LIS2MDL magnetometer modified library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Diff: LIS2MDLSensor.h
- Revision:
- 0:671edf39d961
- Child:
- 1:8562ae1a0534
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LIS2MDLSensor.h Tue Mar 05 18:06:37 2019 +0000 @@ -0,0 +1,212 @@ +/** + ****************************************************************************** + * @file LIS2MDLSensor.h + * @author SRA + * @version V1.0.0 + * @date February 2019 + * @brief Abstract Class of an LIS2MDL 3 axes magnetometer sensor. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + */ + + +/* Prevent recursive inclusion -----------------------------------------------*/ + +#ifndef __LIS2MDLSensor_H__ +#define __LIS2MDLSensor_H__ + + +/* Includes ------------------------------------------------------------------*/ + +#include "DevI2C.h" +#include "lis2mdl_reg.h" +#include "MagneticSensor.h" +#include <assert.h> + +/* Defines -------------------------------------------------------------------*/ + + +#define LIS2MDL_MAG_SENSITIVITY_FS_50GAUSS 1.500f /**< Sensitivity value for 50 gauss full scale [mgauss/LSB] */ + +/* Typedefs ------------------------------------------------------------------*/ + +typedef struct +{ + int16_t x; + int16_t y; + int16_t z; +} LIS2MDL_AxesRaw_t; + +typedef struct +{ + int32_t x; + int32_t y; + int32_t z; +} LIS2MDL_Axes_t; + + +/* Class Declaration ---------------------------------------------------------*/ + +/** + * Abstract class of an LIS2MDL Inertial Measurement Unit (IMU) 3 axes + * sensor. + */ +class LIS2MDLSensor : public MagneticSensor +{ + public: + enum SPI_type_t {SPI3W, SPI4W}; + LIS2MDLSensor(SPI *spi, PinName cs_pin, PinName int_pin=NC, SPI_type_t spi_type=SPI4W); + LIS2MDLSensor(DevI2C *i2c, uint8_t address=LIS2MDL_I2C_ADD, PinName int_pin=NC); + virtual int init(void *init); + virtual int read_id(uint8_t *id); + virtual int get_m_axes(int32_t *magnetic_field); + virtual int get_m_axes_raw(int16_t *value); + int enable(void); + int disable(void); + int get_m_sensitivity(float *sensitivity); + int get_m_odr(float *odr); + int set_m_odr(float odr); + int get_m_fs(float *full_scale); + int set_m_fs(float full_scale); + int read_reg(uint8_t reg, uint8_t *data); + int write_reg(uint8_t reg, uint8_t data); + int set_m_self_test(uint8_t status); + int get_m_drdy_status(uint8_t *status); + + /** + * @brief Attaching an interrupt handler to the INT interrupt. + * @param fptr An interrupt handler. + * @retval None. + */ + void attach_int_irq(void (*fptr)(void)) + { + _int_irq.rise(fptr); + } + + /** + * @brief Enabling the INT interrupt handling. + * @param None. + * @retval None. + */ + void enable_int_irq(void) + { + _int_irq.enable_irq(); + } + + /** + * @brief Disabling the INT interrupt handling. + * @param None. + * @retval None. + */ + void disable_int_irq(void) + { + _int_irq.disable_irq(); + } + + /** + * @brief Utility function to read data. + * @param pBuffer: pointer to data to be read. + * @param RegisterAddr: specifies internal address register to be read. + * @param NumByteToRead: number of bytes to be read. + * @retval 0 if ok, an error code otherwise. + */ + uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead) + { + if (_dev_spi) { + /* Write Reg Address */ + _dev_spi->lock(); + _cs_pin = 0; + if (_spi_type == SPI4W) { + _dev_spi->write(RegisterAddr | 0x80); + for (int i=0; i<NumByteToRead; i++) { + *(pBuffer+i) = _dev_spi->write(0x00); + } + } else if (_spi_type == SPI3W){ + /* Write RD Reg Address with RD bit*/ + uint8_t TxByte = RegisterAddr | 0x80; + _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead); + } + _cs_pin = 1; + _dev_spi->unlock(); + return 0; + } + if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead); + return 1; + } + + /** + * @brief Utility function to write data. + * @param pBuffer: pointer to data to be written. + * @param RegisterAddr: specifies internal address register to be written. + * @param NumByteToWrite: number of bytes to write. + * @retval 0 if ok, an error code otherwise. + */ + uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite) + { + if (_dev_spi) { + _dev_spi->lock(); + _cs_pin = 0; + _dev_spi->write(RegisterAddr); + _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0); + _cs_pin = 1; + _dev_spi->unlock(); + return 0; + } + if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); + return 1; + } + + private: + + /* Helper classes. */ + DevI2C *_dev_i2c; + SPI *_dev_spi; + + /* Configuration */ + uint8_t _address; + DigitalOut _cs_pin; + InterruptIn _int_irq; + SPI_type_t _spi_type; + + uint8_t _mag_is_enabled; + + lis2mdl_ctx_t _reg_ctx; + +}; + +#ifdef __cplusplus + extern "C" { +#endif +int32_t LIS2MDL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ); +int32_t LIS2MDL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ); +#ifdef __cplusplus + } +#endif + +#endif