Driver for the LSM303D 3-axis accelerometer and 3-axis magnetometer with integrated temperature sensor. More...

Collaboration diagram for LSM303D Driver:

Data Structures
struct	driver_lsm303_vec3_t
	3-axis vector data structure More...

struct	driver_lsm303_t
	LSM303D driver instance. More...

Enumerations
enum	driver_lsm303_accel_scale_t { DRIVER_LSM303_ACCEL_SCALE_2G = 0, DRIVER_LSM303_ACCEL_SCALE_4G, DRIVER_LSM303_ACCEL_SCALE_6G, DRIVER_LSM303_ACCEL_SCALE_8G, DRIVER_LSM303_ACCEL_SCALE_16G }
	Accelerometer full scale range. More...

enum	driver_lsm303_mag_scale_t { DRIVER_LSM303_MAG_SCALE_2GAUSS = 0, DRIVER_LSM303_MAG_SCALE_4GAUSS, DRIVER_LSM303_MAG_SCALE_8GAUSS, DRIVER_LSM303_MAG_SCALE_12GAUSS }
	Magnetometer full scale range. More...

Functions
bool	driver_lsm303_init (driver_lsm303_t driver, hw_i2c_t i2c)
	Initialize LSM303D with default settingsInitializes the sensor with: More...

bool	driver_lsm303_init_with_config (driver_lsm303_t driver, hw_i2c_t i2c, driver_lsm303_accel_scale_t accel_scale, driver_lsm303_mag_scale_t mag_scale)
	Initialize LSM303D with custom scale settings. More...

void	driver_lsm303_finalize (driver_lsm303_t *driver)
	Finalize and power down LSM303D. More...

bool	driver_lsm303_read_accel (driver_lsm303_t driver, driver_lsm303_vec3_t data)
	Read accelerometer dataReturns acceleration in g (Earth gravity = 1g ≈ 9.81 m/s²) More...

bool	driver_lsm303_read_mag (driver_lsm303_t driver, driver_lsm303_vec3_t data)
	Read magnetometer dataReturns magnetic field strength in gauss. More...

bool	driver_lsm303_read_temp (driver_lsm303_t driver, float temp)
	Read temperature. More...

float	driver_lsm303_get_heading (const driver_lsm303_vec3_t *mag)
	Calculate compass heading from magnetometer dataCalculates the compass heading (direction) from magnetometer readings. More...

Detailed Description

Driver for the LSM303D 3-axis accelerometer and 3-axis magnetometer with integrated temperature sensor.

Enumeration Type Documentation

◆ driver_lsm303_accel_scale_t

enum driver_lsm303_accel_scale_t

Accelerometer full scale range.

Enumerator
DRIVER_LSM303_ACCEL_SCALE_2G	±2g (default)
DRIVER_LSM303_ACCEL_SCALE_4G	±4g.
DRIVER_LSM303_ACCEL_SCALE_6G	±6g.
DRIVER_LSM303_ACCEL_SCALE_8G	±8g.
DRIVER_LSM303_ACCEL_SCALE_16G	±16g.

Definition at line 22 of file drivers_lsm303.h.

              {
   DRIVER_LSM303_ACCEL_SCALE_2G = 0, 
   DRIVER_LSM303_ACCEL_SCALE_4G,     
   DRIVER_LSM303_ACCEL_SCALE_6G,     
   DRIVER_LSM303_ACCEL_SCALE_8G,     
   DRIVER_LSM303_ACCEL_SCALE_16G     
 } driver_lsm303_accel_scale_t;

◆ driver_lsm303_mag_scale_t

enum driver_lsm303_mag_scale_t

Magnetometer full scale range.

Enumerator
DRIVER_LSM303_MAG_SCALE_2GAUSS	±2 gauss (default)
DRIVER_LSM303_MAG_SCALE_4GAUSS	±4 gauss.
DRIVER_LSM303_MAG_SCALE_8GAUSS	±8 gauss.
DRIVER_LSM303_MAG_SCALE_12GAUSS	±12 gauss.

Definition at line 34 of file drivers_lsm303.h.

              {
   DRIVER_LSM303_MAG_SCALE_2GAUSS = 0, 
   DRIVER_LSM303_MAG_SCALE_4GAUSS,     
   DRIVER_LSM303_MAG_SCALE_8GAUSS,     
   DRIVER_LSM303_MAG_SCALE_12GAUSS     
 } driver_lsm303_mag_scale_t;

Function Documentation

◆ driver_lsm303_finalize()

void driver_lsm303_finalize ( driver_lsm303_t * driver )

Finalize and power down LSM303D.

Parameters

driver Pointer to driver structure

◆ driver_lsm303_get_heading()

float driver_lsm303_get_heading ( const driver_lsm303_vec3_t * mag )

Calculate compass heading from magnetometer dataCalculates the compass heading (direction) from magnetometer readings.

Note: This assumes the sensor is held level (horizontal). For accurate readings when tilted, tilt compensation using accelerometer data is required.

Parameters

mag	Pointer to magnetometer vector data in gauss

Returns: Heading in degrees (0-360, where 0=North, 90=East, 180=South, 270=West) Returns -1.0 if mag is NULL

◆ driver_lsm303_init()

bool driver_lsm303_init	(	driver_lsm303_t *	driver,
		hw_i2c_t *	i2c
	)

Initialize LSM303D with default settingsInitializes the sensor with:

Accelerometer: ±2g, 50Hz
Magnetometer: ±2 gauss, 50Hz, continuous mode
Temperature sensor enabled

Parameters

driver	Pointer to driver structure
i2c	Pointer to initialized I2C interface

Returns: true if initialization succeeded, false otherwise

◆ driver_lsm303_init_with_config()

bool driver_lsm303_init_with_config	(	driver_lsm303_t *	driver,
		hw_i2c_t *	i2c,
		driver_lsm303_accel_scale_t	accel_scale,
		driver_lsm303_mag_scale_t	mag_scale
	)

Initialize LSM303D with custom scale settings.

Parameters

driver	Pointer to driver structure
i2c	Pointer to initialized I2C interface
accel_scale	Accelerometer full-scale range
mag_scale	Magnetometer full-scale range

Returns: true if initialization succeeded, false otherwise

◆ driver_lsm303_read_accel()

bool driver_lsm303_read_accel	(	driver_lsm303_t *	driver,
		driver_lsm303_vec3_t *	data
	)

Read accelerometer dataReturns acceleration in g (Earth gravity = 1g ≈ 9.81 m/s²)

Parameters

driver	Pointer to driver structure
data	Pointer to vector structure to receive x, y, z values in g

Returns: true if read succeeded, false otherwise

◆ driver_lsm303_read_mag()

bool driver_lsm303_read_mag	(	driver_lsm303_t *	driver,
		driver_lsm303_vec3_t *	data
	)

Read magnetometer dataReturns magnetic field strength in gauss.

Parameters

driver	Pointer to driver structure
data	Pointer to vector structure to receive x, y, z values in gauss

Returns: true if read succeeded, false otherwise

◆ driver_lsm303_read_temp()

bool driver_lsm303_read_temp	(	driver_lsm303_t *	driver,
		float *	temp
	)

Read temperature.

Parameters

driver	Pointer to driver structure
temp	Pointer to float to receive temperature in degrees Celsius

Returns: true if read succeeded, false otherwise

objc

Data Structures

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ driver_lsm303_accel_scale_t

◆ driver_lsm303_mag_scale_t

Function Documentation

◆ driver_lsm303_finalize()

◆ driver_lsm303_get_heading()

◆ driver_lsm303_init()

◆ driver_lsm303_init_with_config()

◆ driver_lsm303_read_accel()

◆ driver_lsm303_read_mag()

◆ driver_lsm303_read_temp()