--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Small_CPU/Inc/compass_LSM303D.h	Sat Apr 28 11:52:34 2018 +0200
@@ -0,0 +1,170 @@
+/**
+  ******************************************************************************
+  * @file    compass_LSM303D.h
+  * @author  heinrichs weikamp gmbh, based on PX4 lsm303d.cpp 
+  * @date    15-March-2016
+  * @version V0.1.0
+  * @since   15-March-2016
+  * @brief   STMicroelectronics LSM303D accelerometer & magnetometer driver
+  *           
+  @verbatim                 
+  ============================================================================== 
+                        ##### How to use #####
+  ============================================================================== 
+  @endverbatim
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2016 heinrichs weikamp</center></h2>
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef COMPASS_LSM303D_H
+#define COMPASS_LSM303D_H
+
+/* Exported constants --------------------------------------------------------*/
+
+#define WHO_AM_I						0x0F 		// device identification register - default value
+#define WHOIAM_VALUE				(0x49)	// Who Am I default value
+
+#define ADDR_OUT_TEMP_L			0x05
+#define ADDR_OUT_TEMP_H			0x06
+#define ADDR_STATUS_M				0x07
+#define ADDR_OUT_X_L_M      0x08
+#define ADDR_OUT_X_H_M			0x09
+#define ADDR_OUT_Y_L_M      0x0A
+#define ADDR_OUT_Y_H_M			0x0B
+#define ADDR_OUT_Z_L_M			0x0C
+#define ADDR_OUT_Z_H_M			0x0D
+
+#define ADDR_INT_CTRL_M			0x12
+#define ADDR_INT_SRC_M			0x13
+
+#define ADDR_INT_THS_L_M		0x14
+#define ADDR_INT_THS_H_M		0x15
+
+#define ADDR_OFFSET_X_L_M		0x16
+#define ADDR_OFFSET_X_H_M		0x17
+#define ADDR_OFFSET_Y_L_M		0x18
+#define ADDR_OFFSET_Y_H_M		0x19
+#define ADDR_OFFSET_Z_L_M		0x1a
+#define ADDR_OFFSET_Z_H_M		0x1b
+
+#define ADDR_REFERENCE_X		0x1c
+#define ADDR_REFERENCE_Y		0x1d
+#define ADDR_REFERENCE_Z		0x1e
+
+#define ADDR_STATUS_A				0x27
+#define ADDR_OUT_X_L_A			0x28
+#define ADDR_OUT_X_H_A			0x29
+#define ADDR_OUT_Y_L_A			0x2A
+#define ADDR_OUT_Y_H_A			0x2B
+#define ADDR_OUT_Z_L_A			0x2C
+#define ADDR_OUT_Z_H_A			0x2D
+
+#define ADDR_CTRL_REG0			0x1F
+#define ADDR_CTRL_REG1			0x20
+#define ADDR_CTRL_REG2			0x21
+#define ADDR_CTRL_REG3			0x22
+#define ADDR_CTRL_REG4			0x23
+#define ADDR_CTRL_REG5			0x24
+#define ADDR_CTRL_REG6			0x25
+#define ADDR_CTRL_REG7			0x26
+
+#define ADDR_FIFO_CTRL			0x2e
+#define ADDR_FIFO_SRC				0x2f
+
+#define ADDR_IG_CFG1				0x30
+#define ADDR_IG_SRC1				0x31
+#define ADDR_IG_THS1				0x32
+#define ADDR_IG_DUR1				0x33
+#define ADDR_IG_CFG2				0x34
+#define ADDR_IG_SRC2				0x35
+#define ADDR_IG_THS2				0x36
+#define ADDR_IG_DUR2				0x37
+#define ADDR_CLICK_CFG			0x38
+#define ADDR_CLICK_SRC			0x39
+#define ADDR_CLICK_THS			0x3a
+#define ADDR_TIME_LIMIT			0x3b
+#define ADDR_TIME_LATENCY		0x3c
+#define ADDR_TIME_WINDOW		0x3d
+#define ADDR_ACT_THS				0x3e
+#define ADDR_ACT_DUR				0x3f
+
+#define REG1_RATE_BITS_A		((1<<7) | (1<<6) | (1<<5) | (1<<4))
+#define REG1_POWERDOWN_A		((0<<7) | (0<<6) | (0<<5) | (0<<4))
+#define REG1_RATE_3_125HZ_A		((0<<7) | (0<<6) | (0<<5) | (1<<4))
+#define REG1_RATE_6_25HZ_A		((0<<7) | (0<<6) | (1<<5) | (0<<4))
+#define REG1_RATE_12_5HZ_A		((0<<7) | (0<<6) | (1<<5) | (1<<4))
+#define REG1_RATE_25HZ_A		((0<<7) | (1<<6) | (0<<5) | (0<<4))
+#define REG1_RATE_50HZ_A		((0<<7) | (1<<6) | (0<<5) | (1<<4))
+#define REG1_RATE_100HZ_A		((0<<7) | (1<<6) | (1<<5) | (0<<4))
+#define REG1_RATE_200HZ_A		((0<<7) | (1<<6) | (1<<5) | (1<<4))
+#define REG1_RATE_400HZ_A		((1<<7) | (0<<6) | (0<<5) | (0<<4))
+#define REG1_RATE_800HZ_A		((1<<7) | (0<<6) | (0<<5) | (1<<4))
+#define REG1_RATE_1600HZ_A		((1<<7) | (0<<6) | (1<<5) | (0<<4))
+
+#define REG1_BDU_UPDATE			(1<<3)
+#define REG1_Z_ENABLE_A			(1<<2)
+#define REG1_Y_ENABLE_A			(1<<1)
+#define REG1_X_ENABLE_A			(1<<0)
+
+#define REG2_ANTIALIAS_FILTER_BW_BITS_A	((1<<7) | (1<<6))
+#define REG2_AA_FILTER_BW_773HZ_A		((0<<7) | (0<<6))
+#define REG2_AA_FILTER_BW_194HZ_A		((0<<7) | (1<<6))
+#define REG2_AA_FILTER_BW_362HZ_A		((1<<7) | (0<<6))
+#define REG2_AA_FILTER_BW_50HZ_A		((1<<7) | (1<<6))
+
+#define REG2_FULL_SCALE_BITS_A	((1<<5) | (1<<4) | (1<<3))
+#define REG2_FULL_SCALE_2G_A	((0<<5) | (0<<4) | (0<<3))
+#define REG2_FULL_SCALE_4G_A	((0<<5) | (0<<4) | (1<<3))
+#define REG2_FULL_SCALE_6G_A	((0<<5) | (1<<4) | (0<<3))
+#define REG2_FULL_SCALE_8G_A	((0<<5) | (1<<4) | (1<<3))
+#define REG2_FULL_SCALE_16G_A	((1<<5) | (0<<4) | (0<<3))
+
+#define REG5_ENABLE_T			(1<<7)
+
+#define REG5_RES_HIGH_M			((1<<6) | (1<<5))
+#define REG5_RES_LOW_M			((0<<6) | (0<<5))
+
+#define REG5_RATE_BITS_M		((1<<4) | (1<<3) | (1<<2))
+#define REG5_RATE_3_125HZ_M		((0<<4) | (0<<3) | (0<<2))
+#define REG5_RATE_6_25HZ_M		((0<<4) | (0<<3) | (1<<2))
+#define REG5_RATE_12_5HZ_M		((0<<4) | (1<<3) | (0<<2))
+#define REG5_RATE_25HZ_M		((0<<4) | (1<<3) | (1<<2))
+#define REG5_RATE_50HZ_M		((1<<4) | (0<<3) | (0<<2))
+#define REG5_RATE_100HZ_M		((1<<4) | (0<<3) | (1<<2))
+#define REG5_RATE_DO_NOT_USE_M	((1<<4) | (1<<3) | (0<<2))
+
+#define REG6_FULL_SCALE_BITS_M	((1<<6) | (1<<5))
+#define REG6_FULL_SCALE_2GA_M	((0<<6) | (0<<5))
+#define REG6_FULL_SCALE_4GA_M	((0<<6) | (1<<5))
+#define REG6_FULL_SCALE_8GA_M	((1<<6) | (0<<5))
+#define REG6_FULL_SCALE_12GA_M	((1<<6) | (1<<5))
+
+#define REG7_CONT_MODE_M		((0<<1) | (0<<0))
+
+#define REG_STATUS_A_NEW_ZYXADA		0x08
+
+#define INT_CTRL_M              0x12
+#define INT_SRC_M               0x13
+
+/* default values for this device */
+#define LSM303D_ACCEL_DEFAULT_RANGE_G			 2
+#define LSM303D_ACCEL_DEFAULT_RATE				10
+
+#define LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ	50
+#define LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ	30
+#define LSM303D_ACCEL_MAX_OUTPUT_RATE			280
+
+#define LSM303D_MAG_DEFAULT_RANGE_GA	12
+#define LSM303D_MAG_DEFAULT_RATE			10
+
+#define LSM303D_ONE_G					9.80665f
+
+
+#endif /* COMPASS_LSM303D_H */
+
+/******************* (C) COPYRIGHT 2016 heinrichs weikamp *****END OF FILE****/