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drivers/lsm303dlhc: normalized SAUL readings

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This commit is contained in:
Hauke Petersen 2016-02-04 11:50:54 +01:00
parent ca8dbbac20
commit 0bde97f167
3 changed files with 38 additions and 8 deletions
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14
drivers/include/lsm303dlhc.h
View File

@ -101,11 +101,13 @@ typedef struct {
* @brief Device descriptor for LSM303DLHC sensors
*/
typedef struct {
i2c_t i2c; /**< I2C device */
uint8_t acc_address; /**< accelerometer's I2C address */
uint8_t mag_address; /**< magnetometer's I2C address */
gpio_t acc_pin; /**< accelerometer's data ready pin */
gpio_t mag_pin; /**< magnetometer's data ready pin */
i2c_t i2c; /**< I2C device */
uint8_t acc_address; /**< accelerometer's I2C address */
uint8_t mag_address; /**< magnetometer's I2C address */
gpio_t acc_pin; /**< accelerometer's data ready pin */
gpio_t mag_pin; /**< magnetometer's data ready pin */
lsm303dlhc_acc_scale_t acc_scale; /**< accelerometer scale factor */
lsm303dlhc_mag_gain_t mag_gain; /**< magnetometer gain */
} lsm303dlhc_t;
/**
@ -159,7 +161,7 @@ int lsm303dlhc_init(lsm303dlhc_t *dev, i2c_t i2c, gpio_t acc_pin, gpio_t mag_pin
* +- 2g | 1*10^-3
* +- 4g | 2*10^-3
* +- 8g | 4*10^-3
* +-16g | 12*10^-3
* +-16g | 8*10^-3
*
* @param[in] dev device descriptor of an LSM303DLHC device
* @param[out] data the measured accelerometer data

2
drivers/lsm303dlhc/lsm303dlhc.c
View File

@ -41,6 +41,8 @@ int lsm303dlhc_init(lsm303dlhc_t *dev, i2c_t i2c, gpio_t acc_pin, gpio_t mag_pin
dev->mag_address = mag_address;
dev->acc_pin = acc_pin;
dev->mag_pin = mag_pin;
dev->acc_scale = acc_scale;
dev->mag_gain = mag_gain;
/* Acquire exclusive access to the bus. */
i2c_acquire(dev->i2c);

30
drivers/lsm303dlhc/lsm303dlhc_saul.c
View File

@ -27,8 +27,15 @@ static int read_acc(void *dev, phydat_t *res)
{
lsm303dlhc_t *d = (lsm303dlhc_t *)dev;
lsm303dlhc_read_acc(d, (lsm303dlhc_3d_data_t *)res);
/* normalize result */
int fac = (1 << (d->acc_scale >> 4));
for (int i = 0; i < 3; i++) {
res->val[i] *= fac;
}
res->unit = UNIT_G;
res->scale = 0;
res->scale = -3;
return 3;
}
@ -36,8 +43,27 @@ static int read_mag(void *dev, phydat_t *res)
{
lsm303dlhc_t *d = (lsm303dlhc_t *)dev;
lsm303dlhc_read_mag(d, (lsm303dlhc_3d_data_t *)res);
/* normalize results */
int gain;
switch (d->mag_gain) {
case LSM303DLHC_MAG_GAIN_1100_980_GAUSS: gain = 1100; break;
case LSM303DLHC_MAG_GAIN_855_760_GAUSS: gain = 855; break;
case LSM303DLHC_MAG_GAIN_670_600_GAUSS: gain = 670; break;
case LSM303DLHC_MAG_GAIN_450_400_GAUSS: gain = 450; break;
case LSM303DLHC_MAG_GAIN_400_355_GAUSS: gain = 400; break;
case LSM303DLHC_MAG_GAIN_330_295_GAUSS: gain = 330; break;
case LSM303DLHC_MAG_GAIN_230_205_GAUSS: gain = 230; break;
default: gain = 1000; break;
}
for (int i = 0; i < 3; i++) {
int32_t tmp = res->val[i] * 1000;
tmp /= gain;
res->val[i] = (int16_t)tmp;
}
res->unit = UNIT_GS;
res->scale = 0;
res->scale = -3;
return 3;
}