA               ((uint8_t) 0x20)  
#define  LSM303DLHC_FS_1_9_GA               ((uint8_t) 0x40)  
#define  LSM303DLHC_FS_2_5_GA               ((uint8_t) 0x60)  
#define  LSM303DLHC_FS_4_0_GA               ((uint8_t) 0x80)  
#define  LSM303DLHC_FS_4_7_GA               ((uint8_t) 0xA0)  
#define  LSM303DLHC_FS_5_6_GA               ((uint8_t) 0xC0)  
#define  LSM303DLHC_FS_8_1_GA               ((uint8_t) 0xE0)  
#define LSM303DLHC_M_SENSITIVITY_XY_1_3Ga     1100  
#define LSM303DLHC_M_SENSITIVITY_XY_1_9Ga     855   
#define LSM303DLHC_M_SENSITIVITY_XY_2_5Ga     670   
#define LSM303DLHC_M_SENSITIVITY_XY_4Ga       450   
#define LSM303DLHC_M_SENSITIVITY_XY_4_7Ga     400   
#define LSM303DLHC_M_SENSITIVITY_XY_5_6Ga     330   
#define LSM303DLHC_M_SENSITIVITY_XY_8_1Ga     230   
#define LSM303DLHC_M_SENSITIVITY_Z_1_3Ga      980   
#define LSM303DLHC_M_SENSITIVITY_Z_1_9Ga      760   
#define LSM303DLHC_M_SENSITIVITY_Z_2_5Ga      600   
#define LSM303DLHC_M_SENSITIVITY_Z_4Ga        400   
#define LSM303DLHC_M_SENSITIVITY_Z_4_7Ga      355   
#define LSM303DLHC_M_SENSITIVITY_Z_5_6Ga      295   
#define LSM303DLHC_M_SENSITIVITY_Z_8_1Ga      205   
#define LSM303DLHC_CONTINUOS_CONVERSION      ((uint8_t) 0x00)   
#define LSM303DLHC_SINGLE_CONVERSION         ((uint8_t) 0x01)   
#define LSM303DLHC_SLEEP                     ((uint8_t) 0x02)   
#define LSM303DLHC_TEMPSENSOR_ENABLE         ((uint8_t) 0x80)   
#define LSM303DLHC_TEMPSENSOR_DISABLE        ((uint8_t) 0x00)   
bool lsm303dlhcAccDetect(acc_t *acc);