/**
  ******************************************************************************
  * @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****/