1 /* 2 * Copyright (C) 2016-2017 STMicroelectronics 3 * 4 * Author: Denis Ciocca <denis.ciocca@st.com> 5 * 6 * Licensed under the Apache License, Version 2.0 (the "License"); 7 * you may not use this file except in compliance with the License. 8 * You may obtain a copy of the License at 9 * 10 * http://www.apache.org/licenses/LICENSE-2.0 11 * 12 * Unless required by applicable law or agreed to in writing, software 13 * distributed under the License is distributed on an "AS IS" BASIS, 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 * See the License for the specific language governing permissions and 16 * limitations under the License. 17 */ 18 19 #ifndef __LSM6DSM_I2C_MASTER_LSM303AGR__ 20 #define __LSM6DSM_I2C_MASTER_LSM303AGR__ 21 22 #ifdef LSM6DSM_I2C_MASTER_LSM303AGR 23 #ifndef LSM6DSM_I2C_MASTER_MAGNETOMETER_ENABLED 24 #define LSM6DSM_I2C_MASTER_MAGNETOMETER_ENABLED 1 25 #else /* LSM6DSM_I2C_MASTER_MAGNETOMETER_ENABLED */ 26 #error "Another magnetometer is already selected! One magn per time can be used." 27 #endif /* LSM6DSM_I2C_MASTER_MAGNETOMETER_ENABLED */ 28 #endif /* LSM6DSM_I2C_MASTER_LSM303AGR */ 29 30 #define LSM303AGR_KSCALE 0.15f /* MAGN scale in uT/LSB */ 31 #define LSM303AGR_I2C_ADDRESS (0x1e) 32 33 /* LSM303AGR registers */ 34 #define LSM303AGR_WAI_ADDR (0x4f) 35 #define LSM303AGR_CFG_REG_A_M_ADDR (0x60) 36 #define LSM303AGR_CFG_REG_B_M_ADDR (0x61) 37 #define LSM303AGR_CFG_REG_C_M_ADDR (0x62) 38 #define LSM303AGR_OUTDATA_ADDR (0x68) 39 40 #define LSM303AGR_SW_RESET (0x20) 41 #define LSM303AGR_POWER_ON_VALUE (0x00) 42 #define LSM303AGR_POWER_OFF_VALUE (0x03) 43 #define LSM303AGR_OUTDATA_LEN (0x06) 44 #define LSM303AGR_OFFSET_CANCELLATION (0x02) 45 #define LSM303AGR_ENABLE_SELFTEST (0x02) 46 47 /* Selftest related */ 48 #define LSM303AGR_SELFTEST_HIGH_THR_LSB 333 49 #define LSM303AGR_SELFTEST_LOW_THR_LSB 10 50 51 52 /* LSM303AGR default base registers status */ 53 /* LSM303AGR_CFG_REG_A_M_BASE: configuration register 1 default settings */ 54 #define LSM303AGR_CFG_REG_A_M_BASE ((1 << 7) | /* COMP_TEMP_EN */ \ 55 (0 << 6) | /* REBOOT */ \ 56 (0 << 5) | /* SOFT_RST */ \ 57 (0 << 4) | /* LP */ \ 58 (0 << 3) | /* ODR1 */ \ 59 (0 << 2) | /* ODR0 */ \ 60 (0 << 1) | /* MD1 */ \ 61 (0 << 0)) /* MD0 */ 62 63 /* LSM303AGR_CFC_REG_C_M_BASE: configuration register 3 default settings */ 64 #define LSM303AGR_CFG_REG_C_M_BASE ((0 << 7) | /* (0) */ \ 65 (0 << 6) | /* INT_MAG_PIN */ \ 66 (0 << 5) | /* I2C_DIS */ \ 67 (1 << 4) | /* BDU */ \ 68 (0 << 3) | /* BLE */ \ 69 (0 << 2) | /* (0) */ \ 70 (0 << 1) | /* SELFT_TEST */ \ 71 (0 << 0)) /* INT_MAG */ 72 73 #ifdef LSM6DSM_I2C_MASTER_LSM303AGR 74 /* MUST BE SAME LENGTH OF LSM6DSMMagnRates */ 75 static uint8_t LSM303AGRMagnRatesRegValue[] = { 76 0x00, /* Expected 0.8125Hz, ODR = 10Hz */ 77 0x00, /* Expected 1.625Hz, ODR = 10Hz */ 78 0x00, /* Expected 3.25Hz, ODR = 10Hz */ 79 0x00, /* Expected 6.5Hz, ODR = 10Hz */ 80 0x04, /* Expected 12.5Hz, ODR = 20Hz */ 81 0x0c, /* Expected 26Hz, ODR = 100Hz */ 82 0x0c, /* Expected 52Hz, ODR = 100Hz */ 83 0x0c, /* Expected 104Hz, ODR = 100Hz */ 84 }; 85 #endif /* LSM6DSM_I2C_MASTER_LSM303AGR */ 86 87 #endif /* __LSM6DSM_I2C_MASTER_LSM303AGR__ */ 88