From 4085ae3ddfbbf10c8ccbd3dccd43452c40a1fe40 Mon Sep 17 00:00:00 2001 From: Yuval Adam Date: Fri, 13 Mar 2015 12:24:52 +0200 Subject: Add bootloader, nfclib and sensorlib --- sensorlib/lsm303d.c | 835 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 835 insertions(+) create mode 100644 sensorlib/lsm303d.c (limited to 'sensorlib/lsm303d.c') diff --git a/sensorlib/lsm303d.c b/sensorlib/lsm303d.c new file mode 100644 index 0000000..e21a5b8 --- /dev/null +++ b/sensorlib/lsm303d.c @@ -0,0 +1,835 @@ +//***************************************************************************** +// +// lsm303d.c - Driver for the ST LSM303D accelerometer/magnetometer. +// +// Copyright (c) 2013-2014 Texas Instruments Incorporated. All rights reserved. +// Software License Agreement +// +// Texas Instruments (TI) is supplying this software for use solely and +// exclusively on TI's microcontroller products. The software is owned by +// TI and/or its suppliers, and is protected under applicable copyright +// laws. You may not combine this software with "viral" open-source +// software in order to form a larger program. +// +// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS. +// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT +// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY +// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL +// DAMAGES, FOR ANY REASON WHATSOEVER. +// +// This is part of revision 2.1.0.12573 of the Tiva Firmware Development Package. +// +//***************************************************************************** + +#include +#include "sensorlib/hw_lsm303d.h" +#include "sensorlib/i2cm_drv.h" +#include "sensorlib/lsm303d.h" + +//***************************************************************************** +// +//! \addtogroup lsm303dlhc_api +//! @{ +// +//***************************************************************************** + +//***************************************************************************** +// +// The states of the LSM303D state machine. +// +//***************************************************************************** +#define LSM303D_STATE_IDLE 0 // State machine is idle +#define LSM303D_STATE_INIT 1 // Waiting for init +#define LSM303D_STATE_READ_MAG \ + 2 // Waiting for mag read +#define LSM303D_STATE_READ_ACCEL \ + 3 // Waiting for accel read +#define LSM303D_STATE_WRITE 4 // Waiting for write +#define LSM303D_STATE_RMW 5 // Waiting for read-modify-write + +//***************************************************************************** +// +// The factors used to convert the acceleration readings from the LSM303D +// into floating point values in meters per second squared. +// +// Values are obtained by taking the g conversion factors from the data sheet +// and multiplying by 9.81 (1 g = 9.81 m/s^2). +// +//***************************************************************************** +static const float g_pfLSM303DAccelFactors[] = +{ + 0.00059875, // Range = +/- 2 g (16384 lsb/g) + 0.00119751, // Range = +/- 4 g (8192 lsb/g) + 0.00239502, // Range = +/- 8 g (4096 lsb/g) + 0.00479004 // Range = +/- 16 g (2048 lsb/g) +}; +static const float g_pfLSM303DMagFactors[] = +{ + 8.0e-6f, // Range = +/- 2 (0.080 mgauss/lsb) + 1.6e-5f, // Range = +/- 4 (0.160 mgauss/lsb) + 3.2e-5f, // Range = +/- 8 (0.320 mgauss/lsb) + 4.79e-5f // Range = +/- 12 (0.479 mgauss/lsb) +}; +// +// Uninitialized values will default to zero which is what we want. 0x80 is +// ORed into the register address so the writes auto-increment +// +static const uint8_t g_pui8ZeroInit[] = +{ + 0x80 | LSM303D_O_MAG_INT_CTRL, + 0xE8, // MAG_INT_CTRL + 0x0, // int_src (RO) + 0x0, // THS_LSB + 0x0, // THS_MSB + 0x0, // OFFSET_X_LSB + 0x0, + 0x0, + 0x0, + 0x0, + 0x0, + 0x0, // REF_X + 0x0, + 0x0, + 0x0, // CTRL0 + 0x7, + 0x0, + 0x0, + 0x0, + 0x18, // CTRL5 + 0x20, + 0x1, + 0x0, // status (RO) + 0x0, // out_x_lsb (RO) + 0x0, + 0x0, + 0x0, + 0x0, + 0x0, + 0x0, // FIFO_CTRL + 0x0, // fifo_src (RO) + 0x0, // IG_CFG1 + 0x0, // ig_src1 (RO) + 0x0, + 0x0, + 0x0, + 0x0, // ig_src2 (RO) + 0x0, + 0x0, + 0x0, + 0x0, // clk_src (RO) + 0x0, + 0x0, + 0x0, + 0x0, + 0x0, + 0x0 +}; + +//***************************************************************************** +// +// The callback function that is called when I2C transations to/from the +// LSM303D have completed. +// +//***************************************************************************** +static void +LSM303DCallback(void *pvCallbackData, uint_fast8_t ui8Status) +{ + tLSM303D *psInst; + + // + // Convert the instance data into a pointer to a tLSM303D structure. + // + psInst = pvCallbackData; + + // + // If the I2C master driver encountered a failure, force the state machine + // to the idle state (which will also result in a callback to propagate the + // error). + // + if(ui8Status != I2CM_STATUS_SUCCESS) + { + psInst->ui8State = LSM303D_STATE_IDLE; + } + + // + // Determine the current state of the LSM303D state machine. + // + switch(psInst->ui8State) + { + // + // All states that trivially transition to IDLE, and all unknown + // states. + // + default: + { + // + // The state machine is now idle. + // + psInst->ui8State = LSM303D_STATE_IDLE; + + // + // Done. + // + break; + } + + case LSM303D_STATE_READ_MAG: + { + // + // Move the state machine to the wait for accel data read state. + // + psInst->ui8State = LSM303D_STATE_READ_ACCEL; + + // + // Read the accel data registers from the LSM303D. + // + psInst->pui8DataAccel[0] = LSM303D_O_STATUS | 0x80; + I2CMRead(psInst->psI2CInst, psInst->ui8Addr, psInst->pui8DataAccel, + 1, psInst->pui8DataAccel, 7, LSM303DCallback, psInst); + + // + // Done. + // + break; + } + case LSM303D_STATE_INIT: + { + psInst->ui8State = LSM303D_STATE_IDLE; + + // + // Done. + // + break; + } + + // + // A write just completed + // + case LSM303D_STATE_WRITE: + { + // + // Set the accelerometer ranges to the new values. If the register + // was not modified, the values will be the same so this has no + // effect. + // + psInst->ui8AccelFSSel = psInst->ui8NewAccelFSSel; + psInst->ui8MagFSSel = psInst->ui8NewMagFSSel; + + // + // The state machine is now idle. + // + psInst->ui8State = LSM303D_STATE_IDLE; + + // + // Done. + // + break; + } + + // + // A read-modify-write just completed + // + case LSM303D_STATE_RMW: + { + // + // See if the accel scale register was just modified. + // + if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] == + LSM303D_O_CTRL2) + { + // + // Extract the FS_SEL from the ACCEL_CONFIG register value. + // + psInst->ui8AccelFSSel = + ((psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] & + LSM303D_CTRL2_AFS_M) >> LSM303D_CTRL2_AFS_S); + } + + // + // See if the mag scale register was just modified. + // + if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] == + LSM303D_O_CTRL6) + { + // + // Extract the FS_SEL from the mag scale register value. + // + psInst->ui8MagFSSel = + ((psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] & + LSM303D_CTRL6_MFS_M) >> LSM303D_CTRL6_MFS_S); + + } + + // + // The state machine is now idle. + // + psInst->ui8State = LSM303D_STATE_IDLE; + + // + // Done. + // + break; + } + } + + // + // See if the state machine is now idle and there is a callback function. + // + if((psInst->ui8State == LSM303D_STATE_IDLE) && psInst->pfnCallback) + { + // + // Call the application-supplied callback function. + // + psInst->pfnCallback(psInst->pvCallbackData, ui8Status); + } +} + +//***************************************************************************** +// +//! Initializes the LSM303D driver. +//! +//! \param psInst is a pointer to the LSM303D instance data. +//! \param psI2CInst is a pointer to the I2C master driver instance data. +//! \param ui8I2CAddr is the I2C address of the LSM303D device. +//! \param pfnCallback is the function to be called when the initialization has +//! completed (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function initializes the LSM303D driver, preparing it for +//! operation. +//! +//! \return Returns 1 if the LSM303D driver was successfully initialized and +//! 0 if it was not. +// +//***************************************************************************** +uint_fast8_t +LSM303DInit(tLSM303D *psInst, tI2CMInstance *psI2CInst, + uint_fast8_t ui8I2CAddr, tSensorCallback *pfnCallback, + void *pvCallbackData) +{ + // + // Initialize the LSM303D instance structure. + // + psInst->psI2CInst = psI2CInst; + psInst->ui8Addr = ui8I2CAddr; + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // Default range setting is +/- 2 g + // + psInst->ui8AccelFSSel = (LSM303D_CTRL2_AFS_2G >> LSM303D_CTRL2_AFS_S); + psInst->ui8NewAccelFSSel = (LSM303D_CTRL2_AFS_2G >> LSM303D_CTRL2_AFS_S); + psInst->ui8MagFSSel = (LSM303D_CTRL6_MFS_2G >> LSM303D_CTRL6_MFS_S); + psInst->ui8NewMagFSSel = (LSM303D_CTRL6_MFS_2G >> LSM303D_CTRL6_MFS_S); + + // + // There is no soft reset on the LSM303. Force registers back to their + // spec'ed POR defaults. + // + psInst->ui8State = LSM303D_STATE_INIT; + if(I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, g_pui8ZeroInit, + sizeof(g_pui8ZeroInit), LSM303DCallback, (void *)psInst) == 0) + { + psInst->ui8State = LSM303D_STATE_IDLE; + return(0); + } + + // + // Success + // + return(1); +} + +//***************************************************************************** +// +//! Reads data from LSM303D registers. +//! +//! \param psInst is a pointer to the LSM303D instance data. +//! \param ui8Reg is the first register to read. +//! \param pui8Data is a pointer to the location to store the data that is +//! read. +//! \param ui16Count is the number of data bytes to read. +//! \param pfnCallback is the function to be called when the data has been read +//! (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function reads a sequence of data values from consecutive registers in +//! the LSM303D. +//! +//! \return Returns 1 if the write was successfully started and 0 if it was +//! not. +// +//***************************************************************************** +uint_fast8_t +LSM303DRead(tLSM303D *psInst, uint_fast8_t ui8Reg, + uint8_t *pui8Data, uint_fast16_t ui16Count, + tSensorCallback *pfnCallback, void *pvCallbackData) +{ + // + // Return a failure if the LSM303D driver is not idle (in other words, + // there is already an outstanding request to the LSM303D). + // + if(psInst->ui8State != LSM303D_STATE_IDLE) + { + return(0); + } + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // Move the state machine to the wait for read state. + // + psInst->ui8State = LSM303D_STATE_READ_MAG; + + // + // Read the requested registers from the LSM303D. + // + psInst->uCommand.pui8Buffer[0] = ui8Reg; + if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 1, pui8Data, ui16Count, + LSM303DCallback, psInst) == 0) + { + // + // The I2C write failed, so move to the idle state and return a + // failure. + // + psInst->ui8State = LSM303D_STATE_IDLE; + return(0); + } + + // + // Success. + // + return(1); +} + +//***************************************************************************** +// +//! Writes data to LSM303D registers. +//! +//! \param psInst is a pointer to the LSM303D instance data. +//! \param ui8Reg is the first register to write. +//! \param pui8Data is a pointer to the data to write. +//! \param ui16Count is the number of data bytes to write. +//! \param pfnCallback is the function to be called when the data has been +//! written (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function writes a sequence of data values to consecutive registers in +//! the LSM303D. The first byte of the \e pui8Data buffer contains the +//! value to be written into the \e ui8Reg register, the second value contains +//! the data to be written into the next register, and so on. +//! +//! \return Returns 1 if the write was successfully started and 0 if it was +//! not. +// +//***************************************************************************** +uint_fast8_t +LSM303DWrite(tLSM303D *psInst, uint_fast8_t ui8Reg, + const uint8_t *pui8Data, uint_fast16_t ui16Count, + tSensorCallback *pfnCallback, void *pvCallbackData) +{ + // + // Return a failure if the LSM303D driver is not idle (in other words, + // there is already an outstanding request to the LSM303D). + // + if(psInst->ui8State != LSM303D_STATE_IDLE) + { + return(0); + } + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // See if the accel full scale select register is being written. + // + if((ui8Reg <= LSM303D_O_CTRL2) && + ((ui8Reg + ui16Count) > LSM303D_O_CTRL2)) + { + // + // Extract the AFS_SEL from the ACCEL_CONFIG register value. + // + psInst->ui8NewAccelFSSel = + ((pui8Data[ui8Reg - LSM303D_O_CTRL2] & + LSM303D_CTRL2_AFS_M) >> LSM303D_CTRL2_AFS_S); + } + + // + // See if the mag full scale select register is being written. + // + if((ui8Reg <= LSM303D_O_CTRL6) && + ((ui8Reg + ui16Count) > LSM303D_O_CTRL6)) + { + // + // Extract the AFS_SEL from the ACCEL_CONFIG register value. + // + psInst->ui8NewMagFSSel = + ((pui8Data[ui8Reg - LSM303D_O_CTRL6] & + LSM303D_CTRL6_MFS_M) >> LSM303D_CTRL6_MFS_S); + } + + // + // Move the state machine to the wait for write state. + // + psInst->ui8State = LSM303D_STATE_WRITE; + + // + // Write the requested registers to the LSM303D. + // + if(I2CMWrite8(&(psInst->uCommand.sWriteState), psInst->psI2CInst, + psInst->ui8Addr, ui8Reg, pui8Data, ui16Count, + LSM303DCallback, psInst) == 0) + { + // + // The I2C write failed, so move to the idle state and return a + // failure. + // + psInst->ui8State = LSM303D_STATE_IDLE; + return(0); + } + + // + // Success. + // + return(1); +} + +//***************************************************************************** +// +//! Performs a read-modify-write of a LSM303D register. +//! +//! \param psInst is a pointer to the LSM303D instance data. +//! \param ui8Reg is the register to modify. +//! \param ui8Mask is the bit mask that is ANDed with the current register +//! value. +//! \param ui8Value is the bit mask that is ORed with the result of the AND +//! operation. +//! \param pfnCallback is the function to be called when the data has been +//! changed (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function changes the value of a register in the LSM303D via a +//! read-modify-write operation, allowing one of the fields to be changed +//! without disturbing the other fields. The \e ui8Reg register is read, ANDed +//! with \e ui8Mask, ORed with \e ui8Value, and then written back to the +//! LSM303D. +//! +//! \return Returns 1 if the read-modify-write was successfully started and 0 +//! if it was not. +// +//***************************************************************************** +uint_fast8_t +LSM303DReadModifyWrite(tLSM303D *psInst, uint_fast8_t ui8Reg, + uint_fast8_t ui8Mask, uint_fast8_t ui8Value, + tSensorCallback *pfnCallback, + void *pvCallbackData) +{ + // + // Return a failure if the LSM303D driver is not idle (in other words, + // there is already an outstanding request to the LSM303D). + // + if(psInst->ui8State != LSM303D_STATE_IDLE) + { + return(0); + } + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // Move the state machine to the wait for read-modify-write state. + // + psInst->ui8State = LSM303D_STATE_RMW; + + // + // Submit the read-modify-write request to the LSM303D. + // + if(I2CMReadModifyWrite8(&(psInst->uCommand.sReadModifyWriteState), + psInst->psI2CInst, psInst->ui8Addr, ui8Reg, + ui8Mask, ui8Value, LSM303DCallback, + psInst) == 0) + { + // + // The I2C read-modify-write failed, so move to the idle state and + // return a failure. + // + psInst->ui8State = LSM303D_STATE_IDLE; + return(0); + } + + // + // Success. + // + return(1); +} + +//***************************************************************************** +// +//! Reads the accelerometer data from the LSM303D. +//! +//! \param psInst is a pointer to the LSM303D instance data. +//! \param pfnCallback is the function to be called when the data has been read +//! (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function initiates a read of the LSM303D data registers. When the +//! read has completed (as indicated by calling the callback function), the new +//! readings can be obtained via: +//! +//! - LSM303DDataAccelGetRaw() +//! - LSM303DDataAccelGetFloat() +//! +//! \return Returns 1 if the read was successfully started and 0 if it was not. +// +//***************************************************************************** +uint_fast8_t +LSM303DDataRead(tLSM303D *psInst, tSensorCallback *pfnCallback, + void *pvCallbackData) +{ + // + // Return a failure if the LSM303D driver is not idle (in other words, + // there is already an outstanding request to the LSM303D). + // + if(psInst->ui8State != LSM303D_STATE_IDLE) + { + return(0); + } + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // Move the state machine to the wait for mag data read state. + // + psInst->ui8State = LSM303D_STATE_READ_MAG; + + // + // Read the data registers from the LSM303D. + // + psInst->pui8DataMag[0] = LSM303D_O_MAG_STATUS | 0x80; + if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr, psInst->pui8DataMag, 1, + psInst->pui8DataMag, 7, LSM303DCallback, psInst) == 0) + { + // + // The I2C read failed, so move to the idle state and return a failure. + // + psInst->ui8State = LSM303D_STATE_IDLE; + return(0); + } + + // + // Success. + // + return(1); +} + +//***************************************************************************** +// +//! Gets the raw accelerometer data from the most recent data read. +//! +//! \param psInst is a pointer to the LSM303D instance data. +//! \param pui16AccelX is a pointer to the value into which the raw X-axis +//! accelerometer data is stored. +//! \param pui16AccelY is a pointer to the value into which the raw Y-axis +//! accelerometer data is stored. +//! \param pui16AccelZ is a pointer to the value into which the raw Z-axis +//! accelerometer data is stored. +//! +//! This function returns the raw accelerometer data from the most recent data +//! read. The data is not manipulated in any way by the driver. If any of the +//! output data pointers are \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +LSM303DDataAccelGetRaw(tLSM303D *psInst, + uint_fast16_t *pui16AccelX, + uint_fast16_t *pui16AccelY, + uint_fast16_t *pui16AccelZ) +{ + // + // Return the raw accelerometer values. + // + if(pui16AccelX) + { + *pui16AccelX = (psInst->pui8DataAccel[2] << 8) | psInst->pui8DataAccel[1]; + } + if(pui16AccelY) + { + *pui16AccelY = (psInst->pui8DataAccel[4] << 8) | psInst->pui8DataAccel[3]; + } + if(pui16AccelZ) + { + *pui16AccelZ = (psInst->pui8DataAccel[6] << 8) | psInst->pui8DataAccel[5]; + } +} + +//***************************************************************************** +// +//! Gets the raw accelerometer data from the most recent data read. +//! +//! \param psInst is a pointer to the LSM303D instance data. +//! \param pui16AccelX is a pointer to the value into which the raw X-axis +//! accelerometer data is stored. +//! \param pui16AccelY is a pointer to the value into which the raw Y-axis +//! accelerometer data is stored. +//! \param pui16AccelZ is a pointer to the value into which the raw Z-axis +//! accelerometer data is stored. +//! +//! This function returns the raw accelerometer data from the most recent data +//! read. The data is not manipulated in any way by the driver. If any of the +//! output data pointers are \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +LSM303DDataMagnetoGetRaw(tLSM303D *psInst, + uint_fast16_t *pui16AccelX, + uint_fast16_t *pui16AccelY, + uint_fast16_t *pui16AccelZ) +{ + // + // Return the raw accelerometer values. + // + if(pui16AccelX) + { + *pui16AccelX = (psInst->pui8DataMag[2] << 8) | psInst->pui8DataMag[1]; + } + if(pui16AccelY) + { + *pui16AccelY = (psInst->pui8DataMag[4] << 8) | psInst->pui8DataMag[3]; + } + if(pui16AccelZ) + { + *pui16AccelZ = (psInst->pui8DataMag[6] << 8) | psInst->pui8DataMag[5]; + } +} + +//***************************************************************************** +// +//! Gets the accelerometer data from the most recent data read. +//! +//! \param psInst is a pointer to the LSM303D instance data. +//! \param pfAccelX is a pointer to the value into which the X-axis +//! accelerometer data is stored. +//! \param pfAccelY is a pointer to the value into which the Y-axis +//! accelerometer data is stored. +//! \param pfAccelZ is a pointer to the value into which the Z-axis +//! accelerometer data is stored. +//! +//! This function returns the accelerometer data from the most recent data +//! read, converted into meters per second squared (m/s^2). If any of the +//! output data pointers are \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +LSM303DDataAccelGetFloat(tLSM303D *psInst, float *pfAccelX, + float *pfAccelY, float *pfAccelZ) +{ + float fFactor; + + // + // Get the acceleration conversion factor for the current data format. + // + fFactor = g_pfLSM303DAccelFactors[psInst->ui8AccelFSSel]; + + // + // Convert the Accelerometer values into floating-point gravity values. + // + if(pfAccelX) + { + *pfAccelX = (float)(((int16_t)((psInst->pui8DataAccel[2] << 8) | + psInst->pui8DataAccel[1])) * fFactor); + } + if(pfAccelY) + { + *pfAccelY = (float)(((int16_t)((psInst->pui8DataAccel[4] << 8) | + psInst->pui8DataAccel[3])) * fFactor); + } + if(pfAccelZ) + { + *pfAccelZ = (float)(((int16_t)((psInst->pui8DataAccel[6] << 8) | + psInst->pui8DataAccel[5])) * fFactor); + } +} + +//***************************************************************************** +// +//! Gets the magnetometer data from the most recent data read. +//! +//! \param psInst is a pointer to the LSM303D instance data. +//! \param pfMagX is a pointer to the value into which the X-axis +//! accelerometer data is stored. +//! \param pfMagY is a pointer to the value into which the Y-axis +//! accelerometer data is stored. +//! \param pfMagZ is a pointer to the value into which the Z-axis +//! accelerometer data is stored. +//! +//! This function returns the magnetometer data from the most recent data +//! read, converted into tesla. If any of the output data pointers are +//! \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +LSM303DDataMagnetoGetFloat(tLSM303D *psInst, float *pfMagX, + float *pfMagY, float *pfMagZ) +{ + float fFactor; + + // + // Get the magnetometer conversion factor for the current data format. + // + fFactor = g_pfLSM303DMagFactors[psInst->ui8MagFSSel]; + + // + // Convert the Accelerometer values into floating-point gravity values. + // + if(pfMagX) + { + *pfMagX = (float)(((int16_t)((psInst->pui8DataMag[2] << 8) | + psInst->pui8DataMag[1])) * fFactor); + } + if(pfMagY) + { + *pfMagY = (float)(((int16_t)((psInst->pui8DataMag[4] << 8) | + psInst->pui8DataMag[3])) * fFactor); + } + if(pfMagZ) + { + *pfMagZ = (float)(((int16_t)((psInst->pui8DataMag[6] << 8) | + psInst->pui8DataMag[5])) * fFactor); + } +} + +//***************************************************************************** +// +// Close the Doxygen group. +//! @} +// +//***************************************************************************** -- cgit v1.3.1