LIS2MDL magnetometer modified library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
LIS2MDLSensor.h@1:8562ae1a0534, 2019-07-24 (annotated)
- Committer:
- cparata
- Date:
- Wed Jul 24 14:18:39 2019 +0000
- Revision:
- 1:8562ae1a0534
- Parent:
- 0:671edf39d961
- Child:
- 2:0d9d7f8f871b
Format with Astyle
Who changed what in which revision?
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cparata | 0:671edf39d961 | 1 | /** |
cparata | 0:671edf39d961 | 2 | ****************************************************************************** |
cparata | 0:671edf39d961 | 3 | * @file LIS2MDLSensor.h |
cparata | 0:671edf39d961 | 4 | * @author SRA |
cparata | 0:671edf39d961 | 5 | * @version V1.0.0 |
cparata | 0:671edf39d961 | 6 | * @date February 2019 |
cparata | 0:671edf39d961 | 7 | * @brief Abstract Class of an LIS2MDL 3 axes magnetometer sensor. |
cparata | 0:671edf39d961 | 8 | ****************************************************************************** |
cparata | 0:671edf39d961 | 9 | * @attention |
cparata | 0:671edf39d961 | 10 | * |
cparata | 0:671edf39d961 | 11 | * <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2> |
cparata | 0:671edf39d961 | 12 | * |
cparata | 0:671edf39d961 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
cparata | 0:671edf39d961 | 14 | * are permitted provided that the following conditions are met: |
cparata | 0:671edf39d961 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
cparata | 0:671edf39d961 | 16 | * this list of conditions and the following disclaimer. |
cparata | 0:671edf39d961 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
cparata | 0:671edf39d961 | 18 | * this list of conditions and the following disclaimer in the documentation |
cparata | 0:671edf39d961 | 19 | * and/or other materials provided with the distribution. |
cparata | 0:671edf39d961 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
cparata | 0:671edf39d961 | 21 | * may be used to endorse or promote products derived from this software |
cparata | 0:671edf39d961 | 22 | * without specific prior written permission. |
cparata | 0:671edf39d961 | 23 | * |
cparata | 0:671edf39d961 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
cparata | 0:671edf39d961 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
cparata | 0:671edf39d961 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
cparata | 0:671edf39d961 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
cparata | 0:671edf39d961 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
cparata | 0:671edf39d961 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
cparata | 0:671edf39d961 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
cparata | 0:671edf39d961 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
cparata | 0:671edf39d961 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
cparata | 0:671edf39d961 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
cparata | 0:671edf39d961 | 34 | * |
cparata | 0:671edf39d961 | 35 | ****************************************************************************** |
cparata | 0:671edf39d961 | 36 | */ |
cparata | 0:671edf39d961 | 37 | |
cparata | 0:671edf39d961 | 38 | |
cparata | 0:671edf39d961 | 39 | /* Prevent recursive inclusion -----------------------------------------------*/ |
cparata | 0:671edf39d961 | 40 | |
cparata | 0:671edf39d961 | 41 | #ifndef __LIS2MDLSensor_H__ |
cparata | 0:671edf39d961 | 42 | #define __LIS2MDLSensor_H__ |
cparata | 0:671edf39d961 | 43 | |
cparata | 0:671edf39d961 | 44 | |
cparata | 0:671edf39d961 | 45 | /* Includes ------------------------------------------------------------------*/ |
cparata | 0:671edf39d961 | 46 | |
cparata | 0:671edf39d961 | 47 | #include "DevI2C.h" |
cparata | 0:671edf39d961 | 48 | #include "lis2mdl_reg.h" |
cparata | 0:671edf39d961 | 49 | #include "MagneticSensor.h" |
cparata | 0:671edf39d961 | 50 | #include <assert.h> |
cparata | 0:671edf39d961 | 51 | |
cparata | 0:671edf39d961 | 52 | /* Defines -------------------------------------------------------------------*/ |
cparata | 0:671edf39d961 | 53 | |
cparata | 0:671edf39d961 | 54 | |
cparata | 0:671edf39d961 | 55 | #define LIS2MDL_MAG_SENSITIVITY_FS_50GAUSS 1.500f /**< Sensitivity value for 50 gauss full scale [mgauss/LSB] */ |
cparata | 0:671edf39d961 | 56 | |
cparata | 0:671edf39d961 | 57 | /* Typedefs ------------------------------------------------------------------*/ |
cparata | 0:671edf39d961 | 58 | |
cparata | 1:8562ae1a0534 | 59 | typedef struct { |
cparata | 1:8562ae1a0534 | 60 | int16_t x; |
cparata | 1:8562ae1a0534 | 61 | int16_t y; |
cparata | 1:8562ae1a0534 | 62 | int16_t z; |
cparata | 0:671edf39d961 | 63 | } LIS2MDL_AxesRaw_t; |
cparata | 0:671edf39d961 | 64 | |
cparata | 1:8562ae1a0534 | 65 | typedef struct { |
cparata | 1:8562ae1a0534 | 66 | int32_t x; |
cparata | 1:8562ae1a0534 | 67 | int32_t y; |
cparata | 1:8562ae1a0534 | 68 | int32_t z; |
cparata | 0:671edf39d961 | 69 | } LIS2MDL_Axes_t; |
cparata | 0:671edf39d961 | 70 | |
cparata | 0:671edf39d961 | 71 | |
cparata | 0:671edf39d961 | 72 | /* Class Declaration ---------------------------------------------------------*/ |
cparata | 1:8562ae1a0534 | 73 | |
cparata | 0:671edf39d961 | 74 | /** |
cparata | 0:671edf39d961 | 75 | * Abstract class of an LIS2MDL Inertial Measurement Unit (IMU) 3 axes |
cparata | 0:671edf39d961 | 76 | * sensor. |
cparata | 0:671edf39d961 | 77 | */ |
cparata | 1:8562ae1a0534 | 78 | class LIS2MDLSensor : public MagneticSensor { |
cparata | 1:8562ae1a0534 | 79 | public: |
cparata | 0:671edf39d961 | 80 | enum SPI_type_t {SPI3W, SPI4W}; |
cparata | 1:8562ae1a0534 | 81 | LIS2MDLSensor(SPI *spi, PinName cs_pin, PinName int_pin = NC, SPI_type_t spi_type = SPI4W); |
cparata | 1:8562ae1a0534 | 82 | LIS2MDLSensor(DevI2C *i2c, uint8_t address = LIS2MDL_I2C_ADD, PinName int_pin = NC); |
cparata | 0:671edf39d961 | 83 | virtual int init(void *init); |
cparata | 0:671edf39d961 | 84 | virtual int read_id(uint8_t *id); |
cparata | 0:671edf39d961 | 85 | virtual int get_m_axes(int32_t *magnetic_field); |
cparata | 0:671edf39d961 | 86 | virtual int get_m_axes_raw(int16_t *value); |
cparata | 0:671edf39d961 | 87 | int enable(void); |
cparata | 0:671edf39d961 | 88 | int disable(void); |
cparata | 0:671edf39d961 | 89 | int get_m_sensitivity(float *sensitivity); |
cparata | 0:671edf39d961 | 90 | int get_m_odr(float *odr); |
cparata | 0:671edf39d961 | 91 | int set_m_odr(float odr); |
cparata | 0:671edf39d961 | 92 | int get_m_fs(float *full_scale); |
cparata | 0:671edf39d961 | 93 | int set_m_fs(float full_scale); |
cparata | 0:671edf39d961 | 94 | int read_reg(uint8_t reg, uint8_t *data); |
cparata | 0:671edf39d961 | 95 | int write_reg(uint8_t reg, uint8_t data); |
cparata | 0:671edf39d961 | 96 | int set_m_self_test(uint8_t status); |
cparata | 0:671edf39d961 | 97 | int get_m_drdy_status(uint8_t *status); |
cparata | 0:671edf39d961 | 98 | |
cparata | 0:671edf39d961 | 99 | /** |
cparata | 0:671edf39d961 | 100 | * @brief Attaching an interrupt handler to the INT interrupt. |
cparata | 0:671edf39d961 | 101 | * @param fptr An interrupt handler. |
cparata | 0:671edf39d961 | 102 | * @retval None. |
cparata | 0:671edf39d961 | 103 | */ |
cparata | 0:671edf39d961 | 104 | void attach_int_irq(void (*fptr)(void)) |
cparata | 0:671edf39d961 | 105 | { |
cparata | 0:671edf39d961 | 106 | _int_irq.rise(fptr); |
cparata | 0:671edf39d961 | 107 | } |
cparata | 0:671edf39d961 | 108 | |
cparata | 0:671edf39d961 | 109 | /** |
cparata | 0:671edf39d961 | 110 | * @brief Enabling the INT interrupt handling. |
cparata | 0:671edf39d961 | 111 | * @param None. |
cparata | 0:671edf39d961 | 112 | * @retval None. |
cparata | 0:671edf39d961 | 113 | */ |
cparata | 0:671edf39d961 | 114 | void enable_int_irq(void) |
cparata | 0:671edf39d961 | 115 | { |
cparata | 0:671edf39d961 | 116 | _int_irq.enable_irq(); |
cparata | 0:671edf39d961 | 117 | } |
cparata | 1:8562ae1a0534 | 118 | |
cparata | 0:671edf39d961 | 119 | /** |
cparata | 0:671edf39d961 | 120 | * @brief Disabling the INT interrupt handling. |
cparata | 0:671edf39d961 | 121 | * @param None. |
cparata | 0:671edf39d961 | 122 | * @retval None. |
cparata | 0:671edf39d961 | 123 | */ |
cparata | 0:671edf39d961 | 124 | void disable_int_irq(void) |
cparata | 0:671edf39d961 | 125 | { |
cparata | 0:671edf39d961 | 126 | _int_irq.disable_irq(); |
cparata | 0:671edf39d961 | 127 | } |
cparata | 0:671edf39d961 | 128 | |
cparata | 0:671edf39d961 | 129 | /** |
cparata | 0:671edf39d961 | 130 | * @brief Utility function to read data. |
cparata | 0:671edf39d961 | 131 | * @param pBuffer: pointer to data to be read. |
cparata | 0:671edf39d961 | 132 | * @param RegisterAddr: specifies internal address register to be read. |
cparata | 0:671edf39d961 | 133 | * @param NumByteToRead: number of bytes to be read. |
cparata | 0:671edf39d961 | 134 | * @retval 0 if ok, an error code otherwise. |
cparata | 0:671edf39d961 | 135 | */ |
cparata | 1:8562ae1a0534 | 136 | uint8_t io_read(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead) |
cparata | 0:671edf39d961 | 137 | { |
cparata | 0:671edf39d961 | 138 | if (_dev_spi) { |
cparata | 0:671edf39d961 | 139 | /* Write Reg Address */ |
cparata | 0:671edf39d961 | 140 | _dev_spi->lock(); |
cparata | 1:8562ae1a0534 | 141 | _cs_pin = 0; |
cparata | 1:8562ae1a0534 | 142 | if (_spi_type == SPI4W) { |
cparata | 0:671edf39d961 | 143 | _dev_spi->write(RegisterAddr | 0x80); |
cparata | 1:8562ae1a0534 | 144 | for (int i = 0; i < NumByteToRead; i++) { |
cparata | 1:8562ae1a0534 | 145 | *(pBuffer + i) = _dev_spi->write(0x00); |
cparata | 0:671edf39d961 | 146 | } |
cparata | 1:8562ae1a0534 | 147 | } else if (_spi_type == SPI3W) { |
cparata | 0:671edf39d961 | 148 | /* Write RD Reg Address with RD bit*/ |
cparata | 1:8562ae1a0534 | 149 | uint8_t TxByte = RegisterAddr | 0x80; |
cparata | 0:671edf39d961 | 150 | _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead); |
cparata | 1:8562ae1a0534 | 151 | } |
cparata | 0:671edf39d961 | 152 | _cs_pin = 1; |
cparata | 1:8562ae1a0534 | 153 | _dev_spi->unlock(); |
cparata | 0:671edf39d961 | 154 | return 0; |
cparata | 1:8562ae1a0534 | 155 | } |
cparata | 1:8562ae1a0534 | 156 | if (_dev_i2c) { |
cparata | 1:8562ae1a0534 | 157 | return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead); |
cparata | 1:8562ae1a0534 | 158 | } |
cparata | 0:671edf39d961 | 159 | return 1; |
cparata | 0:671edf39d961 | 160 | } |
cparata | 1:8562ae1a0534 | 161 | |
cparata | 0:671edf39d961 | 162 | /** |
cparata | 0:671edf39d961 | 163 | * @brief Utility function to write data. |
cparata | 0:671edf39d961 | 164 | * @param pBuffer: pointer to data to be written. |
cparata | 0:671edf39d961 | 165 | * @param RegisterAddr: specifies internal address register to be written. |
cparata | 0:671edf39d961 | 166 | * @param NumByteToWrite: number of bytes to write. |
cparata | 0:671edf39d961 | 167 | * @retval 0 if ok, an error code otherwise. |
cparata | 0:671edf39d961 | 168 | */ |
cparata | 1:8562ae1a0534 | 169 | uint8_t io_write(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite) |
cparata | 0:671edf39d961 | 170 | { |
cparata | 1:8562ae1a0534 | 171 | if (_dev_spi) { |
cparata | 0:671edf39d961 | 172 | _dev_spi->lock(); |
cparata | 0:671edf39d961 | 173 | _cs_pin = 0; |
cparata | 1:8562ae1a0534 | 174 | _dev_spi->write(RegisterAddr); |
cparata | 1:8562ae1a0534 | 175 | _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0); |
cparata | 1:8562ae1a0534 | 176 | _cs_pin = 1; |
cparata | 0:671edf39d961 | 177 | _dev_spi->unlock(); |
cparata | 1:8562ae1a0534 | 178 | return 0; |
cparata | 1:8562ae1a0534 | 179 | } |
cparata | 1:8562ae1a0534 | 180 | if (_dev_i2c) { |
cparata | 1:8562ae1a0534 | 181 | return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); |
cparata | 1:8562ae1a0534 | 182 | } |
cparata | 0:671edf39d961 | 183 | return 1; |
cparata | 0:671edf39d961 | 184 | } |
cparata | 0:671edf39d961 | 185 | |
cparata | 1:8562ae1a0534 | 186 | private: |
cparata | 0:671edf39d961 | 187 | |
cparata | 0:671edf39d961 | 188 | /* Helper classes. */ |
cparata | 0:671edf39d961 | 189 | DevI2C *_dev_i2c; |
cparata | 0:671edf39d961 | 190 | SPI *_dev_spi; |
cparata | 0:671edf39d961 | 191 | |
cparata | 0:671edf39d961 | 192 | /* Configuration */ |
cparata | 0:671edf39d961 | 193 | uint8_t _address; |
cparata | 1:8562ae1a0534 | 194 | DigitalOut _cs_pin; |
cparata | 0:671edf39d961 | 195 | InterruptIn _int_irq; |
cparata | 0:671edf39d961 | 196 | SPI_type_t _spi_type; |
cparata | 1:8562ae1a0534 | 197 | |
cparata | 0:671edf39d961 | 198 | uint8_t _mag_is_enabled; |
cparata | 1:8562ae1a0534 | 199 | |
cparata | 0:671edf39d961 | 200 | lis2mdl_ctx_t _reg_ctx; |
cparata | 1:8562ae1a0534 | 201 | |
cparata | 0:671edf39d961 | 202 | }; |
cparata | 0:671edf39d961 | 203 | |
cparata | 0:671edf39d961 | 204 | #ifdef __cplusplus |
cparata | 1:8562ae1a0534 | 205 | extern "C" { |
cparata | 0:671edf39d961 | 206 | #endif |
cparata | 1:8562ae1a0534 | 207 | int32_t LIS2MDL_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite); |
cparata | 1:8562ae1a0534 | 208 | int32_t LIS2MDL_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead); |
cparata | 0:671edf39d961 | 209 | #ifdef __cplusplus |
cparata | 1:8562ae1a0534 | 210 | } |
cparata | 0:671edf39d961 | 211 | #endif |
cparata | 0:671edf39d961 | 212 | |
cparata | 0:671edf39d961 | 213 | #endif |