diff --git a/boards/iot-lab_M3/include/board.h b/boards/iot-lab_M3/include/board.h
index be7032f9f3d2382361546329e409e22d7d6107f0..3e1cf2aaabefff3650d89a8bf9e898f53d246274 100644
--- a/boards/iot-lab_M3/include/board.h
+++ b/boards/iot-lab_M3/include/board.h
@@ -111,8 +111,8 @@ extern "C" {
* @{
*/
#define LSM303DLHC_I2C I2C_0
-#define LSM303DLHC_ACC_ADDR (25)
-#define LSM303DLHC_MAG_ADDR (30)
+#define LSM303DLHC_ACC_ADDR (0x19)
+#define LSM303DLHC_MAG_ADDR (0x1e)
#define LSM303DLHC_INT1 GPIO_5
#define LSM303DLHC_INT2 GPIO_6
#define LSM303DLHC_DRDY GPIO_7
diff --git a/drivers/include/lsm303dlhc.h b/drivers/include/lsm303dlhc.h
index 1425135f03c86aee042c3b466042fe12cf99b393..50126b808fca886444e5bdee54e7301d30b5bdf8 100644
--- a/drivers/include/lsm303dlhc.h
+++ b/drivers/include/lsm303dlhc.h
@@ -51,6 +51,8 @@ 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 */
} lsm303dlhc_t;
/**
diff --git a/drivers/lsm303dlhc/lsm303dlhc.c b/drivers/lsm303dlhc/lsm303dlhc.c
index b9854574122831138b037ed89836568d8f74e5d6..d4963843c5c7ea228978faa06c6baa6df228d810 100644
--- a/drivers/lsm303dlhc/lsm303dlhc.c
+++ b/drivers/lsm303dlhc/lsm303dlhc.c
@@ -38,6 +38,8 @@ int lsm303dlhc_init(lsm303dlhc_t *dev, i2c_t i2c, gpio_t acc_pin, gpio_t mag_pin
dev->i2c = i2c;
dev->acc_address = acc_address;
dev->mag_address = mag_address;
+ dev->acc_pin = acc_pin;
+ dev->mag_pin = mag_pin;
i2c_init_master(i2c, I2C_SPEED_NORMAL);
@@ -110,6 +112,10 @@ int lsm303dlhc_read_acc(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data)
data->z_axis |= tmp<<8;
DEBUG("read ... ");
+ data->x_axis = data->x_axis>>4;
+ data->y_axis = data->y_axis>>4;
+ data->z_axis = data->z_axis>>4;
+
if (res < 6) {
DEBUG("[!!failed!!]\n");
return -1;
@@ -124,7 +130,7 @@ int lsm303dlhc_read_mag(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data)
int res;
DEBUG("lsm303dlhc: wait for mag values... ");
- while (gpio_read(GPIO_8) == 0){}
+ while (gpio_read(dev->mag_pin) == 0){}
DEBUG("read ... ");
@@ -192,7 +198,7 @@ int lsm303dlhc_enable(lsm303dlhc_t *dev)
tmp = (LSM303DLHC_CTRL4_A_BDU| LSM303DLHC_CTRL4_A_SCALE_2G | LSM303DLHC_CTRL4_A_HR);
res += i2c_write_reg(dev->i2c, dev->acc_address, LSM303DLHC_REG_CTRL4_A, tmp);
res += i2c_write_reg(dev->i2c, dev->acc_address, LSM303DLHC_REG_CTRL3_A, LSM303DLHC_CTRL3_A_I1_DRDY1);
- gpio_init_in(GPIO_2, GPIO_NOPULL);
+ gpio_init_in(dev->acc_pin, GPIO_NOPULL);
tmp = LSM303DLHC_TEMP_EN | LSM303DLHC_TEMP_SAMPLE_75HZ;
res += i2c_write_reg(dev->i2c, dev->mag_address, LSM303DLHC_REG_CRA_M, tmp);
@@ -203,7 +209,7 @@ int lsm303dlhc_enable(lsm303dlhc_t *dev)
res += i2c_write_reg(dev->i2c, dev->mag_address,
LSM303DLHC_REG_MR_M, LSM303DLHC_MAG_MODE_CONTINUOUS);
- gpio_init_in(GPIO_8, GPIO_NOPULL);
+ gpio_init_in(dev->mag_pin, GPIO_NOPULL);
return (res < 6) ? -1 : 0;
}
diff --git a/examples/default/Makefile b/examples/default/Makefile
index 599984c90683c7262142b2dc1d42598dcffc6c74..7b86bf3fe7a634751fe3ffeed825caa277beb0b6 100644
--- a/examples/default/Makefile
+++ b/examples/default/Makefile
@@ -59,6 +59,7 @@ ifneq (,$(filter iot-lab_M3,$(BOARD)))
USEMODULE += isl29020
USEMODULE += lps331ap
USEMODULE += l3g4200d
+ USEMODULE += lsm303dlhc
endif
include $(RIOTBASE)/Makefile.include
diff --git a/sys/shell/commands/Makefile b/sys/shell/commands/Makefile
index b78a6a7e346653dd83acde8cd17e5d190f63719e..49dd87cc86251cb72c064a79ed146ce1e2c7f50d 100644
--- a/sys/shell/commands/Makefile
+++ b/sys/shell/commands/Makefile
@@ -52,5 +52,8 @@ endif
ifneq (,$(filter l3g4200d,$(USEMODULE)))
SRC += sc_l3g4200d.c
endif
+ifneq (,$(filter lsm303dlhc,$(USEMODULE)))
+ SRC += sc_lsm303dlhc.c
+endif
include $(RIOTBASE)/Makefile.base
diff --git a/sys/shell/commands/sc_lsm303dlhc.c b/sys/shell/commands/sc_lsm303dlhc.c
new file mode 100644
index 0000000000000000000000000000000000000000..98470177df949ff481badbaa5bdb76c60ee82ca2
--- /dev/null
+++ b/sys/shell/commands/sc_lsm303dlhc.c
@@ -0,0 +1,95 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup shell_commands
+ * @{
+ *
+ * @file
+ * @brief provides shell commands to poll lsm303dlhc sensor
+ *
+ * @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+#include "board.h"
+#include "lsm303dlhc.h"
+
+#ifdef MODULE_LSM303DLHC
+
+#define ACC_S_RATE LSM303DLHC_ACC_SAMPLE_RATE_10HZ
+#define ACC_SCALE LSM303DLHC_ACC_SCALE_2G
+#define MAG_S_RATE LSM303DLHC_MAG_SAMPLE_RATE_75HZ
+#define MAG_GAIN LSM303DLHC_MAG_GAIN_400_355_GAUSS
+
+static lsm303dlhc_t lsm303_dev;
+
+void _get_lsm303dlhc_init_handler(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ uint8_t error;
+
+ error = lsm303dlhc_init(&lsm303_dev, LSM303DLHC_I2C,
+ LSM303DLHC_INT1, LSM303DLHC_DRDY,
+ LSM303DLHC_ACC_ADDR, ACC_S_RATE, ACC_SCALE,
+ LSM303DLHC_MAG_ADDR, MAG_S_RATE, MAG_GAIN);
+
+ if (error) {
+ puts("Error initializing lsm303dlhc sensor.");
+ }
+ else {
+ puts("Initialized lsm303dlhc sensor with default values");
+ }
+}
+
+void _get_lsm303dlhc_read_handler(int argc, char **argv)
+{
+ (void)argc;
+ (void)argv;
+
+ uint8_t error;
+ lsm303dlhc_3d_data_t data;
+
+ if (!lsm303_dev.acc_address || !lsm303_dev.mag_address) {
+ puts("Error: please call `lsm303dlhc_init` first!");
+ return;
+ }
+
+ error = lsm303dlhc_read_acc(&lsm303_dev, &data);
+ if (error) {
+ puts("Error reading accelerometer data from lsm303dlhc.");
+ return;
+ }
+ else {
+ printf("lsm303dlhc: Accelerometer {%i, %i, %i} mg\n", data.x_axis, data.y_axis, data.z_axis);
+ }
+
+ error = lsm303dlhc_read_mag(&lsm303_dev, &data);
+ if (error) {
+ puts("Error reading magnetometer data from lsm303dlhc.");
+ return;
+ }
+ else {
+ printf("lsm303dlhc: Magnetometer {%i, %i, %i}/1100 gauss\n", data.x_axis, data.y_axis, data.z_axis);
+ }
+
+ error = lsm303dlhc_read_temp(&lsm303_dev, &(data.x_axis));
+ if (error) {
+ puts("Error reading temperature data from lsm303dlhc.");
+ return;
+ }
+ else {
+ printf("lsm303dlhc: Temperature %i\n", data.x_axis);
+ }
+}
+
+#endif /* MODULE_LSM303DLHC */
diff --git a/sys/shell/commands/shell_commands.c b/sys/shell/commands/shell_commands.c
index d0181146637c1a2ad8a6984c8f5d49f9a34b4787..6173eead200870952e9ac7e34d22cd7173d4f584 100644
--- a/sys/shell/commands/shell_commands.c
+++ b/sys/shell/commands/shell_commands.c
@@ -64,6 +64,11 @@ extern void _get_l3g4200d_init_handler(int argc, char **argv);
extern void _get_l3g4200d_read_handler(int argc, char **argv);
#endif
+#ifdef MODULE_LSM303DLHC
+extern void _get_lsm303dlhc_init_handler(int argc, char **argv);
+extern void _get_lsm303dlhc_read_handler(int argc, char **argv);
+#endif
+
#ifdef MODULE_LTC4150
extern void _get_current_handler(int argc, char **argv);
extern void _reset_current_handler(int argc, char **argv);
@@ -172,6 +177,10 @@ const shell_command_t _shell_command_list[] = {
{"l3g4200d_init", "Initializes the l3g4200d sensor driver.", _get_l3g4200d_init_handler},
{"l3g4200d_read", "Prints data from the l3g4200d sensor.", _get_l3g4200d_read_handler},
#endif
+#ifdef MODULE_LSM303DLHC
+ {"lsm303dlhc_init", "Initializes the lsm303dlhc sensor driver.", _get_lsm303dlhc_init_handler},
+ {"lsm303dlhc_read", "Prints data from the lsm303dlhc sensor.", _get_lsm303dlhc_read_handler},
+#endif
#ifdef MODULE_LTC4150
{"cur", "Prints current and average power consumption.", _get_current_handler},
{"rstcur", "Resets coulomb counter.", _reset_current_handler},