1 | // typedef for the accelerometer data rate
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2 | typedef enum lsm303d_aodr_e
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3 | {
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4 | LSM303D_AODR_PWR_DOWN = 0x00,
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5 | LSM303D_AODR_3_125HZ = 0x10,
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6 | LSM303D_AODR_6_25HZ = 0x20,
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7 | LSM303D_AODR_12_5HZ = 0x30,
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8 | LSM303D_AODR_25HZ = 0x40,
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9 | LSM303D_AODR_50HZ = 0x50,
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10 | LSM303D_AODR_100HZ = 0x60,
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11 | LSM303D_AODR_200HZ = 0x70,
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12 | LSM303D_AODR_400HZ = 0x80,
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13 | LSM303D_AODR_800HZ = 0x90,
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14 | LSM303D_AODR_1600HZ = 0xA0
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15 | }lsm303d_aodr_t;
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16 |
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17 | // typedef to select the axis
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18 | typedef enum lsm303d_axis_sel_e
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19 | {
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20 | LSM303D_AXIS_SEL_X = 0x01,
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21 | LSM303D_AXIS_SEL_Y = 0x02,
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22 | LSM303D_AXIS_SEL_Z = 0x04,
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23 | LSM303D_AXIS_SEL_XY = 0x03,
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24 | LSM303D_AXIS_SEL_XZ = 0x05,
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25 | LSM303D_AXIS_SEL_YZ = 0x06,
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26 | LSM303D_AXIS_SEL_XYZ = 0x07
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27 | }lsm303d_axis_sel_t;
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28 |
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29 |
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30 |
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31 | /*******************************************************************
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32 | function - lsm303d_chg_ctrl1
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33 |
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34 | description: Function to read or write the control register 1.
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35 |
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36 | parameter:
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37 | register_data - the data to write to the register or
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38 | read from it
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39 | reg_add - the register address
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40 |
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41 | return:
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42 | OK - successful
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43 | LSM303D_ERR_W_REGISTER - write register failed
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44 | LSM303D_ERR_R_REGISTER - read register failed
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45 |
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46 | ********************************************************************/
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47 | int lsm303d_chg_ctrl1(uint8_t* register_data, bool write)
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48 | {
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49 | // error variable
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50 | int error;
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51 |
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52 | // temporary buffer to receive the answer or send data
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53 | uint8_t lsm_data[2] = {(CTRL1 & NOT_USE_AUTO_INC), 0x00};
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54 |
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55 | // decide whether read or write
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56 | if(write == true) // write
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57 | {
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58 | // set data and send them
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59 | lsm_data[1] = register_data;
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60 | error = twi_mast_o_send_data_bl(SENS_TWI, LSM303D_TWI_ADD,
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61 | lsm_data, 2);
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62 | if(error != OK)
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63 | {
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64 | // return error if the writing fails
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65 | return LSM303D_ERR_W_REGISTER;
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66 | }
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67 | }
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68 | else // read
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69 | {
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70 | error = twi_mast_o_recv_data_w_add_bl(SENS_TWI, LSM303D_TWI_ADD,
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71 | lsm_data+1, 1, lsm_data, 1);
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72 | if(error != OK)
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73 | {
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74 | // return error if reading fails
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75 | return LSM303D_ERR_R_REGISTER;
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76 | }
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77 |
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78 | // get information from received data
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79 | *register_data = lsm_data[1];
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80 | }
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81 |
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82 | return OK;
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83 | }
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84 |
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85 |
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86 | /*******************************************************************
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87 | function - lsm303d_chg_ctrl1
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88 |
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89 | description: Function to read or write the control register 1.
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90 |
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91 | parameter:
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92 | aodr - accelerometer data rate
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93 | axen - accelerometer axis enable
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94 | bdu - block data update enable
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95 |
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96 | return:
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97 | OK - successful
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98 | LSM303D_ERR_W_REGISTER - write register failed
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99 | LSM303D_ERR_R_REGISTER - read register failed
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100 |
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101 | ********************************************************************/
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102 | int lsm303d_chg_ctrl1(lsm303d_aodr_t* aodr, lsm303d_axis_sel_t* axen,
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103 | bool* bdu, bool write)
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104 | {
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105 | // error variable
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106 | int error;
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107 |
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108 | // temporary buffer to receive the answer or send data
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109 | uint8_t lsm_data[2] = {(CTRL1 & NOT_USE_AUTO_INC), 0x00};
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110 |
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111 | if(write == true)
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112 | {
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113 | // set data and send them
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114 | lsm_data[1] = 0x00 | *aodr | *axen;
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115 | if(*bdu == true){lsm_data[1] |= BDU_bm;}
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116 | error = twi_mast_o_send_data_bl(SENS_TWI, LSM303D_TWI_ADD,
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117 | lsm_data, 2);
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118 | if(error != OK)
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119 | {
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120 | // return error if the writing fails
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121 | return LSM303D_ERR_W_REGISTER;
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122 | }
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123 | }
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124 | else // read
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125 | {
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126 | error = twi_mast_o_recv_data_w_add_bl(SENS_TWI, LSM303D_TWI_ADD,
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127 | lsm_data+1, 1, lsm_data, 1);
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128 | if(error != OK)
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129 | {
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130 | // return error if reading fails
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131 | return LSM303D_ERR_R_REGISTER;
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132 | }
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133 |
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134 | // get information from received data
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135 | *aodr = AODR_gm & lsm_data[1];
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136 | *axen = AEN_gm & lsm_data[1];
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137 | *bdu = ((lsm_data[1] & BDU_bm) != 0);
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138 | }
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139 |
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140 | return OK;
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141 | }
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