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37d8709f3f
The read functions have a lsm303dlhc_3d_data_t* argument which is a struct with 3 int16_t members. Thus we should cast res->val instead of just res.
82 lines
2.1 KiB
C
82 lines
2.1 KiB
C
/*
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* Copyright (C) 2015 Freie Universität Berlin
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup drivers_lsm303dlhc
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* @{
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*
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* @file
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* @brief LSM303DLHC adaption to the RIOT actuator/sensor interface
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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*
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* @}
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*/
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#include <string.h>
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#include "saul.h"
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#include "lsm303dlhc.h"
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static int read_acc(const void *dev, phydat_t *res)
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{
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const lsm303dlhc_t *d = (const lsm303dlhc_t *)dev;
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lsm303dlhc_read_acc(d, (lsm303dlhc_3d_data_t *)res->val);
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/* normalize result */
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int fac = (1 << (d->params.acc_scale >> 4));
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for (int i = 0; i < 3; i++) {
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res->val[i] *= fac;
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}
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res->unit = UNIT_G;
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res->scale = -3;
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return 3;
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}
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static int read_mag(const void *dev, phydat_t *res)
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{
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const lsm303dlhc_t *d = (const lsm303dlhc_t *)dev;
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lsm303dlhc_read_mag(d, (lsm303dlhc_3d_data_t *)res->val);
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/* normalize results */
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int gain;
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switch (d->params.mag_gain) {
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case LSM303DLHC_MAG_GAIN_1100_980_GAUSS: gain = 1100; break;
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case LSM303DLHC_MAG_GAIN_855_760_GAUSS: gain = 855; break;
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case LSM303DLHC_MAG_GAIN_670_600_GAUSS: gain = 670; break;
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case LSM303DLHC_MAG_GAIN_450_400_GAUSS: gain = 450; break;
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case LSM303DLHC_MAG_GAIN_400_355_GAUSS: gain = 400; break;
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case LSM303DLHC_MAG_GAIN_330_295_GAUSS: gain = 330; break;
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case LSM303DLHC_MAG_GAIN_230_205_GAUSS: gain = 230; break;
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default: gain = 1000; break;
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}
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for (int i = 0; i < 3; i++) {
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int32_t tmp = res->val[i] * 1000;
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tmp /= gain;
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res->val[i] = (int16_t)tmp;
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}
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res->unit = UNIT_GS;
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res->scale = -3;
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return 3;
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}
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const saul_driver_t lsm303dlhc_saul_acc_driver = {
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.read = read_acc,
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.write = saul_notsup,
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.type = SAUL_SENSE_ACCEL,
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};
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const saul_driver_t lsm303dlhc_saul_mag_driver = {
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.read = read_mag,
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.write = saul_notsup,
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.type = SAUL_SENSE_MAG,
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};
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