File content as of revision 10:97389d774ae1:

// Defines for the MEMS sensors on the STEVAL-MKI124V1 board
// Liam Goudge. March 2014

// LPS331AP MEMS pressure and temperature sensor
#define LPS331addr      0xBA // I2C address of the sensor for writes (line SAO is tied high on this board so bit 1=1. Note this may not work on other boards).

#define pWHO_AM_I        0x0F // "ping" register. Device will respond even when in sleep mode
#define pRES_CONF        0x10 // Reset value is 0x7A (512 pressure samples and 128 temperature samples)
#define pCTRL_REG1       0x20
#define pCTRL_REG2       0x21
#define pCTRL_REG3       0x22
#define pPRESS_OUT_XL    0x28
#define pPRESS_OUT_L     0x29
#define pPRESS_OUT_H     0x2A
#define pTEMP_OUT_L      0x2B // Temperature data. 2's complement. Device will respond when in sleep mode
#define pTEMP_OUT_H      0x2C

// LSM303DLHC MEMS ascceleratometer, magnetometer and temperature sensor
#define LSM303_m        0x3C // I2C base address of the magnetometer sensor
#define LSM303_a        0x32 // I2C base address of the accelerometer sensor

// Magnetometer registers
#define mCRA_REG_M       0x00 // Magnetic sensor configuration register A
#define mCRB_REG_M       0x01 // Magnetic sensor configuration register B
#define mMR_REG_M        0x02 // Magnetometer mode register
#define mOUT_X_H_M       0x03 // X-axis magnetic field data High byte
#define mOUT_X_L_M       0x04 // X-axis magnetic field data Low byte
#define mOUT_Z_H_M       0x05 // Z-axis magnetic field data High byte
#define mOUT_Z_L_M       0x06 // Z-axis magnetic field data Low byte
#define mOUT_Y_H_M       0x07 // Y-axis magnetic field data High byte
#define mOUT_Y_L_M       0x08 // Y-axis magnetic field data Low byte
#define mSR_REG_M        0x09 // Magnetometer status register
#define mIRA_REG_M       0x0A // ID register A. Should read 0x48
#define mCTRL_REG1_A     0x20
#define mTEMP_OUT_H_M    0x31 // Magnetometer temperature register High byte
#define mTEMP_OUT_L_M    0x32 // Magnetometer temperature register Low byte

// Accelerometer registers
#define aCTRL_REG1_A     0x20 // Accelerometer output data rate ODR, low power modes etc
#define aCTRL_REG4_A     0x23 // Accelerometer full scale selection etc
#define aOUT_X_L_A       0x28 // Accelerometer X axis low byte
#define aOUT_X_H_A       0x29 // Accelerometer X axis high byte
#define aOUT_Y_L_A       0x2A // Accelerometer Y axis low byte
#define aOUT_Y_H_A       0x2B // Accelerometer Y axis high byte
#define aOUT_Z_L_A       0x2C // Accelerometer Z axis low byte
#define aOUT_Z_H_A       0x2D // Accelerometer Z axis high byte

// L3GD20 MEMS gyro. 3 axis angular rate sensor
#define L3GD20_ADDR     0xD6 // I2C base address of the gyro

#define gWHO_AM_I        0x0F // Ping register. Response is 0xD4. Responds even when device is off
#define gCTRL_REG1       0x20 // Sets Output Data Rate, Bandwidth and Power mode
#define gCTRL_REG4       0x23 // 
#define gOUT_TEMP        0x26 // Temperature data. 8 bit resolution
#define gOUT_X_L         0x28 // X-axis angular rate low byte expressed as 2's complement
#define gOUT_X_H         0x29 // X-axis angular rate high byte
#define gOUT_Y_L         0x2A
#define gOUT_Y_H         0x2B
#define gOUT_Z_L         0x2C
#define gOUT_Z_H         0x2D


// Structs
typedef struct{   
    float   pitch;
    float   roll;
    int16_t   aX;
    int16_t   aY;
    int16_t   aZ;
    float   heading;
    float   tempC;
    float   pressuremB;
    } SensorState_t;
    


typedef struct{
    float x;
    float y;
    float z;
    int16_t aX;
    int16_t aY;
    int16_t aZ;
}Result_avrg;