lsm303agr.h File Reference

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API Description

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2017 Intel Corporation.
 *
 * The MIT License
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include <unistd.h>
#include <stdio.h>
#include <signal.h>

#include "upm_utilities.h"
#include "lsm303agr.h"

bool shouldRun = true;

void sig_handler(int signo)
{
    if (signo == SIGINT)
        shouldRun = false;
}


int main(int argc, char **argv)
{
    signal(SIGINT, sig_handler);

    // Instantiate a LSM303AGR instance using default i2c bus and addresses
    lsm303agr_context sensor = lsm303agr_init(LSM303AGR_DEFAULT_I2C_BUS,
                                              LSM303AGR_DEFAULT_ACC_ADDR,
                                              LSM303AGR_DEFAULT_MAG_ADDR);

    if (!sensor)
    {
        printf("lsm303agr_init() failed.\n");
        return 1;
    }

    // now output data every 250 milliseconds
    while (shouldRun)
    {
        float x, y, z;

        if (lsm303agr_update(sensor))
        {
            printf("lsm303agr_update() failed\n");
            return 1;
        }

        lsm303agr_get_accelerometer(sensor, &x, &y, &z);
        printf("Accelerometer x: %f y: %f z: %f g\n",
               x, y, z);

        lsm303agr_get_magnetometer(sensor, &x, &y, &z);
        printf("Magnetometer x: %f y: %f z: %f uT\n",
               x, y, z);

        printf("Temperature: %f C\n\n", lsm303agr_get_temperature(sensor));

        upm_delay_ms(250);
    }

    printf("Exiting...\n");

    lsm303agr_close(sensor);


    return 0;
}

Go to the source code of this file.

Data Structures
struct	_lsm303agr_context

Functions
lsm303agr_context	lsm303agr_init (int bus, int acc_addr, int mag_addr)
void	lsm303agr_close (lsm303agr_context dev)
upm_result_t	lsm303agr_update (const lsm303agr_context dev)
void	lsm303agr_get_magnetometer (const lsm303agr_context dev, float *x, float *y, float *z)
void	lsm303agr_get_accelerometer (const lsm303agr_context dev, float *x, float *y, float *z)
float	lsm303agr_get_temperature (const lsm303agr_context dev)
upm_result_t	lsm303agr_set_full_scale (const lsm303agr_context dev, LSM303AGR_A_FS_T fs)
upm_result_t	lsm303agr_devinit (const lsm303agr_context dev, LSM303AGR_POWER_MODE_T mode)
upm_result_t	lsm303agr_set_power_mode (const lsm303agr_context dev, LSM303AGR_POWER_MODE_T mode)
upm_result_t	lsm303agr_set_acc_odr (const lsm303agr_context dev, LSM303AGR_A_ODR_T odr)
upm_result_t	lsm303agr_set_mag_odr (const lsm303agr_context dev, LSM303AGR_CFG_A_M_ODR_T odr)
uint8_t	lsm303agr_get_acc_int1_config (const lsm303agr_context dev)
uint8_t	lsm303agr_get_acc_int2_config (const lsm303agr_context dev)
upm_result_t	lsm303agr_set_acc_int1_config (const lsm303agr_context dev, uint8_t bits)
upm_result_t	lsm303agr_set_acc_int2_config (const lsm303agr_context dev, uint8_t bits)
uint8_t	lsm303agr_get_mag_int_config (const lsm303agr_context dev)
upm_result_t	lsm303agr_set_mag_int_config (const lsm303agr_context dev, uint8_t bits)
uint8_t	lsm303agr_get_acc_int1_src (const lsm303agr_context dev)
uint8_t	lsm303agr_get_acc_int2_src (const lsm303agr_context dev)
uint8_t	lsm303agr_get_mag_int_src (const lsm303agr_context dev)
upm_result_t	lsm303agr_install_isr (const lsm303agr_context dev, LSM303AGR_INTERRUPT_PINS_T intr, int gpio, mraa_gpio_edge_t level, void(*isr)(void *), void *arg)
void	lsm303agr_uninstall_isr (const lsm303agr_context dev, LSM303AGR_INTERRUPT_PINS_T intr)
uint8_t	lsm303agr_read_reg (const lsm303agr_context dev, uint8_t reg)
int	lsm303agr_read_regs (const lsm303agr_context dev, uint8_t reg, uint8_t *buffer, int len)
upm_result_t	lsm303agr_write_reg (const lsm303agr_context dev, uint8_t reg, uint8_t val)

Typedefs
typedef struct _lsm303agr_context *	lsm303agr_context

Function Documentation

lsm303agr_context lsm303agr_init	(	int	bus,
		int	acc_addr,
		int	mag_addr
	)

LSM303AGR initialization

This driver can only support I2C. SPI requires support for 3-wire SPI which we cannot currently handle. Only the basic capabilities of the device are supported, however there is a full register map defined (lsm303agr_defs.h), and with access to the bus read/write functions, any desired additional functionality can be implemented.

Parameters

bus	I2C bus to use
acc_addr	The I2C address of the accelerometer. Use -1 if you do not wish to use the accelerometer.
mag_addr	The I2C address of the magnetometer. Use -1 if you do not wish to use the magnetometer.

Returns

The device context, or NULL if an error occurred

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void lsm303agr_close

(

lsm303agr_context

dev

)

LSM303AGR Destructor

Parameters

dev	The device context

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upm_result_t lsm303agr_update

(

const lsm303agr_context

dev

)

Update the internal stored values from sensor data

Parameters

dev	The device context

Returns

UPM result

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void lsm303agr_get_magnetometer	(	const lsm303agr_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return magnetometer data in micro-Teslas (uT). update() must have been called prior to calling this function.

Parameters

dev	The device context
x	Pointer to a floating point value that will have the current x component placed into it
y	Pointer to a floating point value that will have the current y component placed into it
z	Pointer to a floating point value that will have the current z component placed into it

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void lsm303agr_get_accelerometer	(	const lsm303agr_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return accelerometer data in gravities. update() must have been called prior to calling this function.

Parameters

dev	The device context
x	Pointer to a floating point value that will have the current x component placed into it
y	Pointer to a floating point value that will have the current y component placed into it
z	Pointer to a floating point value that will have the current z component placed into it

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float lsm303agr_get_temperature

(

const lsm303agr_context

dev

)

Return temperature data in degrees Celsius.. update() must have been called prior to calling this function.

Parameters

dev	The device context

Returns

Temperature in degrees Celsius

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upm_result_t lsm303agr_set_full_scale	(	const lsm303agr_context	dev,
		LSM303AGR_A_FS_T	fs
	)

Set the full scale (sensitivity) value for the accelerometer. This device supports 2G, 4G, 8G, and 16G full scale modes.

Parameters

dev	The device context
fs	One of the LSM303AGR_A_FS_T values

Returns

UPM result

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upm_result_t lsm303agr_devinit	(	const lsm303agr_context	dev,
		LSM303AGR_POWER_MODE_T	mode
	)

Initialize the device and start operation. This function is called from the constructor so it will not typically need to be called by a user unless the device is reset. It will initialize the accelerometer and magnetometer (if enabled) to certain default running modes.

For the accelerometer, the full scale will be set to 2G, mode continuous, all axes enabled, BDU enabled, temperature measurement enabled, and an output data rate (ODR) of 100Hz with the power mode set at high resolution.

For the magnetometer, temperature compensation will be enabled, mode continuous, and an output data rate of 10Hz with the power mode set at high resolution.

Parameters

dev	The device context
mode	One of the LSM303AGR_POWER_MODE_T values. This parameter is passed to a call to lsm303agr_set_power_mode() and will set the appropriate mode for both the accelerometer and magnetometer. The default set by the constructor is LSM303AGR_POWER_HIGH_RESOLUTION.

Returns

UPM result

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upm_result_t lsm303agr_set_power_mode	(	const lsm303agr_context	dev,
		LSM303AGR_POWER_MODE_T	mode
	)

Set an operating power mode. There are 3 modes available: low power, normal, and high resolution.

Parameters

dev	The device context
mode	One of the LSM303AGR_POWER_MODE_T values. The default set at initialization time is LSM303AGR_POWER_HIGH_RESOLUTION.

Returns

UPM result

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upm_result_t lsm303agr_set_acc_odr	(	const lsm303agr_context	dev,
		LSM303AGR_A_ODR_T	odr
	)

Set the accelerometer (acc) output data rate (odr)

Parameters

dev	The device context
odr	One of the LSM303AGR_A_ODR_T values. The default set at initialization time is LSM303AGR_A_ODR_100HZ.

Returns

UPM result

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upm_result_t lsm303agr_set_mag_odr	(	const lsm303agr_context	dev,
		LSM303AGR_CFG_A_M_ODR_T	odr
	)

Set the magnetometer (mag) output data rate (odr)

Parameters

dev	The device context
odr	One of the LSM303AGR_CFG_A_M_ODR_T values. The default set at initialization time is LSM303AGR_CFG_A_M_ODR_10HZ.

Returns

UPM result

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uint8_t lsm303agr_get_acc_int1_config

(

const lsm303agr_context

dev

)

Return the accelerometer (acc) interrupt 1 config register. This register allows you to enable various interrupt conditions. See the datasheet for details.

Parameters

dev	The device context

Returns

A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits

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uint8_t lsm303agr_get_acc_int2_config

(

const lsm303agr_context

dev

)

Return the accelerometer (acc) interrupt 2 config register. This register allows you to enable various interrupt conditions. See the datasheet for details.

Parameters

dev	The device context

Returns

A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits

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upm_result_t lsm303agr_set_acc_int1_config	(	const lsm303agr_context	dev,
		uint8_t	bits
	)

Set the accelerometer (acc) interrupt 1 config register. See the datasheet for details.

Parameters

dev	The device context
bits	A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits

Returns

UPM result

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upm_result_t lsm303agr_set_acc_int2_config	(	const lsm303agr_context	dev,
		uint8_t	bits
	)

Set the accelerometer (acc) interrupt 2 config register. See the datasheet for details.

Parameters

dev	The device context
bits	A bitmask of LSM303AGR_INT_CFG_A_BITS_T bits

Returns

UPM result

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uint8_t lsm303agr_get_mag_int_config

(

const lsm303agr_context

dev

)

Return the magnetometer (mag) interrupt config register. See the datasheet for details.

Parameters

dev	The device context

Returns

A bitmask of LSM303AGR_INT_CTRL_REG_M_BITS_T bits

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upm_result_t lsm303agr_set_mag_int_config	(	const lsm303agr_context	dev,
		uint8_t	bits
	)

Set the magnetometer (mag) interrupt config register. See the datasheet for details.

Parameters

dev	The device context
bits	A bitmask of LSM303AGR_INT_CTRL_REG_M_BITS_T bits

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uint8_t lsm303agr_get_acc_int1_src

(

const lsm303agr_context

dev

)

Return the accelerometer (acc) interrupt 1 source register. This register indicates which interrupts have been triggered. See the datasheet for details.

Parameters

dev	The device context

Returns

a bitmask of LSM303AGR_INT_SRC_A_BITS_T bits

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uint8_t lsm303agr_get_acc_int2_src

(

const lsm303agr_context

dev

)

Return the accelerometer (acc) interrupt 2 source register. This register indicates which interrupts have been triggered. See the datasheet for details.

Parameters

dev	The device context

Returns

a bitmask of LSM303AGR_INT_SRC_A_BITS_T bits

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uint8_t lsm303agr_get_mag_int_src

(

const lsm303agr_context

dev

)

Return the magnetometer (mag) interrupt source register. This register indicates which interrupts have been triggered. See the datasheet for details.

Parameters

dev	The device context

Returns

a bitmask of LSM303AGR_INT_SRC_REG_M_BITS_T bits

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upm_result_t lsm303agr_install_isr	(	const lsm303agr_context	dev,
		LSM303AGR_INTERRUPT_PINS_T	intr,
		int	gpio,
		mraa_gpio_edge_t	level,
		void(*)(void *)	isr,
		void *	arg
	)

Install an interrupt handler

Parameters

dev	The device context
intr	One of the LSM303AGR_INTERRUPT_PINS_T values specifying which interrupt pin you are installing
gpio	GPIO pin to use as interrupt pin
level	The interrupt trigger level (one of the mraa_gpio_edge_t values). Make sure that you have configured the interrupt pin properly for whatever level you choose.
isr	The interrupt handler, accepting a void * argument
arg	The argument to pass the the interrupt handler

Returns

UPM result

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void lsm303agr_uninstall_isr	(	const lsm303agr_context	dev,
		LSM303AGR_INTERRUPT_PINS_T	intr
	)

Uninstall a previously installed interrupt handler

Parameters

dev	The device context
intr	One of the LSM303AGR_INTERRUPT_PINS_T values specifying which interrupt pin you are removing

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uint8_t lsm303agr_read_reg	(	const lsm303agr_context	dev,
		uint8_t	reg
	)

Read a register.

Parameters

dev	The device context
reg	The register to read

Returns

The value of the register

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int lsm303agr_read_regs	(	const lsm303agr_context	dev,
		uint8_t	reg,
		uint8_t *	buffer,
		int	len
	)

Read contiguous registers into a buffer

Parameters

dev	The device context
buffer	The buffer to store the results
len	The number of registers to read

Returns

The number of bytes read, or -1 on error

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upm_result_t lsm303agr_write_reg	(	const lsm303agr_context	dev,
		uint8_t	reg,
		uint8_t	val
	)

Write to a register

Parameters

dev	The device context
reg	The register to write to
val	The value to write

Returns

UPM result

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Typedef Documentation

typedef struct _lsm303agr_context * lsm303agr_context

Device context