minor changes
This commit is contained in:
Gunar Schorcht
parent
e62924e2a1
commit
1e5608ee76
5 changed files with 55 additions and 82 deletions
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@ -409,8 +409,8 @@ void user_init(void)
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#endif
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// LAST STEP: Finally set scale and mode to start measurements
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lsm303d_set_a_scale(sensor, lsm303d_a_scale_2);
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lsm303d_set_m_scale(sensor, lsm303d_m_scale_4);
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lsm303d_set_a_scale(sensor, lsm303d_a_scale_2_g);
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lsm303d_set_m_scale(sensor, lsm303d_m_scale_4_Gs);
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lsm303d_set_a_mode (sensor, lsm303d_a_odr_12_5, lsm303d_a_aaf_bw_773, true, true, true);
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lsm303d_set_m_mode (sensor, lsm303d_m_odr_12_5, lsm303d_m_low_res, lsm303d_m_continuous);
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@ -127,24 +127,24 @@ Raw **output data** (**raw data**) are given as 16-bit signed integer values in
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Accelerometer full scale | Resolution | Driver symbol
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---------------------:|-----------:|:-----------
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±2 g | 0.061 mg | ```lsm303d_a_scale_2```
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±4 g | 0.122 mg | ```lsm303d_a_scale_4```
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±6 g | 0.183 mg | ```lsm303d_a_scale_6```
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±8 g | 0.244 mg | ```lsm303d_a_scale_8```
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±16 g | 0.732 mg | ```lsm303d_a_scale_16```
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±2 g | 0.061 mg | ```lsm303d_a_scale_2_g```
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±4 g | 0.122 mg | ```lsm303d_a_scale_4_g```
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±6 g | 0.183 mg | ```lsm303d_a_scale_6_g```
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±8 g | 0.244 mg | ```lsm303d_a_scale_8_g```
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±16 g | 0.732 mg | ```lsm303d_a_scale_16_g```
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Magnetormeter full scale | Resolution | Driver symbol
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---------------------:|:-----------|:------
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±2 Gauss | 0.080 mGauss | ```lsm303d_m_scale_2```
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±4 Gauss | 0.160 mGauss | ```lsm303d_m_scale_4```
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±8 Gauss | 0.320 mGauss | ```lsm303d_m_scale_8```
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±12 Gauss | 0.479 mGauss | ```lsm303d_m_scale_12```
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±2 Gauss | 0.080 mGauss | ```lsm303d_m_scale_2_Gs```
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±4 Gauss | 0.160 mGauss | ```lsm303d_m_scale_4_Gs```
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±8 Gauss | 0.320 mGauss | ```lsm303d_m_scale_8_Gs```
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±12 Gauss | 0.479 mGauss | ```lsm303d_m_scale_12_Gs```
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By default, a full scale of ±2 g is used for the acceleration and ±2 Gauss for the magnetic measurement. ```lsm303d_set_a_scale``` and ```lsm303d_set_m_scale``` functions can be used to change these values.
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```
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lsm303d_set_a_scale(sensor, lsm303d_a_scale_4);
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lsm303d_set_m_scale(sensor, lsm303d_m_scale_8);
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lsm303d_set_a_scale(sensor, lsm303d_a_scale_4_g);
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lsm303d_set_m_scale(sensor, lsm303d_m_scale_8_Gs);
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```
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### Fetching output data
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@ -1190,8 +1190,8 @@ void user_init(void)
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#endif
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// LAST STEP: Finally set scale and mode to start measurements
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lsm303d_set_a_scale(sensor, lsm303d_a_scale_2);
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lsm303d_set_m_scale(sensor, lsm303d_m_scale_4);
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lsm303d_set_a_scale(sensor, lsm303d_a_scale_2_g);
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lsm303d_set_m_scale(sensor, lsm303d_m_scale_4_Gs);
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lsm303d_set_a_mode (sensor, lsm303d_a_odr_12_5, lsm303d_a_aaf_bw_773, true, true, true);
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lsm303d_set_m_mode (sensor, lsm303d_m_odr_12_5, lsm303d_m_low_res, lsm303d_m_continuous);
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@ -53,6 +53,16 @@
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#include "lsm303d.h"
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#ifdef debug
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#undef debug
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#undef debug_dev
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#endif
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#ifdef error
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#undef error
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#undef error_dev
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#endif
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#if defined(LSM303D_DEBUG_LEVEL_2)
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#define debug(s, f, ...) printf("%s %s: " s "\n", "LSM303D", f, ## __VA_ARGS__)
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#define debug_dev(s, f, d, ...) printf("%s %s: bus %d, addr %02x - " s "\n", "LSM303D", f, d->bus, d->addr, ## __VA_ARGS__)
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@ -374,8 +384,8 @@ lsm303d_sensor_t* lsm303d_init_sensor (uint8_t bus, uint8_t addr, uint8_t cs)
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dev->cs = cs;
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dev->error_code = LSM303D_OK;
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dev->a_scale = lsm303d_a_scale_2;
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dev->m_scale = lsm303d_m_scale_4;
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dev->a_scale = lsm303d_a_scale_2_g;
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dev->m_scale = lsm303d_m_scale_4_Gs;
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dev->m_res = lsm303d_m_low_res;
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dev->fifo_mode = lsm303d_bypass;
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dev->fifo_first = true;
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@ -408,8 +418,8 @@ lsm303d_sensor_t* lsm303d_init_sensor (uint8_t bus, uint8_t addr, uint8_t cs)
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lsm303d_update_reg (dev, LSM303D_REG_CTRL1, lsm303d_reg_ctrl1, BDU, 1);
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// not necessary, following values are the defaults
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// lsm303d_update_reg (dev, LSM303D_REG_CTRL2, lsm303d_reg_ctrl2, AFS, lsm303d_a_scale_2);
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// lsm303d_update_reg (dev, LSM303D_REG_CTRL6, lsm303d_reg_ctrl6, MFS, lsm303d_m_scale_4);
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// lsm303d_update_reg (dev, LSM303D_REG_CTRL2, lsm303d_reg_ctrl2, AFS, lsm303d_a_scale_2_g);
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// lsm303d_update_reg (dev, LSM303D_REG_CTRL6, lsm303d_reg_ctrl6, MFS, lsm303d_m_scale_4_Gs);
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// clear FIFO
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// lsm303d_set_fifo_mode (sensor, lsm303d_bypass, 0);
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@ -582,8 +592,7 @@ bool lsm303d_new_a_data (lsm303d_sensor_t* dev)
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error_dev ("Could not get fifo source register data", __FUNCTION__, dev);
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return false;
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}
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printf("AAAA %02x\n", *(uint8_t*)&fifo_src);
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return !fifo_src.EMPTY;
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return !fifo_src.EMPTY;
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}
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}
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@ -1381,8 +1390,8 @@ bool lsm303d_get_a_hpf_ref (lsm303d_sensor_t* dev,
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}
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bool lsm303d_set_m_off (lsm303d_sensor_t* dev,
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int16_t x_off, int16_t y_off, int16_t z_off)
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bool lsm303d_set_m_offset (lsm303d_sensor_t* dev,
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int16_t x_off, int16_t y_off, int16_t z_off)
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{
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if (!dev) return false;
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@ -1405,8 +1414,8 @@ bool lsm303d_set_m_off (lsm303d_sensor_t* dev,
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}
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bool lsm303d_get_m_off (lsm303d_sensor_t* dev,
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int16_t* x_off, int16_t* y_off, int16_t* z_off)
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bool lsm303d_get_m_offset (lsm303d_sensor_t* dev,
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int16_t* x_off, int16_t* y_off, int16_t* z_off)
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{
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if (!dev) return false;
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@ -503,26 +503,26 @@ bool lsm303d_get_a_hpf_ref (lsm303d_sensor_t* dev,
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* @brief Set magnetic offset
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*
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* @param dev pointer to the sensor device data structure
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* @param x_off magnetic offset for x axis
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* @param y_off magnetic offset for y axis
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* @param z_off magnetic offset for z axis
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* @param x magnetic offset for x axis
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* @param y magnetic offset for y axis
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* @param z magnetic offset for z axis
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* @return true on success, false on error
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*/
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bool lsm303d_set_m_off (lsm303d_sensor_t* dev,
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int16_t x_off, int16_t y_off, int16_t z_off);
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bool lsm303d_set_m_offset (lsm303d_sensor_t* dev,
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int16_t x, int16_t y, int16_t z);
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/**
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* @brief Get magnetic offset
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*
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* @param dev pointer to the sensor device data structure
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* @param x_off magnetic offset for x axis
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* @param y_off magnetic offset for y axis
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* @param z_off magnetic offset for z axis
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* @param x magnetic offset for x axis
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* @param y magnetic offset for y axis
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* @param z magnetic offset for z axis
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* @return true on success, false on error
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*/
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bool lsm303d_get_m_off (lsm303d_sensor_t* dev,
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int16_t* x_off, int16_t* y_off, int16_t* z_off);
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bool lsm303d_get_m_offset (lsm303d_sensor_t* dev,
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int16_t* x, int16_t* y, int16_t* z);
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/**
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@ -89,11 +89,11 @@ typedef enum {
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*/
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typedef enum {
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lsm303d_a_scale_2 = 0, // default
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lsm303d_a_scale_4,
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lsm303d_a_scale_6,
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lsm303d_a_scale_8,
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lsm303d_a_scale_16
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lsm303d_a_scale_2_g = 0, // default
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lsm303d_a_scale_4_g,
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lsm303d_a_scale_6_g,
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lsm303d_a_scale_8_g,
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lsm303d_a_scale_16_g
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} lsm303d_a_scale_t;
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@ -140,10 +140,10 @@ typedef enum {
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*/
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typedef enum {
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lsm303d_m_scale_2 = 0,
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lsm303d_m_scale_4, // default
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lsm303d_m_scale_8,
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lsm303d_m_scale_12
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lsm303d_m_scale_2_Gs = 0,
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lsm303d_m_scale_4_Gs, // default
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lsm303d_m_scale_8_Gs,
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lsm303d_m_scale_12_Gs
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} lsm303d_m_scale_t;
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@ -231,7 +231,7 @@ typedef struct {
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/**
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* @brief Threshold interrupt configuration for INT signal
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* @brief Magnetic threshold interrupt configuration for INT1/INT2 signals
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*/
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typedef struct {
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@ -254,7 +254,7 @@ typedef struct {
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/**
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* @brief Threshold interrupt source type for interrupt signals INT
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* @brief Magnetic threshold interrupt source of INT1/INT2 signals
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*/
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typedef struct {
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@ -332,42 +332,6 @@ typedef struct {
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} lsm303d_int_event_source_t;
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/**
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* @brief magnetic value interrupt configuration for INT1/INT2 signals
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*/
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typedef struct {
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uint16_t threshold; // threshold used for interrupt generation
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bool x_enabled; // true - x exceeds threshold on positive side
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bool y_enabled; // true - y exceeds threshold on positive side
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bool z_enabled; // true - z exceeds threshold on positive side
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bool latch; // true - latch the interrupt until the interrupt
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// source has been read
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} lsm303d_int_magnetic_config_t;
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/**
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* @brief Threshold interrupt source type for interrupt signals INT
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*/
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typedef struct {
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bool x_pos :1; // true - x exceeds threshold on positive side
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bool y_pos :1; // true - y exceeds threshold on positive side
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bool z_pos :1; // true - z exceeds threshold on positive side
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bool x_neg :1; // true - x exceeds threshold on negative side
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bool y_neg :1; // true - y exceeds threshold on negative side
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bool z_neg :1; // true - z exceeds threshold on negative side
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bool mroi :1; // true - internal measurement range overflow
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bool active:1; // true - interrupt event occured
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} lsm303d_int_magnetic_source_t;
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/**
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* @brief Click interrupt configuration for interrupt signals INT1/INT2
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*/
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