/**
* @brief Read X, Y & Z Acceleration values
* @param pData: Data out pointer
* @retval None
*/
void LSM303DLHC_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 = LSM303DLHC_ACC_SENSITIVITY_2G;
/* Read the acceleration control register content */
ctrlx[0] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG4_A);
ctrlx[1] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG5_A);
/* Read output register X, Y & Z acceleration */
buffer[0] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_X_L_A);
buffer[1] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_X_H_A);
buffer[2] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_Y_L_A);
buffer[3] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_Y_H_A);
buffer[4] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_Z_L_A);
buffer[5] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_Z_H_A);
/* Check in the control register4 the data alignment*/
if(!(ctrlx[0] & LSM303DLHC_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] & LSM303DLHC_FULLSCALE_16G)
{
case LSM303DLHC_FULLSCALE_2G:
sensitivity = LSM303DLHC_ACC_SENSITIVITY_2G;
break;
case LSM303DLHC_FULLSCALE_4G:
sensitivity = LSM303DLHC_ACC_SENSITIVITY_4G;
break;
case LSM303DLHC_FULLSCALE_8G:
sensitivity = LSM303DLHC_ACC_SENSITIVITY_8G;
break;
case LSM303DLHC_FULLSCALE_16G:
sensitivity = LSM303DLHC_ACC_SENSITIVITY_16G;
break;
}
/* Obtain the mg value for the three axis */
for(i=0; i<3; i++)
{
pData[i]=(pnRawData[i] * sensitivity);
}
}
/**
* @brief Read X, Y & Z Acceleration values
* @param pData: Data out pointer
* @retval None
*/
void LSM303DLHC_AccReadXYZ(float* pData)
{
int16_t pnRawData[3] = {0};
uint8_t ctrlx[2] = {0,0};
int8_t buffer[6] = {0};
uint8_t i = 0;
uint8_t sensitivity = LSM303DLHC_ACC_SENSITIVITY_2G;
/* Read the acceleration control register content */
ctrlx[0] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG4_A);
ctrlx[1] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG5_A);
/* Read output register X, Y & Z acceleration */
buffer[0] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_X_L_A);
buffer[1] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_X_H_A);
buffer[2] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_Y_L_A);
buffer[3] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_Y_H_A);
buffer[4] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_Z_L_A);
buffer[5] = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_Z_H_A);
/* Check in the control register4 the data alignment*/
if(!(ctrlx[0] & LSM303DLHC_BLE_MSB))
{
for(i=0; i<3; i++)
{
pnRawData[i]=(int16_t)((((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]) >> 4);
}
}
else /* Big Endian Mode */
{
for(i=0; i<3; i++)
/**
* @brief Click interrupt enable
* @param ITClick: the selected interrupt to enable
* @retval None
*/
void LSM303DLHC_AccClickITEnable(uint8_t ITClick)
{
uint8_t tmpval = 0x00;
/* Read CLICK_CFR register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CLICK_CFG_A);
/* Enable the selected interrupt */
tmpval |= ITClick;
/* Write value to MEMS CLICK CFG register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_CLICK_CFG_A, tmpval);
/* Configure Click Threshold on Z axis */
tmpval = 0x0A;
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_CLICK_THS_A, tmpval);
/* Configure Time Limit */
tmpval = 0x05;
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_TIME_LIMIT_A, tmpval);
/* Configure Latency */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_TIME_LATENCY_A, tmpval);
/* Configure Click Window */
tmpval = 0x32;
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_TIME_WINDOW_A, tmpval);
}
/**
* @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 */
COMPASSACCELERO_IO_Read(MAG_I2C_ADDRESS, LSM303DLHC_SR_REG_M, 1, &tmpreg);
return tmpreg;
}
/**
* @brief Read LSM303DLHC ID.
* @param None
* @retval ID
*/
uint8_t LSM303DLHC_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, LSM303DLHC_WHO_AM_I_ADDR);
return ctrl;
}
/**
* @brief Click interrupt disable
* @param ITClick: the selected click interrupt to disable
* @retval None
*/
void LSM303DLHC_AccClickITDisable(uint8_t ITClick)
{
uint8_t tmpval = 0x00;
/* Read CLICK_CFR register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CLICK_CFG_A);
/* Disable the selected interrupt */
tmpval &= ~ITClick;
/* Write value to MEMS CLICK_CFR register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_CLICK_CFG_A, tmpval);
}
/**
* @brief INT2 interrupt config
* @param ITCombination: Or or And combination
* ITAxes: axes to be enabled
* @retval None
*/
void LSM303DLHC_AccINT2InterruptDisable(uint8_t ITCombination, uint8_t ITAxes)
{
uint8_t tmpval = 0x00;
/* Read INT2_CFR register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_INT2_CFG_A);
/* Disable the selected interrupt */
tmpval &= ~(ITAxes | ITCombination);
/* Write value to MEMS INT2_CFR register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_INT2_CFG_A, tmpval);
}
/**
* @brief Disable LSM303DLHC Interrupt2
* @param LSM303DLHC_IT: specifies the LSM303DLHC interrupt source to be disabled.
* This parameter can be any combination of the following values:
* @arg LSM303DLHC_IT2_CLICK
* @arg LSM303DLHC_IT2_INT1
* @arg LSM303DLHC_IT2_INT2
* @arg LSM303DLHC_IT2_BOOT
* @arg LSM303DLHC_IT2_ACT
* @arg LSM303DLHC_IT2_HLACTIVE
* @retval None
*/
void LSM303DLHC_AccIT2Disable(uint8_t LSM303DLHC_IT)
{
uint8_t tmpval = 0x00;
/* Read CTRL_REG3 register */
tmpval = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG6_A);
/* Disable IT2 */
tmpval &= ~LSM303DLHC_IT;
/* Write value to MEMS CTRL_REG3 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG6_A, tmpval);
}
/**
* @brief Set High Pass Filter Modality
* @param FilterStruct: contains data for filter config
* @retval None
*/
void LSM303DLHC_AccFilterConfig(uint8_t FilterStruct)
{
uint8_t tmpreg;
/* Read CTRL_REG2 register */
tmpreg = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A);
tmpreg &= 0x0C;
tmpreg |= FilterStruct;
/* Write value to ACC MEMS CTRL_REG2 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A, tmpreg);
}
/**
* @brief Reboot memory content of LSM303DLHC
* @param None
* @retval None
*/
void LSM303DLHC_AccRebootCmd(void)
{
uint8_t tmpreg;
/* Read CTRL_REG5 register */
tmpreg = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG5_A);
/* Enable or Disable the reboot memory */
tmpreg |= LSM303DLHC_BOOT_REBOOTMEMORY;
/* Write value to ACC MEMS CTRL_REG5 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG5_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_HPF_CLICK_DISABLE
* @arg: LSM303DLHC_HPF_CLICK_ENABLE
* @retval None
*/
void LSM303DLHC_AccFilterClickCmd(uint8_t HighPassFilterClickState)
{
uint8_t tmpreg = 0x00;
/* Read CTRL_REG2 register */
tmpreg = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A);
tmpreg &= ~(LSM303DLHC_HPF_CLICK_ENABLE);
tmpreg |= HighPassFilterClickState;
/* Write value to ACC MEMS CTRL_REG2 regsister */
COMPASSACCELERO_IO_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 */
tmpreg = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A);
tmpreg &= 0xF7;
tmpreg |= HighPassFilterState;
/* Write value to ACC MEMS CTRL_REG2 register */
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A, tmpreg);
}