mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
[peripherals] add lsm303dlhc driver for accel and mag
This commit is contained in:
memeruiz
Felix Ruess
@@ -0,0 +1,255 @@
|
||||
/*
|
||||
* Copyright (C) 2011 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
||||
* 2013 Felix Ruess <felix.ruess@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file peripherals/lsm303dlhc.c
|
||||
*
|
||||
* Driver for ST LSM303DLHC 3D accelerometer and magnetometer.
|
||||
*/
|
||||
|
||||
#include "peripherals/lsm303dlhc.h"
|
||||
#include "std.h"
|
||||
|
||||
/* LSM303DLHC default conf */
|
||||
#ifndef LSM303DLHC_DEFAULT_ODR
|
||||
#define LSM303DLHC_DEFAULT_ODR 0x90 //90 //normal 1.344khz, low power 5.376khz
|
||||
#endif
|
||||
|
||||
#ifndef LSM303DLHC_DEFAULT_LP
|
||||
#define LSM303DLHC_DEFAULT_LP 0x00 //low power disabled
|
||||
#endif
|
||||
|
||||
#ifndef LSM303DLHC_DEFAULT_FS
|
||||
#define LSM303DLHC_DEFAULT_FS 0x00 // +- 2G
|
||||
#endif
|
||||
|
||||
#ifndef LSM303DLHC_DEFAULT_HR
|
||||
#define LSM303DLHC_DEFAULT_HR 0x04 // high res enabled
|
||||
#endif
|
||||
|
||||
#ifndef LSM303DLHC_DEFAULT_DO
|
||||
#define LSM303DLHC_DEFAULT_DO (0x6 << 2) // Data Output Rate (75Hz)
|
||||
#endif
|
||||
|
||||
#ifndef LSM303DLHC_DEFAULT_GN
|
||||
#define LSM303DLHC_DEFAULT_GN (0x1 << 5) // Gain configuration (1 -> +- 1.3 Gauss)
|
||||
#endif
|
||||
|
||||
#ifndef LSM303DLHC_DEFAULT_MD
|
||||
#define LSM303DLHC_DEFAULT_MD 0x00 // Continious conversion mode
|
||||
#endif
|
||||
|
||||
static void lsm303dlhc_acc_set_default_config(struct Lsm303dlhcAccConfig *c)
|
||||
{
|
||||
c->rate = LSM303DLHC_DEFAULT_ODR;
|
||||
c->lp_mode = LSM303DLHC_DEFAULT_LP;
|
||||
c->scale = LSM303DLHC_DEFAULT_FS;
|
||||
c->hres = LSM303DLHC_DEFAULT_HR;
|
||||
}
|
||||
|
||||
static void lsm303dlhc_mag_set_default_config(struct Lsm303dlhcMagConfig *c)
|
||||
{
|
||||
c->rate = (LSM303DLHC_DEFAULT_DO & LSM303DLHC_DO0_MASK);
|
||||
c->gain = (LSM303DLHC_DEFAULT_GN & LSM303DLHC_GN_MASK);
|
||||
c->mode = (LSM303DLHC_DEFAULT_MD & LSM303DLHC_MD_MASK);
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize Lsm303dlhc struct and set default config options.
|
||||
* @param lsm Lsm303dlhc struct
|
||||
* @param i2c_p I2C peripheral to use
|
||||
* @param addr I2C address of Lsm303dlhc
|
||||
*/
|
||||
void lsm303dlhc_init(struct Lsm303dlhc *lsm, struct i2c_periph *i2c_p, uint8_t addr)
|
||||
{
|
||||
/* set i2c_peripheral */
|
||||
lsm->i2c_p = i2c_p;
|
||||
/* set i2c address */
|
||||
lsm->i2c_trans.slave_addr = addr;
|
||||
lsm->i2c_trans.status = I2CTransDone;
|
||||
/* set default config options */
|
||||
if (addr == LSM303DLHC_ACC_ADDR) {
|
||||
lsm303dlhc_acc_set_default_config(&(lsm->config.acc));
|
||||
lsm->init_status.acc = LSM_CONF_ACC_UNINIT;
|
||||
} else {
|
||||
lsm303dlhc_mag_set_default_config(&(lsm->config.mag));
|
||||
lsm->init_status.mag = LSM_CONF_MAG_UNINIT;
|
||||
}
|
||||
lsm->initialized = FALSE;
|
||||
}
|
||||
|
||||
static void lsm303dlhc_i2c_tx_reg(struct Lsm303dlhc *lsm, uint8_t reg, uint8_t val)
|
||||
{
|
||||
lsm->i2c_trans.type = I2CTransTx;
|
||||
lsm->i2c_trans.buf[0] = reg;
|
||||
lsm->i2c_trans.buf[1] = val;
|
||||
lsm->i2c_trans.len_r = 0;
|
||||
lsm->i2c_trans.len_w = 2;
|
||||
i2c_submit(lsm->i2c_p, &(lsm->i2c_trans));
|
||||
}
|
||||
|
||||
/// Configuration function called once before normal use
|
||||
static void lsm303dlhc_send_config(struct Lsm303dlhc *lsm)
|
||||
{
|
||||
if (lsm->i2c_trans.slave_addr == LSM303DLHC_ACC_ADDR) {
|
||||
switch (lsm->init_status.acc) {
|
||||
case LSM_CONF_ACC_CTRL_REG4_A:
|
||||
lsm303dlhc_i2c_tx_reg(lsm, LSM303DLHC_REG_CTRL_REG4_A,
|
||||
(lsm->config.acc.scale & LSM303DLHC_FS_MASK) |
|
||||
(lsm->config.acc.hres & LSM303DLHC_DEFAULT_HR));
|
||||
lsm->init_status.acc++;
|
||||
break;
|
||||
case LSM_CONF_ACC_CTRL_REG1_A:
|
||||
lsm303dlhc_i2c_tx_reg(lsm, LSM303DLHC_REG_CTRL_REG1_A,
|
||||
(lsm->config.acc.rate & LSM303DLHC_ODR_MASK) |
|
||||
(lsm->config.acc.lp_mode & LSM303DLHC_LPen) |
|
||||
LSM303DLHC_Xen | LSM303DLHC_Yen | LSM303DLHC_Zen);
|
||||
lsm->init_status.acc++;
|
||||
break;
|
||||
case LSM_CONF_ACC_CTRL_REG3_A:
|
||||
lsm303dlhc_i2c_tx_reg(lsm, LSM303DLHC_REG_CTRL_REG3_A, LSM303DLHC_I1_DRDY1);
|
||||
lsm->init_status.acc++;
|
||||
break;
|
||||
case LSM_CONF_ACC_DONE:
|
||||
lsm->initialized = TRUE;
|
||||
lsm->i2c_trans.status = I2CTransDone;
|
||||
lsm303dlhc_read(lsm);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
switch (lsm->init_status.mag) {
|
||||
case LSM_CONF_MAG_CRA_REG_M:
|
||||
lsm303dlhc_i2c_tx_reg(lsm, LSM303DLHC_REG_CRA_REG_M, lsm->config.mag.rate);
|
||||
lsm->init_status.mag++;
|
||||
break;
|
||||
case LSM_CONF_MAG_CRB_REG_M:
|
||||
lsm303dlhc_i2c_tx_reg(lsm, LSM303DLHC_REG_CRB_REG_M, lsm->config.mag.gain);
|
||||
lsm->init_status.mag++;
|
||||
break;
|
||||
case LSM_CONF_MAG_MR_REG_M:
|
||||
lsm303dlhc_i2c_tx_reg(lsm, LSM303DLHC_REG_MR_REG_M, lsm->config.mag.mode);
|
||||
lsm->init_status.mag++;
|
||||
break;
|
||||
case LSM_CONF_MAG_DONE:
|
||||
lsm->initialized = TRUE;
|
||||
lsm->i2c_trans.status = I2CTransDone;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Configure
|
||||
void lsm303dlhc_start_configure(struct Lsm303dlhc *lsm)
|
||||
{
|
||||
if (lsm->i2c_trans.slave_addr == LSM303DLHC_ACC_ADDR) {
|
||||
if (lsm->init_status.acc == LSM_CONF_ACC_UNINIT) {
|
||||
lsm->init_status.acc++;
|
||||
if (lsm->i2c_trans.status == I2CTransSuccess || lsm->i2c_trans.status == I2CTransDone) {
|
||||
lsm303dlhc_send_config(lsm);
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (lsm->init_status.mag == LSM_CONF_MAG_UNINIT) {
|
||||
lsm->init_status.mag++;
|
||||
if (lsm->i2c_trans.status == I2CTransSuccess || lsm->i2c_trans.status == I2CTransDone) {
|
||||
lsm303dlhc_send_config(lsm);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Normal reading
|
||||
void lsm303dlhc_read(struct Lsm303dlhc *lsm)
|
||||
{
|
||||
if (lsm->i2c_trans.slave_addr == LSM303DLHC_ACC_ADDR) {
|
||||
//if ((lsm->init_status.acc == LSM_CONF_ACC_CLR_INT_READ) && (lsm->i2c_trans.status == I2CTransDone)){
|
||||
if (!(lsm->initialized) || (lsm->initialized && lsm->i2c_trans.status == I2CTransDone)){
|
||||
lsm->i2c_trans.buf[0] = LSM303DLHC_REG_OUT_X_L_A | 0x80;
|
||||
lsm->i2c_trans.type = I2CTransTxRx;
|
||||
lsm->i2c_trans.len_r = 6;
|
||||
lsm->i2c_trans.len_w = 1;
|
||||
i2c_submit(lsm->i2c_p, &(lsm->i2c_trans));
|
||||
}
|
||||
}
|
||||
else {
|
||||
if (lsm->initialized && lsm->i2c_trans.status == I2CTransDone){
|
||||
lsm->i2c_trans.buf[0] = LSM303DLHC_REG_OUT_X_H_M;
|
||||
lsm->i2c_trans.type = I2CTransTxRx;
|
||||
lsm->i2c_trans.len_r = 6;
|
||||
lsm->i2c_trans.len_w = 1;
|
||||
i2c_submit(lsm->i2c_p, &(lsm->i2c_trans));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#define Int16FromBuf(_buf,_idx) ((int16_t)((_buf[_idx+1]<<8) | _buf[_idx]))
|
||||
|
||||
void lsm303dlhc_event(struct Lsm303dlhc *lsm)
|
||||
{
|
||||
if (lsm->initialized) {
|
||||
if (lsm->i2c_trans.status == I2CTransFailed) {
|
||||
lsm->i2c_trans.status = I2CTransDone;
|
||||
}
|
||||
else if (lsm->i2c_trans.status == I2CTransSuccess) {
|
||||
lsm->data.vect.x = Int16FromBuf(lsm->i2c_trans.buf,0);
|
||||
lsm->data.vect.y = Int16FromBuf(lsm->i2c_trans.buf,2);
|
||||
lsm->data.vect.z = Int16FromBuf(lsm->i2c_trans.buf,4);
|
||||
lsm->data_available = TRUE;
|
||||
lsm->i2c_trans.status = I2CTransDone;
|
||||
}
|
||||
else {
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (lsm->i2c_trans.slave_addr == LSM303DLHC_ACC_ADDR) {
|
||||
if (lsm->init_status.acc != LSM_CONF_ACC_UNINIT) { // Configuring but not yet initialized
|
||||
if (lsm->i2c_trans.status == I2CTransSuccess || lsm->i2c_trans.status == I2CTransDone) {
|
||||
lsm->i2c_trans.status = I2CTransDone;
|
||||
lsm303dlhc_send_config(lsm);
|
||||
}
|
||||
if (lsm->i2c_trans.status == I2CTransFailed) {
|
||||
lsm->init_status.acc--;
|
||||
lsm->i2c_trans.status = I2CTransDone;
|
||||
lsm303dlhc_send_config(lsm); // Retry config (TODO max retry)
|
||||
}
|
||||
}
|
||||
}
|
||||
else {
|
||||
if (lsm->init_status.mag != LSM_CONF_MAG_UNINIT) { // Configuring but not yet initialized
|
||||
if (lsm->i2c_trans.status == I2CTransSuccess || lsm->i2c_trans.status == I2CTransDone) {
|
||||
lsm->i2c_trans.status = I2CTransDone;
|
||||
lsm303dlhc_send_config(lsm);
|
||||
}
|
||||
if (lsm->i2c_trans.status == I2CTransFailed) {
|
||||
lsm->init_status.mag--;
|
||||
lsm->i2c_trans.status = I2CTransDone;
|
||||
lsm303dlhc_send_config(lsm); // Retry config (TODO max retry)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,107 @@
|
||||
/*
|
||||
* Copyright (C) 2011 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
||||
* 2013 Felix Ruess <felix.ruess@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file peripherals/lsm303dlhc.h
|
||||
*
|
||||
* Driver for ST LSM303DLHC 3D accelerometer and magnetometer.
|
||||
*/
|
||||
|
||||
#ifndef LSM303DLHC_H
|
||||
#define LSM303DLHC_H
|
||||
|
||||
#include "std.h"
|
||||
#include "mcu_periph/i2c.h"
|
||||
#include "math/pprz_algebra_int.h"
|
||||
|
||||
/* Address and register definitions */
|
||||
#include "peripherals/lsm303dlhc_regs.h"
|
||||
|
||||
struct Lsm303dlhcAccConfig {
|
||||
uint8_t rate; ///< Data Output Rate Bits(6 -> 50Hz with HMC5843, 75Hz with HMC5883)
|
||||
uint8_t lp_mode; ///< Low power mode
|
||||
uint8_t scale; ///< full scale selection
|
||||
uint8_t hres; ///< high resolution output mode
|
||||
};
|
||||
|
||||
struct Lsm303dlhcMagConfig {
|
||||
uint8_t rate; ///< Data Output Rate Bits(6 -> 50Hz with HMC5843, 75Hz with HMC5883)
|
||||
uint8_t gain; ///< Gain configuration (1 -> +- 1 Gauss)
|
||||
uint8_t mode; ///< Measurement mode
|
||||
};
|
||||
|
||||
/** config status states */
|
||||
enum Lsm303dlhcAccConfStatus {
|
||||
LSM_CONF_ACC_UNINIT,
|
||||
LSM_CONF_ACC_CTRL_REG4_A,
|
||||
LSM_CONF_ACC_CTRL_REG1_A,
|
||||
LSM_CONF_ACC_CTRL_REG3_A,
|
||||
LSM_CONF_ACC_DONE
|
||||
};
|
||||
|
||||
/** config status states */
|
||||
enum Lsm303dlhcMagConfStatus {
|
||||
LSM_CONF_MAG_UNINIT,
|
||||
LSM_CONF_MAG_CRA_REG_M,
|
||||
LSM_CONF_MAG_CRB_REG_M,
|
||||
LSM_CONF_MAG_MR_REG_M,
|
||||
LSM_CONF_MAG_DONE
|
||||
};
|
||||
|
||||
struct Lsm303dlhc {
|
||||
struct i2c_periph *i2c_p;
|
||||
struct i2c_transaction i2c_trans;
|
||||
bool_t initialized; ///< config done flag
|
||||
union {
|
||||
enum Lsm303dlhcAccConfStatus acc; ///< init status
|
||||
enum Lsm303dlhcMagConfStatus mag; ///< init status
|
||||
} init_status;
|
||||
volatile bool_t data_available; ///< data ready flag
|
||||
union {
|
||||
struct Int16Vect3 vect; ///< data vector in acc coordinate system
|
||||
int16_t value[3]; ///< data values accessible by channel index
|
||||
} data;
|
||||
union {
|
||||
struct Lsm303dlhcAccConfig acc;
|
||||
struct Lsm303dlhcMagConfig mag;
|
||||
} config;
|
||||
};
|
||||
|
||||
|
||||
|
||||
// TODO IRQ handling
|
||||
|
||||
// Functions
|
||||
extern void lsm303dlhc_init(struct Lsm303dlhc *lsm, struct i2c_periph *i2c_p, uint8_t addr);
|
||||
extern void lsm303dlhc_start_configure(struct Lsm303dlhc *lsm);
|
||||
extern void lsm303dlhc_read(struct Lsm303dlhc *lsm);
|
||||
extern void lsm303dlhc_event(struct Lsm303dlhc *lsm);
|
||||
|
||||
/// convenience function: read or start configuration if not already initialized
|
||||
static inline void lsm303dlhc_periodic(struct Lsm303dlhc *lsm) {
|
||||
if (lsm->initialized)
|
||||
lsm303dlhc_read(lsm);
|
||||
else
|
||||
lsm303dlhc_start_configure(lsm);
|
||||
}
|
||||
|
||||
#endif /* LSM303DLHC_H */
|
||||
@@ -0,0 +1,100 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Federico Ruiz Ugalde
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file peripherals/lsm303dlhc_regs.h
|
||||
* Register defs for ST LSM303DLHC 3D accelerometer and magnetometer.
|
||||
*/
|
||||
|
||||
#ifndef LSM303DLHC_REGS_H
|
||||
#define LSM303DLHC_REGS_H
|
||||
|
||||
/* default I2C address */
|
||||
#define LSM303DLHC_ACC_ADDR 0x32
|
||||
#define LSM303DLHC_MAG_ADDR 0x3C
|
||||
|
||||
/* Registers */
|
||||
#define LSM303DLHC_REG_CTRL_REG1_A 0x20
|
||||
#define LSM303DLHC_REG_CTRL_REG2_A 0x21
|
||||
#define LSM303DLHC_REG_CTRL_REG3_A 0x22
|
||||
#define LSM303DLHC_REG_CTRL_REG4_A 0x23
|
||||
#define LSM303DLHC_REG_CTRL_REG5_A 0x24
|
||||
#define LSM303DLHC_REG_CTRL_REG6_A 0x25
|
||||
#define LSM303DLHC_REG_REF_DATA_CAP_A 0x26
|
||||
#define LSM303DLHC_REG_STATUS_REG_A 0x27
|
||||
#define LSM303DLHC_REG_OUT_X_L_A 0x28
|
||||
#define LSM303DLHC_REG_OUT_X_H_A 0x29
|
||||
#define LSM303DLHC_REG_OUT_Y_L_A 0x2A
|
||||
#define LSM303DLHC_REG_OUT_Y_H_A 0x2B
|
||||
#define LSM303DLHC_REG_OUT_Z_L_A 0x2C
|
||||
#define LSM303DLHC_REG_OUT_Z_H_A 0x2D
|
||||
#define LSM303DLHC_REG_FIFO_CTRL_REG_A 0x2E
|
||||
#define LSM303DLHC_REG_FIFO_SRC_REG_A 0x2F
|
||||
#define LSM303DLHC_REG_INT1_CFG_A 0x30
|
||||
#define LSM303DLHC_REG_INT1_SRC_A 0x31
|
||||
#define LSM303DLHC_REG_INT1_THS_A 0x32
|
||||
#define LSM303DLHC_REG_INT1_DURATION_A 0x33
|
||||
#define LSM303DLHC_REG_INT2_CFG_A 0x34
|
||||
#define LSM303DLHC_REG_INT2_SRC_A 0x35
|
||||
#define LSM303DLHC_REG_INT2_THS_A 0x36
|
||||
#define LSM303DLHC_REG_INT2_DURATION_A 0x37
|
||||
#define LSM303DLHC_REG_CLICK_CFG_A 0x38
|
||||
#define LSM303DLHC_REG_CLICK_SRC_A 0x39
|
||||
#define LSM303DLHC_REG_CLICK_THS_A 0x3A
|
||||
#define LSM303DLHC_REG_TIME_LIMIT_A 0x3B
|
||||
#define LSM303DLHC_REG_TIME_LATENCY_A 0x3C
|
||||
#define LSM303DLHC_REG_TIME_WINDOW_A 0x3D
|
||||
#define LSM303DLHC_REG_CRA_REG_M 0x00
|
||||
#define LSM303DLHC_REG_CRB_REG_M 0x01
|
||||
#define LSM303DLHC_REG_MR_REG_M 0x02
|
||||
#define LSM303DLHC_REG_OUT_X_H_M 0x03
|
||||
#define LSM303DLHC_REG_OUT_X_L_M 0x04
|
||||
#define LSM303DLHC_REG_OUT_Z_H_M 0x05
|
||||
#define LSM303DLHC_REG_OUT_Z_L_M 0x06
|
||||
#define LSM303DLHC_REG_OUT_Y_H_M 0x07
|
||||
#define LSM303DLHC_REG_OUT_Y_L_M 0x08
|
||||
#define LSM303DLHC_REG_SR_REG_M 0x09
|
||||
#define LSM303DLHC_REG_IRA_REG_M 0x0A
|
||||
#define LSM303DLHC_REG_IRB_REG_M 0x0B
|
||||
#define LSM303DLHC_REG_IRC_REG_M 0x0C
|
||||
#define LSM303DLHC_REG_TEMP_OUT_H_M 0x31
|
||||
#define LSM303DLHC_REG_TEMP_OUT_L_M 0x32
|
||||
|
||||
/* Bit definitions */
|
||||
#define LSM303DLHC_ODR_MASK 0xF0
|
||||
#define LSM303DLHC_LPen (1 << 3)
|
||||
#define LSM303DLHC_Xen (1 << 0)
|
||||
#define LSM303DLHC_Yen (1 << 1)
|
||||
#define LSM303DLHC_Zen (1 << 2)
|
||||
|
||||
#define LSM303DLHC_FS_MASK 0x30
|
||||
#define LSM303DLHC_HR (1 << 3)
|
||||
#define LSM303DLHC_BDU (1 << 7)
|
||||
|
||||
#define LSM303DLHC_I1_DRDY1 (1 << 4)
|
||||
|
||||
#define LSM303DLHC_DO0_MASK 0x1C
|
||||
#define LSM303DLHC_GN_MASK 0xE0
|
||||
#define LSM303DLHC_MD_MASK 0x03
|
||||
|
||||
|
||||
|
||||
#endif // LSM303DLHC_REGS_H
|
||||
Reference in New Issue
Block a user