src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 /**
  24   * @brief  LSM303DLHC Status
  25   */
  26
  27 /* LSM303DLHC ACC struct */
  28 typedef struct {
  29   uint8_t Power_Mode;                         /* Power-down/Normal Mode */
  30   uint8_t AccOutput_DataRate;                 /* OUT data rate */
  31   uint8_t Axes_Enable;                        /* Axes enable */
  32   uint8_t High_Resolution;                    /* High Resolution enabling/disabling */
  33   uint8_t BlockData_Update;                   /* Block Data Update */
  34   uint8_t Endianness;                         /* Endian Data selection */
  35   uint8_t AccFull_Scale;                      /* Full Scale selection */
  36 } LSM303DLHCAcc_InitTypeDef;
  37
  38 /* LSM303DLHC Acc High Pass Filter struct */
  39 typedef struct {
  40   uint8_t HighPassFilter_Mode_Selection;      /* Internal filter mode */
  41   uint8_t HighPassFilter_CutOff_Frequency;    /* High pass filter cut-off frequency */
  42   uint8_t HighPassFilter_AOI1;                /* HPF_enabling/disabling for AOI function on interrupt 1 */
  43   uint8_t HighPassFilter_AOI2;                /* HPF_enabling/disabling for AOI function on interrupt 2 */
  44 } LSM303DLHCAcc_FilterConfigTypeDef;
  45
  46 /* LSM303DLHC Mag struct */
  47 typedef struct {
  48   uint8_t Temperature_Sensor;                /* Temperature sensor enable/disable */
  49   uint8_t MagOutput_DataRate;                /* OUT data rate */
  50   uint8_t Working_Mode;                      /* operating mode */
  51   uint8_t MagFull_Scale;                     /* Full Scale selection */
  52 } LSM303DLHCMag_InitTypeDef;
  53 /**
  54   * @}
  55   */
  56
  57 /** @defgroup STM32F3_DISCOVERY_LSM303DLHC_Exported_Constants
  58   * @{
  59   */
  60 #define LSM303DLHC_OK                       ((uint32_t) 0)
  61 #define LSM303DLHC_FAIL                     ((uint32_t) 0)
  62
  63 /* Uncomment the following line to use the default LSM303DLHC_TIMEOUT_UserCallback()
  64    function implemented in stm32f3_discovery_lgd20.c file.
  65    LSM303DLHC_TIMEOUT_UserCallback() function is called whenever a timeout condition
  66    occure during communication (waiting transmit data register empty flag(TXE)
  67    or waiting receive data register is not empty flag (RXNE)). */
  68 /* #define USE_DEFAULT_TIMEOUT_CALLBACK */
  69
  70 /* Maximum Timeout values for flags waiting loops. These timeouts are not based
  71    on accurate values, they just guarantee that the application will not remain
  72    stuck if the I2C communication is corrupted.
  73    You may modify these timeout values depending on CPU frequency and application
  74    conditions (interrupts routines ...). */
  75 #define LSM303DLHC_FLAG_TIMEOUT             ((uint32_t)0x1000)
  76 #define LSM303DLHC_LONG_TIMEOUT             ((uint32_t)(10 * LSM303DLHC_FLAG_TIMEOUT))
  77
  78 /******************************************************************************/
  79 /*************************** START REGISTER MAPPING  **************************/
  80 /******************************************************************************/
  81 /* Acceleration Registers */
  82 #define LSM303DLHC_CTRL_REG1_A               0x20  /* Control register 1 acceleration */
  83 #define LSM303DLHC_CTRL_REG2_A               0x21  /* Control register 2 acceleration */
  84 #define LSM303DLHC_CTRL_REG3_A               0x22  /* Control register 3 acceleration */
  85 #define LSM303DLHC_CTRL_REG4_A               0x23  /* Control register 4 acceleration */
  86 #define LSM303DLHC_CTRL_REG5_A               0x24  /* Control register 5 acceleration */
  87 #define LSM303DLHC_CTRL_REG6_A               0x25  /* Control register 6 acceleration */
  88 #define LSM303DLHC_REFERENCE_A               0x26  /* Reference register acceleration */
  89 #define LSM303DLHC_STATUS_REG_A              0x27  /* Status register acceleration */
  90 #define LSM303DLHC_OUT_X_L_A                 0x28  /* Output Register X acceleration */
  91 #define LSM303DLHC_OUT_X_H_A                 0x29  /* Output Register X acceleration */
  92 #define LSM303DLHC_OUT_Y_L_A                 0x2A  /* Output Register Y acceleration */
  93 #define LSM303DLHC_OUT_Y_H_A                 0x2B  /* Output Register Y acceleration */
  94 #define LSM303DLHC_OUT_Z_L_A                 0x2C  /* Output Register Z acceleration */
  95 #define LSM303DLHC_OUT_Z_H_A                 0x2D  /* Output Register Z acceleration */
  96 #define LSM303DLHC_FIFO_CTRL_REG_A           0x2E  /* Fifo control Register acceleration */
  97 #define LSM303DLHC_FIFO_SRC_REG_A            0x2F  /* Fifo src Register acceleration */
  98
  99 #define LSM303DLHC_INT1_CFG_A                0x30  /* Interrupt 1 configuration Register acceleration */
 100 #define LSM303DLHC_INT1_SOURCE_A             0x31  /* Interrupt 1 source Register acceleration */
 101 #define LSM303DLHC_INT1_THS_A                0x32  /* Interrupt 1 Threshold register acceleration */
 102 #define LSM303DLHC_INT1_DURATION_A           0x33  /* Interrupt 1 DURATION register acceleration */
 103
 104 #define LSM303DLHC_INT2_CFG_A                0x34  /* Interrupt 2 configuration Register acceleration */
 105 #define LSM303DLHC_INT2_SOURCE_A             0x35  /* Interrupt 2 source Register acceleration */
 106 #define LSM303DLHC_INT2_THS_A                0x36  /* Interrupt 2 Threshold register acceleration */
 107 #define LSM303DLHC_INT2_DURATION_A           0x37  /* Interrupt 2 DURATION register acceleration */
 108
 109 #define LSM303DLHC_CLICK_CFG_A               0x38  /* Click configuration Register acceleration */
 110 #define LSM303DLHC_CLICK_SOURCE_A            0x39  /* Click 2 source Register acceleration */
 111 #define LSM303DLHC_CLICK_THS_A               0x3A  /* Click 2 Threshold register acceleration */
 112
 113 #define LSM303DLHC_TIME_LIMIT_A              0x3B  /* Time Limit Register acceleration */
 114 #define LSM303DLHC_TIME_LATENCY_A            0x3C  /* Time Latency Register acceleration */
 115 #define LSM303DLHC_TIME_WINDOW_A             0x3D  /* Time window register acceleration */
 116
 117 /* Magnetic field Registers */
 118 #define LSM303DLHC_CRA_REG_M                 0x00  /* Control register A magnetic field */
 119 #define LSM303DLHC_CRB_REG_M                 0x01  /* Control register B magnetic field */
 120 #define LSM303DLHC_MR_REG_M                  0x02  /* Control register MR magnetic field */
 121 #define LSM303DLHC_OUT_X_H_M                 0x03  /* Output Register X magnetic field */
 122 #define LSM303DLHC_OUT_X_L_M                 0x04  /* Output Register X magnetic field */
 123 #define LSM303DLHC_OUT_Z_H_M                 0x05  /* Output Register Z magnetic field */
 124 #define LSM303DLHC_OUT_Z_L_M                 0x06  /* Output Register Z magnetic field */
 125 #define LSM303DLHC_OUT_Y_H_M                 0x07  /* Output Register Y magnetic field */
 126 #define LSM303DLHC_OUT_Y_L_M                 0x08  /* Output Register Y magnetic field */
 127
 128 #define LSM303DLHC_SR_REG_M                  0x09  /* Status Register magnetic field */
 129 #define LSM303DLHC_IRA_REG_M                 0x0A  /* IRA Register magnetic field */
 130 #define LSM303DLHC_IRB_REG_M                 0x0B  /* IRB Register magnetic field */
 131 #define LSM303DLHC_IRC_REG_M                 0x0C  /* IRC Register magnetic field */
 132
 133 #define LSM303DLHC_TEMP_OUT_H_M              0x31  /* Temperature Register magnetic field */
 134 #define LSM303DLHC_TEMP_OUT_L_M              0x32  /* Temperature Register magnetic field */
 135 /******************************************************************************/
 136 /**************************** END REGISTER MAPPING  ***************************/
 137 /******************************************************************************/
 138
 139 #define ACC_I2C_ADDRESS                      0x32
 140 #define MAG_I2C_ADDRESS                      0x3C
 141
 142 /** @defgroup Acc_Power_Mode_selection
 143   * @{
 144   */
 145 #define LSM303DLHC_NORMAL_MODE            ((uint8_t)0x00)
 146 #define LSM303DLHC_LOWPOWER_MODE          ((uint8_t)0x08)
 147 /**
 148   * @}
 149   */
 150
 151 /** @defgroup Acc_OutPut_DataRate_Selection
 152   * @{
 153   */
 154 #define LSM303DLHC_ODR_1_HZ                ((uint8_t)0x10)  /*!< Output Data Rate = 1 Hz */
 155 #define LSM303DLHC_ODR_10_HZ               ((uint8_t)0x20)  /*!< Output Data Rate = 10 Hz */
 156 #define LSM303DLHC_ODR_25_HZ               ((uint8_t)0x30)  /*!< Output Data Rate = 25 Hz */
 157 #define LSM303DLHC_ODR_50_HZ               ((uint8_t)0x40)  /*!< Output Data Rate = 50 Hz */
 158 #define LSM303DLHC_ODR_100_HZ              ((uint8_t)0x50)  /*!< Output Data Rate = 100 Hz */
 159 #define LSM303DLHC_ODR_200_HZ              ((uint8_t)0x60)  /*!< Output Data Rate = 200 Hz */
 160 #define LSM303DLHC_ODR_400_HZ              ((uint8_t)0x70)  /*!< Output Data Rate = 400 Hz */
 161 #define LSM303DLHC_ODR_1620_HZ_LP          ((uint8_t)0x80)  /*!< Output Data Rate = 1620 Hz only in Low Power Mode */
 162 #define LSM303DLHC_ODR_1344_HZ             ((uint8_t)0x90)  /*!< Output Data Rate = 1344 Hz in Normal mode and 5376 Hz in Low Power Mode */
 163
 164 /**
 165   * @}
 166   */
 167
 168 /** @defgroup Acc_Axes_Selection
 169   * @{
 170   */
 171 #define LSM303DLHC_X_ENABLE                ((uint8_t)0x01)
 172 #define LSM303DLHC_Y_ENABLE                ((uint8_t)0x02)
 173 #define LSM303DLHC_Z_ENABLE                ((uint8_t)0x04)
 174 #define LSM303DLHC_AXES_ENABLE             ((uint8_t)0x07)
 175 #define LSM303DLHC_AXES_DISABLE            ((uint8_t)0x00)
 176 /**
 177   * @}
 178   */
 179
 180 /** @defgroup Acc_High_Resolution
 181   * @{
 182   */
 183 #define LSM303DLHC_HR_ENABLE               ((uint8_t)0x08)
 184 #define LSM303DLHC_HR_DISABLE              ((uint8_t)0x00)
 185 /**
 186   * @}
 187   */
 188
 189 /** @defgroup Acc_Full_Scale_Selection
 190   * @{
 191   */
 192 #define LSM303DLHC_FULLSCALE_2G            ((uint8_t)0x00)  /*!< +/-2 g */
 193 #define LSM303DLHC_FULLSCALE_4G            ((uint8_t)0x10)  /*!< +/-4 g */
 194 #define LSM303DLHC_FULLSCALE_8G            ((uint8_t)0x20)  /*!< +/-8 g */
 195 #define LSM303DLHC_FULLSCALE_16G           ((uint8_t)0x30)  /*!< +/-16 g */
 196 /**
 197   * @}
 198   */
 199
 200 /** @defgroup Acc_Block_Data_Update
 201   * @{
 202   */
 203 #define LSM303DLHC_BlockUpdate_Continous   ((uint8_t)0x00) /*!< Continuos Update */
 204 #define LSM303DLHC_BlockUpdate_Single      ((uint8_t)0x80) /*!< Single Update: output registers not updated until MSB and LSB reading */
 205 /**
 206   * @}
 207   */
 208
 209 /** @defgroup Acc_Endian_Data_selection
 210   * @{
 211   */
 212 #define LSM303DLHC_BLE_LSB                 ((uint8_t)0x00) /*!< Little Endian: data LSB @ lower address */
 213 #define LSM303DLHC_BLE_MSB             ((uint8_t)0x40) /*!< Big Endian: data MSB @ lower address */
 214 /**
 215   * @}
 216   */
 217
 218 /** @defgroup Acc_Boot_Mode_selection
 219   * @{
 220   */
 221 #define LSM303DLHC_BOOT_NORMALMODE         ((uint8_t)0x00)
 222 #define LSM303DLHC_BOOT_REBOOTMEMORY       ((uint8_t)0x80)
 223 /**
 224   * @}
 225   */
 226
 227 /** @defgroup Acc_High_Pass_Filter_Mode
 228   * @{
 229   */
 230 #define LSM303DLHC_HPM_NORMAL_MODE_RES     ((uint8_t)0x00)
 231 #define LSM303DLHC_HPM_REF_SIGNAL          ((uint8_t)0x40)
 232 #define LSM303DLHC_HPM_NORMAL_MODE         ((uint8_t)0x80)
 233 #define LSM303DLHC_HPM_AUTORESET_INT       ((uint8_t)0xC0)
 234 /**
 235   * @}
 236   */
 237
 238 /** @defgroup Acc_High_Pass_CUT OFF_Frequency
 239   * @{
 240   */
 241 #define LSM303DLHC_HPFCF_8                 ((uint8_t)0x00)
 242 #define LSM303DLHC_HPFCF_16                ((uint8_t)0x10)
 243 #define LSM303DLHC_HPFCF_32                ((uint8_t)0x20)
 244 #define LSM303DLHC_HPFCF_64                ((uint8_t)0x30)
 245 /**
 246   * @}
 247   */
 248
 249 /** @defgroup Acc_High_Pass_Filter_status
 250   * @{
 251   */
 252 #define LSM303DLHC_HIGHPASSFILTER_DISABLE  ((uint8_t)0x00)
 253 #define LSM303DLHC_HIGHPASSFILTER_ENABLE   ((uint8_t)0x08)
 254 /**
 255   * @}
 256   */
 257
 258 /** @defgroup Acc_High_Pass_Filter_Click_status
 259   * @{
 260   */
 261 #define LSM303DLHC_HPF_CLICK_DISABLE       ((uint8_t)0x00)
 262 #define LSM303DLHC_HPF_CLICK_ENABLE        ((uint8_t)0x04)
 263 /**
 264   * @}
 265   */
 266
 267 /** @defgroup Acc_High_Pass_Filter_AOI1_status
 268   * @{
 269   */
 270 #define LSM303DLHC_HPF_AOI1_DISABLE        ((uint8_t)0x00)
 271 #define LSM303DLHC_HPF_AOI1_ENABLE         ((uint8_t)0x01)
 272 /**
 273   * @}
 274   */
 275
 276 /** @defgroup Acc_High_Pass_Filter_AOI2_status
 277   * @{
 278   */
 279 #define LSM303DLHC_HPF_AOI2_DISABLE        ((uint8_t)0x00)
 280 #define LSM303DLHC_HPF_AOI2_ENABLE     ((uint8_t)0x02)
 281 /**
 282   * @}
 283   */
 284
 285 /** @defgroup Acc_LSM303DLHC_Interrupt1_Configuration_definition
 286   * @{
 287   */
 288 #define LSM303DLHC_IT1_CLICK               ((uint8_t)0x80)
 289 #define LSM303DLHC_IT1_AOI1                ((uint8_t)0x40)
 290 #define LSM303DLHC_IT1_AOI2                ((uint8_t)0x20)
 291 #define LSM303DLHC_IT1_DRY1                ((uint8_t)0x10)
 292 #define LSM303DLHC_IT1_DRY2                ((uint8_t)0x08)
 293 #define LSM303DLHC_IT1_WTM                 ((uint8_t)0x04)
 294 #define LSM303DLHC_IT1_OVERRUN             ((uint8_t)0x02)
 295 /**
 296   * @}
 297   */
 298
 299 /** @defgroup Acc_LSM303DLHC_Interrupt2_Configuration_definition
 300   * @{
 301   */
 302 #define LSM303DLHC_IT2_CLICK               ((uint8_t)0x80)
 303 #define LSM303DLHC_IT2_INT1                ((uint8_t)0x40)
 304 #define LSM303DLHC_IT2_INT2                ((uint8_t)0x20)
 305 #define LSM303DLHC_IT2_BOOT                ((uint8_t)0x10)
 306 #define LSM303DLHC_IT2_ACT                 ((uint8_t)0x08)
 307 #define LSM303DLHC_IT2_HLACTIVE            ((uint8_t)0x02)
 308 /**
 309   * @}
 310   */
 311
 312 /** @defgroup Acc_INT_Combination_Status
 313   * @{
 314   */
 315 #define LSM303DLHC_OR_COMBINATION          ((uint8_t)0x00)  /*!< OR combination of enabled IRQs */
 316 #define LSM303DLHC_AND_COMBINATION         ((uint8_t)0x80)  /*!< AND combination of enabled IRQs */
 317 #define LSM303DLHC_MOV_RECOGNITION         ((uint8_t)0x40)  /*!< 6D movement recognition */
 318 #define LSM303DLHC_POS_RECOGNITION         ((uint8_t)0xC0)  /*!< 6D position recognition */
 319 /**
 320   * @}
 321   */
 322
 323 /** @defgroup Acc_INT_Axes
 324   * @{
 325   */
 326 #define LSM303DLHC_Z_HIGH                  ((uint8_t)0x20)  /*!< Z High enabled IRQs */
 327 #define LSM303DLHC_Z_LOW                     ((uint8_t)0x10)  /*!< Z low enabled IRQs */
 328 #define LSM303DLHC_Y_HIGH                  ((uint8_t)0x08)  /*!< Y High enabled IRQs */
 329 #define LSM303DLHC_Y_LOW                     ((uint8_t)0x04)  /*!< Y low enabled IRQs */
 330 #define LSM303DLHC_X_HIGH                  ((uint8_t)0x02)  /*!< X High enabled IRQs */
 331 #define LSM303DLHC_X_LOW                     ((uint8_t)0x01)  /*!< X low enabled IRQs */
 332 /**
 333   * @}
 334   */
 335
 336 /** @defgroup Acc_INT_Click
 337   * @{
 338   */
 339 #define LSM303DLHC_Z_DOUBLE_CLICK          ((uint8_t)0x20)  /*!< Z double click IRQs */
 340 #define LSM303DLHC_Z_SINGLE_CLICK            ((uint8_t)0x10)  /*!< Z single click IRQs */
 341 #define LSM303DLHC_Y_DOUBLE_CLICK          ((uint8_t)0x08)  /*!< Y double click IRQs */
 342 #define LSM303DLHC_Y_SINGLE_CLICK            ((uint8_t)0x04)  /*!< Y single click IRQs */
 343 #define LSM303DLHC_X_DOUBLE_CLICK          ((uint8_t)0x02)  /*!< X double click IRQs */
 344 #define LSM303DLHC_X_SINGLE_CLICK            ((uint8_t)0x01)  /*!< X single click IRQs */
 345 /**
 346   * @}
 347   */
 348
 349 /** @defgroup Acc_INT1_Interrupt_status
 350   * @{
 351   */
 352 #define LSM303DLHC_INT1INTERRUPT_DISABLE   ((uint8_t)0x00)
 353 #define LSM303DLHC_INT1INTERRUPT_ENABLE    ((uint8_t)0x80)
 354 /**
 355   * @}
 356   */
 357
 358 /** @defgroup Acc_INT1_Interrupt_ActiveEdge
 359   * @{
 360   */
 361 #define LSM303DLHC_INT1INTERRUPT_LOW_EDGE  ((uint8_t)0x20)
 362 #define LSM303DLHC_INT1INTERRUPT_HIGH_EDGE ((uint8_t)0x00)
 363 /**
 364   * @}
 365   */
 366
 367 /** @defgroup Mag_Data_Rate
 368   * @{
 369   */
 370 #define LSM303DLHC_ODR_0_75_HZ              ((uint8_t) 0x00)  /*!< Output Data Rate = 0.75 Hz */
 371 #define LSM303DLHC_ODR_1_5_HZ               ((uint8_t) 0x04)  /*!< Output Data Rate = 1.5 Hz */
 372 #define LSM303DLHC_ODR_3_0_HZ               ((uint8_t) 0x08)  /*!< Output Data Rate = 3 Hz */
 373 #define LSM303DLHC_ODR_7_5_HZ               ((uint8_t) 0x0C)  /*!< Output Data Rate = 7.5 Hz */
 374 #define LSM303DLHC_ODR_15_HZ                ((uint8_t) 0x10)  /*!< Output Data Rate = 15 Hz */
 375 #define LSM303DLHC_ODR_30_HZ                ((uint8_t) 0x14)  /*!< Output Data Rate = 30 Hz */
 376 #define LSM303DLHC_ODR_75_HZ                ((uint8_t) 0x18)  /*!< Output Data Rate = 75 Hz */
 377 #define LSM303DLHC_ODR_220_HZ               ((uint8_t) 0x1C)  /*!< Output Data Rate = 220 Hz */
 378 /**
 379   * @}
 380   */
 381
 382 /** @defgroup Mag_Full_Scale
 383   * @{
 384   */
 385 #define  LSM303DLHC_FS_1_3_GA               ((uint8_t) 0x20)  /*!< Full scale = +/-1.3 Gauss */
 386 #define  LSM303DLHC_FS_1_9_GA               ((uint8_t) 0x40)  /*!< Full scale = +/-1.9 Gauss */
 387 #define  LSM303DLHC_FS_2_5_GA               ((uint8_t) 0x60)  /*!< Full scale = +/-2.5 Gauss */
 388 #define  LSM303DLHC_FS_4_0_GA               ((uint8_t) 0x80)  /*!< Full scale = +/-4.0 Gauss */
 389 #define  LSM303DLHC_FS_4_7_GA               ((uint8_t) 0xA0)  /*!< Full scale = +/-4.7 Gauss */
 390 #define  LSM303DLHC_FS_5_6_GA               ((uint8_t) 0xC0)  /*!< Full scale = +/-5.6 Gauss */
 391 #define  LSM303DLHC_FS_8_1_GA               ((uint8_t) 0xE0)  /*!< Full scale = +/-8.1 Gauss */
 392 /**
 393   * @}
 394   */
 395
 396 /**
 397  * @defgroup Magnetometer_Sensitivity
 398  * @{
 399  */
 400 #define LSM303DLHC_M_SENSITIVITY_XY_1_3Ga     1100  /*!< magnetometer X Y axes sensitivity for 1.3 Ga full scale [LSB/Ga] */
 401 #define LSM303DLHC_M_SENSITIVITY_XY_1_9Ga     855   /*!< magnetometer X Y axes sensitivity for 1.9 Ga full scale [LSB/Ga] */
 402 #define LSM303DLHC_M_SENSITIVITY_XY_2_5Ga     670   /*!< magnetometer X Y axes sensitivity for 2.5 Ga full scale [LSB/Ga] */
 403 #define LSM303DLHC_M_SENSITIVITY_XY_4Ga       450   /*!< magnetometer X Y axes sensitivity for 4 Ga full scale [LSB/Ga] */
 404 #define LSM303DLHC_M_SENSITIVITY_XY_4_7Ga     400   /*!< magnetometer X Y axes sensitivity for 4.7 Ga full scale [LSB/Ga] */
 405 #define LSM303DLHC_M_SENSITIVITY_XY_5_6Ga     330   /*!< magnetometer X Y axes sensitivity for 5.6 Ga full scale [LSB/Ga] */
 406 #define LSM303DLHC_M_SENSITIVITY_XY_8_1Ga     230   /*!< magnetometer X Y axes sensitivity for 8.1 Ga full scale [LSB/Ga] */
 407 #define LSM303DLHC_M_SENSITIVITY_Z_1_3Ga      980   /*!< magnetometer Z axis sensitivity for 1.3 Ga full scale [LSB/Ga] */
 408 #define LSM303DLHC_M_SENSITIVITY_Z_1_9Ga      760   /*!< magnetometer Z axis sensitivity for 1.9 Ga full scale [LSB/Ga] */
 409 #define LSM303DLHC_M_SENSITIVITY_Z_2_5Ga      600   /*!< magnetometer Z axis sensitivity for 2.5 Ga full scale [LSB/Ga] */
 410 #define LSM303DLHC_M_SENSITIVITY_Z_4Ga        400   /*!< magnetometer Z axis sensitivity for 4 Ga full scale [LSB/Ga] */
 411 #define LSM303DLHC_M_SENSITIVITY_Z_4_7Ga      355   /*!< magnetometer Z axis sensitivity for 4.7 Ga full scale [LSB/Ga] */
 412 #define LSM303DLHC_M_SENSITIVITY_Z_5_6Ga      295   /*!< magnetometer Z axis sensitivity for 5.6 Ga full scale [LSB/Ga] */
 413 #define LSM303DLHC_M_SENSITIVITY_Z_8_1Ga      205   /*!< magnetometer Z axis sensitivity for 8.1 Ga full scale [LSB/Ga] */
 414 /**
 415  * @}
 416  */
 417
 418 /** @defgroup Mag_Working_Mode
 419   * @{
 420   */
 421 #define LSM303DLHC_CONTINUOS_CONVERSION      ((uint8_t) 0x00)   /*!< Continuous-Conversion Mode */
 422 #define LSM303DLHC_SINGLE_CONVERSION         ((uint8_t) 0x01)   /*!< Single-Conversion Mode */
 423 #define LSM303DLHC_SLEEP                     ((uint8_t) 0x02)   /*!< Sleep Mode */
 424 /**
 425   * @}
 426   */
 427
 428 /** @defgroup Mag_Temperature_Sensor
 429   * @{
 430   */
 431 #define LSM303DLHC_TEMPSENSOR_ENABLE         ((uint8_t) 0x80)   /*!< Temp sensor Enable */
 432 #define LSM303DLHC_TEMPSENSOR_DISABLE        ((uint8_t) 0x00)   /*!< Temp sensor Disable */
 433
 434
 435 bool lsm303dlhcAccDetect(accDev_t *acc);