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Avoid a configuration warning after the firmware upgrade by disabling automatic setpoint switching. This makes sure the user's automatic setpoint configuration is not overwritten by the validity checks if the settings are not in the correct spots for the new configuration. Users will have to manually re-create the automatic setpoint switching configuration in the new format; Add a checkbox to 'SPdeco' in the menu - this will make it obvious to users that this setpoint can be disabled. (mikeller)
author heinrichsweikamp
date Sat, 05 Aug 2023 11:52:08 +0200
parents c3d511365552
children
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/**
  ******************************************************************************
  * @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_LSM303D	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****/