lsm330dlc_driver.h

/*
 * itg3200.h
 *
 * Created: 18/05/2012 17:51:08
 *  Author: sfx
 */ 


#ifndef LSM330DLC_H_
#define LSM330DLC_H_
#include "compiler.h"

#define GY_X 0
#define GY_Y 1
#define GY_Z 2

#define LSM330_ACC_SLAVE_ADDRESS  0b0011000
#define LSM330_GYRO_SLAVE_ADDRESS 0b1101010


#define LSM_GYRO_DEN_PIN AVR32_PIN_PD23

typedef struct lsm330dlc_acc_conf_t{
    uint8_t start_address;
    uint8_t ctrl_reg_a[5];
} lms330dlc_acc_conf_t;

typedef struct lsm330dlc_gyro_conf_t{
    uint8_t start_address;
    uint8_t ctrl_reg_g[5];
} lsm330dlc_gyro_conf_t;


//CTRL_REG_A_1
#define LSM_ACC_DATARATE_OFF        0x00
#define LSM_ACC_DATARATE_1HZ        0x10
#define LSM_ACC_DATARATE_10Hz       0x20
#define LSM_ACC_DATARATE_25Hz       0x30
#define LSM_ACC_DATARATE_50Hz       0x40
#define LSM_ACC_DATARATE_100Hz      0x50
#define LSM_ACC_DATARATE_200Hz      0x60
#define LSM_ACC_DATARATE_400Hz      0x70
#define LSM_ACC_DATARATE_1620Hz     0x80
#define LSM_ACC_DATARATE_1344_5376Hz 0x90

#define LSM_ACC_X_EN    0x01
#define LSM_ACC_Y_EN    0x02
#define LSM_ACC_Z_EN    0x04
#define LSM_ACC_ALL_EN  0x07

#define LSM_ACC_LOW_POWER_EN 0x08

//CTRL_REG_A_2
#define LSM_ACC_HPIS1   0x01
#define LSM_ACC_HPIS2   0x02
#define LSM_ACC_HPCLICK 0x04
#define LSM_ACC_FDS     0x08
#define LSM_ACC_HPCF1   0x10
#define LSM_ACC_HPCF2   0x20
#define LSM_ACC_HPM0    0x40
#define LSM_ACC_HPM1    0x80

//CTRL_REG_A_3
#define LSM_ACC_OVERRUN_INT 0x02
#define LSM_ACC_FIFO_WM_INT 0x04
#define LSM_ACC_DRDY2_INT   0x08
#define LSM_ACC_DRDY1_INT   0x10
#define LSM_ACC_AOI_INT     0x40
#define LSM_ACC_CLICK_INT   0x80

//CTRL_REG_A_4
#define LSM_ACC_SPI_MODE    0x01
#define LSM_ACC_HIGH_RES    0x08

#define LSM_ACC_FULL_SCALE_2G   0x00
#define LSM_ACC_FULL_SCALE_4G   0x10
#define LSM_ACC_FULL_SCALE_8G   0x20
#define LSM_ACC_FULL_SCALE_16G  0x30

#define LSM_ACC_BIG_ENDIAN  0x40

//CTRL_REG_A_5
#define LSM_ACC_D4D_INT 0x04
#define LSM_ACC_LIR_INT 0x08
#define LSM_ACC_FIFO_EN 0x40
#define LSM_ACC_BOOT    0x80


//CTRL_REG_G_1
#define LSM_GYRO_DATARATE_95HZ      0x00
#define LSM_GYRO_DATARATE_190HZ     0x40
#define LSM_GYRO_DATARATE_380Hz     0x80
#define LSM_GYRO_DATARATE_760Hz     0xC0

// note: actual bandwidth depends on datarate - specified for 380Hz. Consult Datasheet.
#define LSM_GYRO_BANDWIDTH_20Hz     0x40
#define LSM_GYRO_BANDWIDTH_25Hz     0x50
#define LSM_GYRO_BANDWIDTH_50Hz     0x60
#define LSM_GYRO_BANDWIDTH_100Hz    0x70

#define LSM_GYRO_X_EN   0x01
#define LSM_GYRO_Y_EN   0x02
#define LSM_GYRO_Z_EN   0x04
#define LSM_GYRO_ALL_EN 0x07
#define LSM_GYRO_POWER_ON   0x08

//CTRL_REG_G_2
#define LSM_GYRO_HPCF0  0x01
#define LSM_GYRO_HPCF1  0x02
#define LSM_GYRO_HPCF2  0x04
#define LSM_GYRO_HPCF3  0x08
#define LSM_GYRO_HPM0   0x10
#define LSM_GYRO_HPM1   0x20
#define LSM_GYRO_LVL_EN 0x40
#define LSM_GYRO_EXTREN 0x80

//CTRL_REG_G_3
#define LSM_GYRO_FIFO_EMPTY_INT 0x01
#define LSM_GYRO_FIFO_OVRUN_INT 0x02
#define LSM_GYRO_FIFO_WM_INT    0x04
#define LSM_GYRO_DRDY_INT       0x08
#define LSM_GYRO_PP_OD          0x10
#define LSM_GYRO_H_L_ACT        0x20
#define LSM_GYRO_I1_BOOT        0x40
#define LSM_GYRO_I1_INT1        0x80

//CTRL_REG_G_4
#define LSM_GYRO_SPI_MODE   0x01

#define LSM_GYRO_FULL_SCALE_250     0x00
#define LSM_GYRO_FULL_SCALE_500     0x10
#define LSM_GYRO_FULL_SCALE_2000    0x20
#define LSM_GYRO_FULL_SCALE_2000    0x30

#define LSM_GYRO_BIG_ENDIAN 0x40
#define LSM_GYRO_BLOCK_DATA 0x80

//CTRL_REG_G_5
#define LSM_OUT_SEL0        0x01
#define LSM_OUT_SEL1        0x02
#define LSM_INT_SEL0        0x04
#define LSM_INT_SEL1        0x08
#define LSM_GYRO_HP_EN      0x10
#define LSM_GYRO_FIFO_EN    0x40
#define LSM_GYRO_BOOT       0x80



#define LSM_ACC_OUT_ADDRESS 0x27

#define LSM_ACC_FIFO_CTRL_ADDRESS 0x2E
#define LSM_ACC_FIFO_SRC_ADDRESS 0x2E

#define LSM_GYRO_OUT_ADDRESS 0x26

#define LSM_AUTO_INCREMENT 0x80

static const lms330dlc_acc_conf_t lsm_acc_default_config=
{.start_address=0x20 | LSM_AUTO_INCREMENT,
    .ctrl_reg_a=
    {   LSM_ACC_DATARATE_400Hz | LSM_ACC_ALL_EN ,   //CTRL_REG_G_1
        0,                                          //CTRL_REG_G_2
        0,                                          //CTRL_REG_G_3
        LSM_ACC_HIGH_RES | LSM_ACC_FULL_SCALE_8G,  //|LSM_ACC_BIG_ENDIAN,                   //CTRL_REG_G_4
        LSM_ACC_FIFO_EN                             //CTRL_REG_G_5
    }
};

static const lsm330dlc_gyro_conf_t lsm_gyro_default_config=
{.start_address=0x20| LSM_AUTO_INCREMENT,
    .ctrl_reg_g=
    {   LSM_GYRO_POWER_ON | LSM_GYRO_DATARATE_380Hz | LSM_GYRO_BANDWIDTH_50Hz | LSM_GYRO_ALL_EN,    //CTRL_REG_A_1
        0,                                          //CTRL_REG_A_2
        0,                                          //CTRL_REG_A_3
        LSM_GYRO_FULL_SCALE_2000|LSM_GYRO_BIG_ENDIAN,   //CTRL_REG_A_4
        LSM_GYRO_FIFO_EN
    }
};

static const uint8_t fifo_config[2]={LSM_ACC_FIFO_CTRL_ADDRESS, 0x80};

typedef struct{
    int8_t temperature;
    uint8_t status_register;
    int16_t axes[3];
} lsm_gyro_t;

typedef struct{
    uint8_t status_register;
    int16_t axes[3];
} lsm_acc_t;


void lsm330dlc_init(void);

lsm_gyro_t* lsm330dlc_driver_get_gyro_data(void);
lsm_acc_t* lsm330dlc_driver_get_acc_data(void);


#endif