LIS2MDL magnetometer modified library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
LIS2MDLSensor.cpp
- Committer:
- cparata
- Date:
- 2019-03-05
- Revision:
- 0:671edf39d961
- Child:
- 1:8562ae1a0534
File content as of revision 0:671edf39d961:
/** ****************************************************************************** * @file LIS2MDLSensor.cpp * @author SRA * @version V1.0.0 * @date February 2019 * @brief Implementation 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. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "LIS2MDLSensor.h" /* Class Implementation ------------------------------------------------------*/ /** Constructor * @param spi object of an helper class which handles the SPI peripheral * @param cs_pin the chip select pin * @param int_pin the interrupt pin * @param spi_type the SPI type */ LIS2MDLSensor::LIS2MDLSensor(SPI *spi, PinName cs_pin, PinName int_pin, SPI_type_t spi_type) : _dev_spi(spi), _cs_pin(cs_pin), _int_irq(int_pin), _spi_type(spi_type) { assert (spi); if (cs_pin == NC) { printf ("ERROR LIS2MDL CS MUST NOT BE NC\n\r"); _dev_spi = NULL; _dev_i2c = NULL; return; } _reg_ctx.write_reg = LIS2MDL_io_write; _reg_ctx.read_reg = LIS2MDL_io_read; _reg_ctx.handle = (void *)this; _cs_pin = 1; _dev_i2c = NULL; _address = 0; if (_spi_type == SPI4W) { /* Enable SPI 4-Wires on the component (in this way we lose the usage of INT pin) */ uint8_t data = 0x34; lis2mdl_write_reg(&_reg_ctx, LIS2MDL_CFG_REG_C, &data, 1); } } /** Constructor * @param i2c object of an helper class which handles the I2C peripheral * @param address the address of the component's instance * @param int_pin the interrupt pin */ LIS2MDLSensor::LIS2MDLSensor(DevI2C *i2c, uint8_t address, PinName int_pin) : _dev_i2c(i2c), _address(address), _cs_pin(NC), _int_irq(int_pin) { assert (i2c); _dev_spi = NULL; _reg_ctx.write_reg = LIS2MDL_io_write; _reg_ctx.read_reg = LIS2MDL_io_read; _reg_ctx.handle = (void *)this; } /** * @brief Initializing the component * @param init pointer to device specific initalization structure * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::init(void *init) { /* Enable BDU */ if (lis2mdl_block_data_update_set(&(_reg_ctx), PROPERTY_ENABLE) != 0) { return 1; } /* Operating mode selection - power down */ if (lis2mdl_operating_mode_set(&(_reg_ctx), LIS2MDL_POWER_DOWN) != 0) { return 1; } /* Output data rate selection */ if (lis2mdl_data_rate_set(&(_reg_ctx), LIS2MDL_ODR_100Hz) != 0) { return 1; } /* Self Test disabled. */ if (lis2mdl_self_test_set(&(_reg_ctx), PROPERTY_DISABLE) != 0) { return 1; } _mag_is_enabled = 0; return 0; } /** * @brief Read component ID * @param id the WHO_AM_I value * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::read_id(uint8_t *id) { if (lis2mdl_device_id_get(&_reg_ctx, id) != 0) { return 1; } return 0; } /** * @brief Enable the LIS2MDL magnetometer sensor * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::enable() { /* Check if the component is already enabled */ if (_mag_is_enabled == 1U) { return 0; } /* Output data rate selection. */ if (lis2mdl_operating_mode_set(&_reg_ctx, LIS2MDL_CONTINUOUS_MODE) != 0) { return 1; } _mag_is_enabled = 1; return 0; } /** * @brief Disable the LIS2MDL magnetometer sensor * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::disable() { /* Check if the component is already disabled */ if (_mag_is_enabled == 0U) { return 0; } /* Output data rate selection - power down. */ if (lis2mdl_operating_mode_set(&_reg_ctx, LIS2MDL_POWER_DOWN) != 0) { return 1; } _mag_is_enabled = 0; return 0; } /** * @brief Get the LIS2MDL magnetometer sensor sensitivity * @param sensitivity pointer where the sensitivity is written * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::get_m_sensitivity(float *sensitivity) { *sensitivity = LIS2MDL_MAG_SENSITIVITY_FS_50GAUSS; return 0; } /** * @brief Get the LIS2MDL magnetometer sensor output data rate * @param odr pointer where the output data rate is written * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::get_m_odr(float *odr) { int ret = 0; lis2mdl_odr_t odr_low_level; /* Get current output data rate. */ if (lis2mdl_data_rate_get(&_reg_ctx, &odr_low_level) != 0) { return 1; } switch (odr_low_level) { case LIS2MDL_ODR_10Hz: *odr = 10.0f; break; case LIS2MDL_ODR_20Hz: *odr = 20.0f; break; case LIS2MDL_ODR_50Hz: *odr = 50.0f; break; case LIS2MDL_ODR_100Hz: *odr = 100.0f; break; default: ret = 1; break; } return ret; } /** * @brief Set the LIS2MDL magnetometer sensor output data rate * @param odr the output data rate value to be set * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::set_m_odr(float odr) { lis2mdl_odr_t new_odr; new_odr = (odr <= 10.000f) ? LIS2MDL_ODR_10Hz : (odr <= 20.000f) ? LIS2MDL_ODR_20Hz : (odr <= 50.000f) ? LIS2MDL_ODR_50Hz : LIS2MDL_ODR_100Hz; if (lis2mdl_data_rate_set(&_reg_ctx, new_odr) != 0) { return 1; } return 0; } /** * @brief Get the LIS2MDL magnetometer sensor full scale * @param full_scale pointer where the full scale is written * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::get_m_fs(float *full_scale) { *full_scale = 50.0f; return 0; } /** * @brief Set the LIS2MDL magnetometer sensor full scale * @param full_scale the functional full scale to be set * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::set_m_fs(float full_scale) { (void)full_scale; return 0; } /** * @brief Get the LIS2MDL magnetometer sensor axes * @param magnetic_field pointer where the values of the axes are written * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::get_m_axes(int32_t *magnetic_field) { axis3bit16_t data_raw; float sensitivity; /* Read raw data values. */ if (lis2mdl_magnetic_raw_get(&_reg_ctx, data_raw.u8bit) != 0) { return 1; } /* Get LIS2MDL actual sensitivity. */ if (get_m_sensitivity(&sensitivity) != 0) { return 1; } /* Calculate the data. */ magnetic_field[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity)); magnetic_field[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity)); magnetic_field[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity)); return 0; } /** * @brief Get the LIS2MDL magnetometer sensor raw axes * @param value pointer where the raw values of the axes are written * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::get_m_axes_raw(int16_t *value) { axis3bit16_t data_raw; /* Read raw data values. */ if (lis2mdl_magnetic_raw_get(&_reg_ctx, data_raw.u8bit) != 0) { return 1; } /* Format the data. */ value[0] = data_raw.i16bit[0]; value[1] = data_raw.i16bit[1]; value[2] = data_raw.i16bit[2]; return 0; } /** * @brief Get the LIS2MDL register value for magnetic sensor * @param reg address to be read * @param data pointer where the value is written * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::read_reg(uint8_t reg, uint8_t *data) { if (lis2mdl_read_reg(&_reg_ctx, reg, data, 1) != 0) { return 1; } return 0; } /** * @brief Set the LIS2MDL register value for magnetic sensor * @param pObj the device pObj * @param reg address to be written * @param data value to be written * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::write_reg(uint8_t reg, uint8_t data) { if (lis2mdl_write_reg(&_reg_ctx, reg, &data, 1) != 0) { return 1; } return 0; } /** * @brief Set self test * @param status the value of self_test in reg CFG_REG_C * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::set_m_self_test(uint8_t status) { if (lis2mdl_self_test_set(&_reg_ctx, status) != 0) { return 1; } return 0; } /** * @brief Get the LIS2MDL MAG data ready bit value * @param status the status of data ready bit * @retval 0 in case of success, an error code otherwise */ int LIS2MDLSensor::get_m_drdy_status(uint8_t *status) { if (lis2mdl_mag_data_ready_get(&_reg_ctx, status) != 0) { return 1; } return 0; } int32_t LIS2MDL_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite) { return ((LIS2MDLSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite); } int32_t LIS2MDL_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead) { return ((LIS2MDLSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead); }