lsm303d.h File Reference

Include dependency graph for lsm303d.h:

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 "lsm303d.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 LSM303D instance using default i2c bus and addresses
    lsm303d_context sensor = lsm303d_init(LSM303D_DEFAULT_I2C_BUS,
                                          LSM303D_DEFAULT_I2C_ADDR);

    if (!sensor)
    {
        printf("lsm303d_init() failed.\n");
        return 1;
    }

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

        if (lsm303d_update(sensor))
        {
            printf("lsm303d_update() failed\n");
            return 1;
        }

        lsm303d_get_accelerometer(sensor, &x, &y, &z);
        printf("Accelerometer x: %f y: %f z: %f g\n",
               x, y, z);

        lsm303d_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", lsm303d_get_temperature(sensor));

        upm_delay_ms(250);
    }

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

    lsm303d_close(sensor);


    return 0;
}

Go to the source code of this file.

Data Structures
struct	_lsm303d_context

Functions
lsm303d_context	lsm303d_init (int bus, int addr)
void	lsm303d_close (lsm303d_context dev)
upm_result_t	lsm303d_update (const lsm303d_context dev)
void	lsm303d_get_magnetometer (const lsm303d_context dev, float *x, float *y, float *z)
void	lsm303d_get_accelerometer (const lsm303d_context dev, float *x, float *y, float *z)
float	lsm303d_get_temperature (const lsm303d_context dev)
upm_result_t	lsm303d_set_acc_full_scale (const lsm303d_context dev, LSM303D_AFS_T fs)
upm_result_t	lsm303d_set_mag_full_scale (const lsm303d_context dev, LSM303D_MFS_T fs)
upm_result_t	lsm303d_devinit (const lsm303d_context dev, LSM303D_M_RES_T res)
upm_result_t	lsm303d_set_acc_odr (const lsm303d_context dev, LSM303D_AODR_T odr)
upm_result_t	lsm303d_set_mag_odr (const lsm303d_context dev, LSM303D_MODR_T odr)
uint8_t	lsm303d_read_reg (const lsm303d_context dev, uint8_t reg)
int	lsm303d_read_regs (const lsm303d_context dev, uint8_t reg, uint8_t *buffer, int len)
upm_result_t	lsm303d_write_reg (const lsm303d_context dev, uint8_t reg, uint8_t val)

Typedefs
typedef struct _lsm303d_context *	lsm303d_context

Function Documentation

lsm303d_context lsm303d_init	(	int	bus,
		int	addr
	)

LSM303D initialization

This driver only supports I2C.

Due to the fact that this chip is currently obsolete, we only support minimum functionality.

Parameters

bus	I2C bus to use
addr	The I2C address of the device

Returns

The device context, or NULL if an error occurred

Here is the call graph for this function:

void lsm303d_close

(

lsm303d_context

dev

)

LSM303D Destructor

Parameters

dev	The device context

Here is the caller graph for this function:

upm_result_t lsm303d_update

(

const lsm303d_context

dev

)

Update the internal stored values from sensor data

Parameters

dev	The device context

Returns

UPM result

Here is the call graph for this function:

Here is the caller graph for this function:

void lsm303d_get_magnetometer	(	const lsm303d_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

Here is the caller graph for this function:

void lsm303d_get_accelerometer	(	const lsm303d_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

Here is the caller graph for this function:

float lsm303d_get_temperature

(

const lsm303d_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

Here is the caller graph for this function:

upm_result_t lsm303d_set_acc_full_scale	(	const lsm303d_context	dev,
		LSM303D_AFS_T	fs
	)

Set the full scale (sensitivity) value for the accelerometer. This device supports 2G, 4G, 6G, 8G, and 16G full scale modes.

Parameters

dev	The device context
fs	One of the LSM303D_AFS_T values

Returns

UPM result

Here is the call graph for this function:

Here is the caller graph for this function:

upm_result_t lsm303d_set_mag_full_scale	(	const lsm303d_context	dev,
		LSM303D_MFS_T	fs
	)

Set the full scale (sensitivity) value for the magnetometer. This device supports 2, 4, 8, and 16 Gauss.

Parameters

dev	The device context
fs	One of the LSM303D_MFS_T values

Returns

UPM result

Here is the call graph for this function:

Here is the caller graph for this function:

upm_result_t lsm303d_devinit	(	const lsm303d_context	dev,
		LSM303D_M_RES_T	res
	)

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.

Parameters

dev	The device context
res	One of the LSM303D_M_RES_T values. This value sets the resolution of the magnetometer. At init time, this value is set to LSM303D_M_RES_HIGH.

Returns

UPM result

Here is the call graph for this function:

Here is the caller graph for this function:

upm_result_t lsm303d_set_acc_odr	(	const lsm303d_context	dev,
		LSM303D_AODR_T	odr
	)

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

Parameters

dev	The device context
odr	One of the LSM303D_AODR_T values. The default set at initialization time is LSM303D_AODR_100HZ.

Returns

UPM result

Here is the call graph for this function:

Here is the caller graph for this function:

upm_result_t lsm303d_set_mag_odr	(	const lsm303d_context	dev,
		LSM303D_MODR_T	odr
	)

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

Parameters

dev	The device context
odr	One of the LSM303D_MODR_T values. The default set at initialization time is LSM303D_MODR_12_5HZ.

Returns

UPM result

Here is the call graph for this function:

Here is the caller graph for this function:

uint8_t lsm303d_read_reg	(	const lsm303d_context	dev,
		uint8_t	reg
	)

Read a register.

Parameters

dev	The device context
reg	The register to read

Returns

The value of the register

Here is the caller graph for this function:

int lsm303d_read_regs	(	const lsm303d_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

Here is the caller graph for this function:

upm_result_t lsm303d_write_reg	(	const lsm303d_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

Here is the caller graph for this function:

Typedef Documentation

typedef struct _lsm303d_context * lsm303d_context

Device context