LIS2MDL magnetometer modified library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
LIS2MDLSensor.cpp@3:a16e6dd1ee7f, 2019-09-05 (annotated)
- Committer:
- martlefebvre94
- Date:
- Thu Sep 05 15:41:07 2019 +0000
- Revision:
- 3:a16e6dd1ee7f
- Parent:
- 2:0d9d7f8f871b
Temperature compensation and offset cancellation added to the set/get methods
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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cparata | 0:671edf39d961 | 1 | /** |
cparata | 0:671edf39d961 | 2 | ****************************************************************************** |
cparata | 0:671edf39d961 | 3 | * @file LIS2MDLSensor.cpp |
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 Implementation 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 | /* Includes ------------------------------------------------------------------*/ |
cparata | 0:671edf39d961 | 40 | |
cparata | 0:671edf39d961 | 41 | #include "LIS2MDLSensor.h" |
cparata | 0:671edf39d961 | 42 | |
cparata | 0:671edf39d961 | 43 | |
cparata | 0:671edf39d961 | 44 | /* Class Implementation ------------------------------------------------------*/ |
cparata | 0:671edf39d961 | 45 | |
cparata | 0:671edf39d961 | 46 | /** Constructor |
cparata | 0:671edf39d961 | 47 | * @param spi object of an helper class which handles the SPI peripheral |
cparata | 0:671edf39d961 | 48 | * @param cs_pin the chip select pin |
cparata | 0:671edf39d961 | 49 | * @param int_pin the interrupt pin |
cparata | 0:671edf39d961 | 50 | * @param spi_type the SPI type |
cparata | 0:671edf39d961 | 51 | */ |
cparata | 0:671edf39d961 | 52 | 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) |
cparata | 0:671edf39d961 | 53 | { |
cparata | 1:8562ae1a0534 | 54 | assert(spi); |
cparata | 1:8562ae1a0534 | 55 | if (cs_pin == NC) { |
cparata | 1:8562ae1a0534 | 56 | printf("ERROR LIS2MDL CS MUST NOT BE NC\n\r"); |
cparata | 1:8562ae1a0534 | 57 | _dev_spi = NULL; |
cparata | 1:8562ae1a0534 | 58 | _dev_i2c = NULL; |
cparata | 1:8562ae1a0534 | 59 | return; |
cparata | 1:8562ae1a0534 | 60 | } |
cparata | 0:671edf39d961 | 61 | |
cparata | 1:8562ae1a0534 | 62 | _reg_ctx.write_reg = LIS2MDL_io_write; |
cparata | 1:8562ae1a0534 | 63 | _reg_ctx.read_reg = LIS2MDL_io_read; |
cparata | 1:8562ae1a0534 | 64 | _reg_ctx.handle = (void *)this; |
cparata | 1:8562ae1a0534 | 65 | _cs_pin = 1; |
cparata | 1:8562ae1a0534 | 66 | _dev_i2c = NULL; |
cparata | 1:8562ae1a0534 | 67 | _address = 0; |
cparata | 1:8562ae1a0534 | 68 | |
cparata | 1:8562ae1a0534 | 69 | if (_spi_type == SPI4W) { |
cparata | 1:8562ae1a0534 | 70 | /* Enable SPI 4-Wires on the component (in this way we lose the usage of INT pin) */ |
cparata | 1:8562ae1a0534 | 71 | uint8_t data = 0x34; |
cparata | 1:8562ae1a0534 | 72 | lis2mdl_write_reg(&_reg_ctx, LIS2MDL_CFG_REG_C, &data, 1); |
cparata | 1:8562ae1a0534 | 73 | } |
cparata | 0:671edf39d961 | 74 | } |
cparata | 0:671edf39d961 | 75 | |
cparata | 0:671edf39d961 | 76 | /** Constructor |
cparata | 0:671edf39d961 | 77 | * @param i2c object of an helper class which handles the I2C peripheral |
cparata | 0:671edf39d961 | 78 | * @param address the address of the component's instance |
cparata | 0:671edf39d961 | 79 | * @param int_pin the interrupt pin |
cparata | 0:671edf39d961 | 80 | */ |
cparata | 0:671edf39d961 | 81 | LIS2MDLSensor::LIS2MDLSensor(DevI2C *i2c, uint8_t address, PinName int_pin) : _dev_i2c(i2c), _address(address), _cs_pin(NC), _int_irq(int_pin) |
cparata | 0:671edf39d961 | 82 | { |
cparata | 1:8562ae1a0534 | 83 | assert(i2c); |
cparata | 1:8562ae1a0534 | 84 | _dev_spi = NULL; |
cparata | 1:8562ae1a0534 | 85 | _reg_ctx.write_reg = LIS2MDL_io_write; |
cparata | 1:8562ae1a0534 | 86 | _reg_ctx.read_reg = LIS2MDL_io_read; |
cparata | 1:8562ae1a0534 | 87 | _reg_ctx.handle = (void *)this; |
cparata | 0:671edf39d961 | 88 | } |
cparata | 0:671edf39d961 | 89 | |
cparata | 0:671edf39d961 | 90 | /** |
cparata | 0:671edf39d961 | 91 | * @brief Initializing the component |
cparata | 0:671edf39d961 | 92 | * @param init pointer to device specific initalization structure |
cparata | 0:671edf39d961 | 93 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 94 | */ |
cparata | 0:671edf39d961 | 95 | int LIS2MDLSensor::init(void *init) |
cparata | 0:671edf39d961 | 96 | { |
cparata | 1:8562ae1a0534 | 97 | /* Enable BDU */ |
cparata | 1:8562ae1a0534 | 98 | if (lis2mdl_block_data_update_set(&(_reg_ctx), PROPERTY_ENABLE) != 0) { |
cparata | 1:8562ae1a0534 | 99 | return 1; |
cparata | 1:8562ae1a0534 | 100 | } |
cparata | 0:671edf39d961 | 101 | |
cparata | 1:8562ae1a0534 | 102 | /* Operating mode selection - power down */ |
cparata | 1:8562ae1a0534 | 103 | if (lis2mdl_operating_mode_set(&(_reg_ctx), LIS2MDL_POWER_DOWN) != 0) { |
cparata | 1:8562ae1a0534 | 104 | return 1; |
cparata | 1:8562ae1a0534 | 105 | } |
cparata | 0:671edf39d961 | 106 | |
cparata | 1:8562ae1a0534 | 107 | /* Output data rate selection */ |
cparata | 1:8562ae1a0534 | 108 | if (lis2mdl_data_rate_set(&(_reg_ctx), LIS2MDL_ODR_100Hz) != 0) { |
cparata | 1:8562ae1a0534 | 109 | return 1; |
cparata | 1:8562ae1a0534 | 110 | } |
cparata | 0:671edf39d961 | 111 | |
cparata | 1:8562ae1a0534 | 112 | /* Self Test disabled. */ |
cparata | 1:8562ae1a0534 | 113 | if (lis2mdl_self_test_set(&(_reg_ctx), PROPERTY_DISABLE) != 0) { |
cparata | 1:8562ae1a0534 | 114 | return 1; |
cparata | 1:8562ae1a0534 | 115 | } |
cparata | 0:671edf39d961 | 116 | |
cparata | 1:8562ae1a0534 | 117 | _mag_is_enabled = 0; |
cparata | 0:671edf39d961 | 118 | |
cparata | 1:8562ae1a0534 | 119 | return 0; |
cparata | 0:671edf39d961 | 120 | } |
cparata | 0:671edf39d961 | 121 | |
cparata | 0:671edf39d961 | 122 | /** |
cparata | 0:671edf39d961 | 123 | * @brief Read component ID |
cparata | 0:671edf39d961 | 124 | * @param id the WHO_AM_I value |
cparata | 0:671edf39d961 | 125 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 126 | */ |
cparata | 0:671edf39d961 | 127 | int LIS2MDLSensor::read_id(uint8_t *id) |
cparata | 0:671edf39d961 | 128 | { |
cparata | 1:8562ae1a0534 | 129 | if (lis2mdl_device_id_get(&_reg_ctx, id) != 0) { |
cparata | 1:8562ae1a0534 | 130 | return 1; |
cparata | 1:8562ae1a0534 | 131 | } |
cparata | 0:671edf39d961 | 132 | |
cparata | 1:8562ae1a0534 | 133 | return 0; |
cparata | 0:671edf39d961 | 134 | } |
cparata | 0:671edf39d961 | 135 | |
cparata | 0:671edf39d961 | 136 | |
cparata | 0:671edf39d961 | 137 | /** |
cparata | 0:671edf39d961 | 138 | * @brief Enable the LIS2MDL magnetometer sensor |
cparata | 0:671edf39d961 | 139 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 140 | */ |
cparata | 0:671edf39d961 | 141 | int LIS2MDLSensor::enable() |
cparata | 0:671edf39d961 | 142 | { |
cparata | 1:8562ae1a0534 | 143 | /* Check if the component is already enabled */ |
cparata | 1:8562ae1a0534 | 144 | if (_mag_is_enabled == 1U) { |
cparata | 1:8562ae1a0534 | 145 | return 0; |
cparata | 1:8562ae1a0534 | 146 | } |
cparata | 0:671edf39d961 | 147 | |
cparata | 1:8562ae1a0534 | 148 | /* Output data rate selection. */ |
cparata | 1:8562ae1a0534 | 149 | if (lis2mdl_operating_mode_set(&_reg_ctx, LIS2MDL_CONTINUOUS_MODE) != 0) { |
cparata | 1:8562ae1a0534 | 150 | return 1; |
cparata | 1:8562ae1a0534 | 151 | } |
cparata | 0:671edf39d961 | 152 | |
cparata | 1:8562ae1a0534 | 153 | _mag_is_enabled = 1; |
cparata | 0:671edf39d961 | 154 | |
cparata | 1:8562ae1a0534 | 155 | return 0; |
cparata | 0:671edf39d961 | 156 | } |
cparata | 0:671edf39d961 | 157 | |
cparata | 0:671edf39d961 | 158 | /** |
cparata | 0:671edf39d961 | 159 | * @brief Disable the LIS2MDL magnetometer sensor |
cparata | 0:671edf39d961 | 160 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 161 | */ |
cparata | 0:671edf39d961 | 162 | int LIS2MDLSensor::disable() |
cparata | 0:671edf39d961 | 163 | { |
cparata | 1:8562ae1a0534 | 164 | /* Check if the component is already disabled */ |
cparata | 1:8562ae1a0534 | 165 | if (_mag_is_enabled == 0U) { |
cparata | 1:8562ae1a0534 | 166 | return 0; |
cparata | 1:8562ae1a0534 | 167 | } |
cparata | 0:671edf39d961 | 168 | |
cparata | 1:8562ae1a0534 | 169 | /* Output data rate selection - power down. */ |
cparata | 1:8562ae1a0534 | 170 | if (lis2mdl_operating_mode_set(&_reg_ctx, LIS2MDL_POWER_DOWN) != 0) { |
cparata | 1:8562ae1a0534 | 171 | return 1; |
cparata | 1:8562ae1a0534 | 172 | } |
cparata | 0:671edf39d961 | 173 | |
cparata | 1:8562ae1a0534 | 174 | _mag_is_enabled = 0; |
cparata | 0:671edf39d961 | 175 | |
cparata | 1:8562ae1a0534 | 176 | return 0; |
cparata | 0:671edf39d961 | 177 | } |
cparata | 0:671edf39d961 | 178 | |
cparata | 0:671edf39d961 | 179 | /** |
cparata | 0:671edf39d961 | 180 | * @brief Get the LIS2MDL magnetometer sensor sensitivity |
cparata | 0:671edf39d961 | 181 | * @param sensitivity pointer where the sensitivity is written |
cparata | 0:671edf39d961 | 182 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 183 | */ |
cparata | 0:671edf39d961 | 184 | int LIS2MDLSensor::get_m_sensitivity(float *sensitivity) |
cparata | 0:671edf39d961 | 185 | { |
cparata | 1:8562ae1a0534 | 186 | *sensitivity = LIS2MDL_MAG_SENSITIVITY_FS_50GAUSS; |
cparata | 0:671edf39d961 | 187 | |
cparata | 1:8562ae1a0534 | 188 | return 0; |
cparata | 0:671edf39d961 | 189 | } |
cparata | 0:671edf39d961 | 190 | |
cparata | 0:671edf39d961 | 191 | /** |
cparata | 0:671edf39d961 | 192 | * @brief Get the LIS2MDL magnetometer sensor output data rate |
cparata | 0:671edf39d961 | 193 | * @param odr pointer where the output data rate is written |
cparata | 0:671edf39d961 | 194 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 195 | */ |
cparata | 0:671edf39d961 | 196 | int LIS2MDLSensor::get_m_odr(float *odr) |
cparata | 0:671edf39d961 | 197 | { |
cparata | 1:8562ae1a0534 | 198 | int ret = 0; |
cparata | 1:8562ae1a0534 | 199 | lis2mdl_odr_t odr_low_level; |
cparata | 0:671edf39d961 | 200 | |
cparata | 1:8562ae1a0534 | 201 | /* Get current output data rate. */ |
cparata | 1:8562ae1a0534 | 202 | if (lis2mdl_data_rate_get(&_reg_ctx, &odr_low_level) != 0) { |
cparata | 1:8562ae1a0534 | 203 | return 1; |
cparata | 1:8562ae1a0534 | 204 | } |
cparata | 0:671edf39d961 | 205 | |
cparata | 1:8562ae1a0534 | 206 | switch (odr_low_level) { |
cparata | 1:8562ae1a0534 | 207 | case LIS2MDL_ODR_10Hz: |
cparata | 1:8562ae1a0534 | 208 | *odr = 10.0f; |
cparata | 1:8562ae1a0534 | 209 | break; |
cparata | 0:671edf39d961 | 210 | |
cparata | 1:8562ae1a0534 | 211 | case LIS2MDL_ODR_20Hz: |
cparata | 1:8562ae1a0534 | 212 | *odr = 20.0f; |
cparata | 1:8562ae1a0534 | 213 | break; |
cparata | 0:671edf39d961 | 214 | |
cparata | 1:8562ae1a0534 | 215 | case LIS2MDL_ODR_50Hz: |
cparata | 1:8562ae1a0534 | 216 | *odr = 50.0f; |
cparata | 1:8562ae1a0534 | 217 | break; |
cparata | 0:671edf39d961 | 218 | |
cparata | 1:8562ae1a0534 | 219 | case LIS2MDL_ODR_100Hz: |
cparata | 1:8562ae1a0534 | 220 | *odr = 100.0f; |
cparata | 1:8562ae1a0534 | 221 | break; |
cparata | 0:671edf39d961 | 222 | |
cparata | 1:8562ae1a0534 | 223 | default: |
cparata | 1:8562ae1a0534 | 224 | ret = 1; |
cparata | 1:8562ae1a0534 | 225 | break; |
cparata | 1:8562ae1a0534 | 226 | } |
cparata | 0:671edf39d961 | 227 | |
cparata | 1:8562ae1a0534 | 228 | return ret; |
cparata | 0:671edf39d961 | 229 | } |
cparata | 0:671edf39d961 | 230 | |
cparata | 0:671edf39d961 | 231 | /** |
cparata | 0:671edf39d961 | 232 | * @brief Set the LIS2MDL magnetometer sensor output data rate |
cparata | 0:671edf39d961 | 233 | * @param odr the output data rate value to be set |
cparata | 0:671edf39d961 | 234 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 235 | */ |
cparata | 0:671edf39d961 | 236 | int LIS2MDLSensor::set_m_odr(float odr) |
cparata | 0:671edf39d961 | 237 | { |
cparata | 1:8562ae1a0534 | 238 | lis2mdl_odr_t new_odr; |
cparata | 0:671edf39d961 | 239 | |
cparata | 1:8562ae1a0534 | 240 | new_odr = (odr <= 10.000f) ? LIS2MDL_ODR_10Hz |
cparata | 1:8562ae1a0534 | 241 | : (odr <= 20.000f) ? LIS2MDL_ODR_20Hz |
cparata | 1:8562ae1a0534 | 242 | : (odr <= 50.000f) ? LIS2MDL_ODR_50Hz |
cparata | 1:8562ae1a0534 | 243 | : LIS2MDL_ODR_100Hz; |
cparata | 0:671edf39d961 | 244 | |
cparata | 1:8562ae1a0534 | 245 | if (lis2mdl_data_rate_set(&_reg_ctx, new_odr) != 0) { |
cparata | 1:8562ae1a0534 | 246 | return 1; |
cparata | 1:8562ae1a0534 | 247 | } |
cparata | 1:8562ae1a0534 | 248 | |
cparata | 1:8562ae1a0534 | 249 | return 0; |
cparata | 0:671edf39d961 | 250 | } |
cparata | 0:671edf39d961 | 251 | |
cparata | 0:671edf39d961 | 252 | /** |
cparata | 0:671edf39d961 | 253 | * @brief Get the LIS2MDL magnetometer sensor full scale |
cparata | 0:671edf39d961 | 254 | * @param full_scale pointer where the full scale is written |
cparata | 0:671edf39d961 | 255 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 256 | */ |
cparata | 0:671edf39d961 | 257 | int LIS2MDLSensor::get_m_fs(float *full_scale) |
cparata | 0:671edf39d961 | 258 | { |
cparata | 1:8562ae1a0534 | 259 | *full_scale = 50.0f; |
cparata | 0:671edf39d961 | 260 | |
cparata | 1:8562ae1a0534 | 261 | return 0; |
cparata | 0:671edf39d961 | 262 | } |
cparata | 0:671edf39d961 | 263 | |
cparata | 0:671edf39d961 | 264 | /** |
cparata | 0:671edf39d961 | 265 | * @brief Set the LIS2MDL magnetometer sensor full scale |
cparata | 0:671edf39d961 | 266 | * @param full_scale the functional full scale to be set |
cparata | 0:671edf39d961 | 267 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 268 | */ |
cparata | 0:671edf39d961 | 269 | int LIS2MDLSensor::set_m_fs(float full_scale) |
cparata | 0:671edf39d961 | 270 | { |
cparata | 1:8562ae1a0534 | 271 | (void)full_scale; |
cparata | 1:8562ae1a0534 | 272 | return 0; |
cparata | 0:671edf39d961 | 273 | } |
cparata | 0:671edf39d961 | 274 | |
cparata | 0:671edf39d961 | 275 | /** |
martlefebvre94 | 2:0d9d7f8f871b | 276 | * @brief Get the LIS2MDL magnetometer sensor power mode |
martlefebvre94 | 2:0d9d7f8f871b | 277 | * @param lp pointer where the power mode is written |
martlefebvre94 | 2:0d9d7f8f871b | 278 | * @retval 0 in case of success, an error code otherwise |
martlefebvre94 | 2:0d9d7f8f871b | 279 | */ |
martlefebvre94 | 2:0d9d7f8f871b | 280 | int LIS2MDLSensor::get_m_lp(uint8_t *lp) |
martlefebvre94 | 2:0d9d7f8f871b | 281 | { |
martlefebvre94 | 2:0d9d7f8f871b | 282 | int ret = 0; |
martlefebvre94 | 2:0d9d7f8f871b | 283 | lis2mdl_lp_t current_lp; |
martlefebvre94 | 2:0d9d7f8f871b | 284 | |
martlefebvre94 | 2:0d9d7f8f871b | 285 | /* Get current power mode. */ |
martlefebvre94 | 2:0d9d7f8f871b | 286 | if (lis2mdl_power_mode_get(&_reg_ctx, ¤t_lp) != 0) { |
martlefebvre94 | 2:0d9d7f8f871b | 287 | return 1; |
martlefebvre94 | 2:0d9d7f8f871b | 288 | } |
martlefebvre94 | 2:0d9d7f8f871b | 289 | |
martlefebvre94 | 2:0d9d7f8f871b | 290 | switch (current_lp) { |
martlefebvre94 | 2:0d9d7f8f871b | 291 | case LIS2MDL_HIGH_RESOLUTION: |
martlefebvre94 | 2:0d9d7f8f871b | 292 | *lp = 0; |
martlefebvre94 | 2:0d9d7f8f871b | 293 | break; |
martlefebvre94 | 2:0d9d7f8f871b | 294 | |
martlefebvre94 | 2:0d9d7f8f871b | 295 | case LIS2MDL_LOW_POWER: |
martlefebvre94 | 2:0d9d7f8f871b | 296 | *lp = 1; |
martlefebvre94 | 2:0d9d7f8f871b | 297 | break; |
martlefebvre94 | 2:0d9d7f8f871b | 298 | |
martlefebvre94 | 2:0d9d7f8f871b | 299 | default: |
martlefebvre94 | 2:0d9d7f8f871b | 300 | ret = 1; |
martlefebvre94 | 2:0d9d7f8f871b | 301 | break; |
martlefebvre94 | 2:0d9d7f8f871b | 302 | } |
martlefebvre94 | 2:0d9d7f8f871b | 303 | |
martlefebvre94 | 2:0d9d7f8f871b | 304 | return ret; |
martlefebvre94 | 2:0d9d7f8f871b | 305 | } |
martlefebvre94 | 2:0d9d7f8f871b | 306 | |
martlefebvre94 | 2:0d9d7f8f871b | 307 | /** |
martlefebvre94 | 2:0d9d7f8f871b | 308 | * @brief Set the LIS2MDL magnetometer sensor power mode |
martlefebvre94 | 2:0d9d7f8f871b | 309 | * @param lp the power mode value to be set |
martlefebvre94 | 2:0d9d7f8f871b | 310 | * @retval 0 in case of success, an error code otherwise |
martlefebvre94 | 2:0d9d7f8f871b | 311 | */ |
martlefebvre94 | 2:0d9d7f8f871b | 312 | int LIS2MDLSensor::set_m_lp(uint8_t lp) |
martlefebvre94 | 2:0d9d7f8f871b | 313 | { |
martlefebvre94 | 2:0d9d7f8f871b | 314 | lis2mdl_lp_t new_lp; |
martlefebvre94 | 2:0d9d7f8f871b | 315 | |
martlefebvre94 | 2:0d9d7f8f871b | 316 | new_lp = (lp == 0) ? LIS2MDL_HIGH_RESOLUTION |
martlefebvre94 | 2:0d9d7f8f871b | 317 | : LIS2MDL_LOW_POWER; |
martlefebvre94 | 2:0d9d7f8f871b | 318 | |
martlefebvre94 | 2:0d9d7f8f871b | 319 | if (lis2mdl_power_mode_set(&_reg_ctx, new_lp) != 0) { |
martlefebvre94 | 2:0d9d7f8f871b | 320 | return 1; |
martlefebvre94 | 2:0d9d7f8f871b | 321 | } |
martlefebvre94 | 2:0d9d7f8f871b | 322 | |
martlefebvre94 | 2:0d9d7f8f871b | 323 | return 0; |
martlefebvre94 | 2:0d9d7f8f871b | 324 | } |
martlefebvre94 | 2:0d9d7f8f871b | 325 | |
martlefebvre94 | 2:0d9d7f8f871b | 326 | /** |
martlefebvre94 | 2:0d9d7f8f871b | 327 | * @brief Get the LIS2MDL magnetometer sensor bandwidth |
martlefebvre94 | 2:0d9d7f8f871b | 328 | * @param lpf pointer where the bandwidth is written |
martlefebvre94 | 2:0d9d7f8f871b | 329 | * @retval 0 in case of success, an error code otherwise |
martlefebvre94 | 2:0d9d7f8f871b | 330 | */ |
martlefebvre94 | 2:0d9d7f8f871b | 331 | int LIS2MDLSensor::get_m_lpf(uint8_t *lpf) |
martlefebvre94 | 2:0d9d7f8f871b | 332 | { |
martlefebvre94 | 2:0d9d7f8f871b | 333 | int ret = 0; |
martlefebvre94 | 2:0d9d7f8f871b | 334 | lis2mdl_lpf_t current_lpf; |
martlefebvre94 | 2:0d9d7f8f871b | 335 | |
martlefebvre94 | 3:a16e6dd1ee7f | 336 | /* Get current bandwidth. */ |
martlefebvre94 | 2:0d9d7f8f871b | 337 | if (lis2mdl_low_pass_bandwidth_get(&_reg_ctx, ¤t_lpf) != 0) { |
martlefebvre94 | 2:0d9d7f8f871b | 338 | return 1; |
martlefebvre94 | 2:0d9d7f8f871b | 339 | } |
martlefebvre94 | 2:0d9d7f8f871b | 340 | |
martlefebvre94 | 2:0d9d7f8f871b | 341 | switch (current_lpf) { |
martlefebvre94 | 2:0d9d7f8f871b | 342 | case LIS2MDL_ODR_DIV_2: |
martlefebvre94 | 2:0d9d7f8f871b | 343 | *lpf = 0; |
martlefebvre94 | 2:0d9d7f8f871b | 344 | break; |
martlefebvre94 | 2:0d9d7f8f871b | 345 | |
martlefebvre94 | 2:0d9d7f8f871b | 346 | case LIS2MDL_ODR_DIV_4: |
martlefebvre94 | 2:0d9d7f8f871b | 347 | *lpf = 1; |
martlefebvre94 | 2:0d9d7f8f871b | 348 | break; |
martlefebvre94 | 2:0d9d7f8f871b | 349 | |
martlefebvre94 | 2:0d9d7f8f871b | 350 | default: |
martlefebvre94 | 2:0d9d7f8f871b | 351 | ret = 1; |
martlefebvre94 | 2:0d9d7f8f871b | 352 | break; |
martlefebvre94 | 2:0d9d7f8f871b | 353 | } |
martlefebvre94 | 2:0d9d7f8f871b | 354 | |
martlefebvre94 | 2:0d9d7f8f871b | 355 | return ret; |
martlefebvre94 | 2:0d9d7f8f871b | 356 | } |
martlefebvre94 | 2:0d9d7f8f871b | 357 | |
martlefebvre94 | 2:0d9d7f8f871b | 358 | /** |
martlefebvre94 | 2:0d9d7f8f871b | 359 | * @brief Set the LIS2MDL magnetometer sensor bandwidth |
martlefebvre94 | 2:0d9d7f8f871b | 360 | * @param lpf the bandwidth value to be set |
martlefebvre94 | 2:0d9d7f8f871b | 361 | * @retval 0 in case of success, an error code otherwise |
martlefebvre94 | 2:0d9d7f8f871b | 362 | */ |
martlefebvre94 | 2:0d9d7f8f871b | 363 | int LIS2MDLSensor::set_m_lpf(uint8_t lpf) |
martlefebvre94 | 2:0d9d7f8f871b | 364 | { |
martlefebvre94 | 2:0d9d7f8f871b | 365 | lis2mdl_lpf_t new_lpf; |
martlefebvre94 | 2:0d9d7f8f871b | 366 | |
martlefebvre94 | 2:0d9d7f8f871b | 367 | new_lpf = (lpf == 0) ? LIS2MDL_ODR_DIV_2 |
martlefebvre94 | 2:0d9d7f8f871b | 368 | : LIS2MDL_ODR_DIV_4; |
martlefebvre94 | 2:0d9d7f8f871b | 369 | |
martlefebvre94 | 2:0d9d7f8f871b | 370 | if (lis2mdl_low_pass_bandwidth_set(&_reg_ctx, new_lpf) != 0) { |
martlefebvre94 | 2:0d9d7f8f871b | 371 | return 1; |
martlefebvre94 | 2:0d9d7f8f871b | 372 | } |
martlefebvre94 | 2:0d9d7f8f871b | 373 | |
martlefebvre94 | 2:0d9d7f8f871b | 374 | return 0; |
martlefebvre94 | 2:0d9d7f8f871b | 375 | } |
martlefebvre94 | 2:0d9d7f8f871b | 376 | |
martlefebvre94 | 2:0d9d7f8f871b | 377 | /** |
martlefebvre94 | 3:a16e6dd1ee7f | 378 | * @brief Get the LIS2MDL magnetometer sensor temperature compensation |
martlefebvre94 | 3:a16e6dd1ee7f | 379 | * @param comp_temp_en pointer where the temperature compensation is written |
martlefebvre94 | 3:a16e6dd1ee7f | 380 | * @retval 0 in case of success, an error code otherwise |
martlefebvre94 | 3:a16e6dd1ee7f | 381 | */ |
martlefebvre94 | 3:a16e6dd1ee7f | 382 | int LIS2MDLSensor::get_m_comp_temp_en(uint8_t *comp_temp_en) |
martlefebvre94 | 3:a16e6dd1ee7f | 383 | { |
martlefebvre94 | 3:a16e6dd1ee7f | 384 | if (lis2mdl_offset_temp_comp_get(&_reg_ctx, comp_temp_en) != 0) { |
martlefebvre94 | 3:a16e6dd1ee7f | 385 | return 1; |
martlefebvre94 | 3:a16e6dd1ee7f | 386 | } |
martlefebvre94 | 3:a16e6dd1ee7f | 387 | return 0; |
martlefebvre94 | 3:a16e6dd1ee7f | 388 | } |
martlefebvre94 | 3:a16e6dd1ee7f | 389 | |
martlefebvre94 | 3:a16e6dd1ee7f | 390 | /** |
martlefebvre94 | 3:a16e6dd1ee7f | 391 | * @brief Set the LIS2MDL magnetometer sensor temperature compensation |
martlefebvre94 | 3:a16e6dd1ee7f | 392 | * @param comp_temp_en the temperature compensation value to be set |
martlefebvre94 | 3:a16e6dd1ee7f | 393 | * @retval 0 in case of success, an error code otherwise |
martlefebvre94 | 3:a16e6dd1ee7f | 394 | */ |
martlefebvre94 | 3:a16e6dd1ee7f | 395 | int LIS2MDLSensor::set_m_comp_temp_en(uint8_t comp_temp_en) |
martlefebvre94 | 3:a16e6dd1ee7f | 396 | { |
martlefebvre94 | 3:a16e6dd1ee7f | 397 | if (lis2mdl_offset_temp_comp_set(&_reg_ctx, comp_temp_en) != 0) { |
martlefebvre94 | 3:a16e6dd1ee7f | 398 | return 1; |
martlefebvre94 | 3:a16e6dd1ee7f | 399 | } |
martlefebvre94 | 3:a16e6dd1ee7f | 400 | return 0; |
martlefebvre94 | 3:a16e6dd1ee7f | 401 | } |
martlefebvre94 | 3:a16e6dd1ee7f | 402 | |
martlefebvre94 | 3:a16e6dd1ee7f | 403 | /** |
martlefebvre94 | 3:a16e6dd1ee7f | 404 | * @brief Get the LIS2MDL magnetometer sensor offset cancellation |
martlefebvre94 | 3:a16e6dd1ee7f | 405 | * @param off_canc pointer where the offset cancellation is written |
martlefebvre94 | 3:a16e6dd1ee7f | 406 | * @retval 0 in case of success, an error code otherwise |
martlefebvre94 | 3:a16e6dd1ee7f | 407 | */ |
martlefebvre94 | 3:a16e6dd1ee7f | 408 | int LIS2MDLSensor::get_m_off_canc(uint8_t *off_canc) |
martlefebvre94 | 3:a16e6dd1ee7f | 409 | { |
martlefebvre94 | 3:a16e6dd1ee7f | 410 | int ret = 0; |
martlefebvre94 | 3:a16e6dd1ee7f | 411 | lis2mdl_set_rst_t current_off_canc; |
martlefebvre94 | 3:a16e6dd1ee7f | 412 | |
martlefebvre94 | 3:a16e6dd1ee7f | 413 | /* Get current offset cancellation. */ |
martlefebvre94 | 3:a16e6dd1ee7f | 414 | if (lis2mdl_set_rst_mode_get(&_reg_ctx, ¤t_off_canc) != 0) { |
martlefebvre94 | 3:a16e6dd1ee7f | 415 | return 1; |
martlefebvre94 | 3:a16e6dd1ee7f | 416 | } |
martlefebvre94 | 3:a16e6dd1ee7f | 417 | |
martlefebvre94 | 3:a16e6dd1ee7f | 418 | switch (current_off_canc) { |
martlefebvre94 | 3:a16e6dd1ee7f | 419 | case LIS2MDL_SET_SENS_ODR_DIV_63: |
martlefebvre94 | 3:a16e6dd1ee7f | 420 | *off_canc = 0; |
martlefebvre94 | 3:a16e6dd1ee7f | 421 | break; |
martlefebvre94 | 3:a16e6dd1ee7f | 422 | |
martlefebvre94 | 3:a16e6dd1ee7f | 423 | case LIS2MDL_SENS_OFF_CANC_EVERY_ODR: |
martlefebvre94 | 3:a16e6dd1ee7f | 424 | *off_canc = 1; |
martlefebvre94 | 3:a16e6dd1ee7f | 425 | break; |
martlefebvre94 | 3:a16e6dd1ee7f | 426 | |
martlefebvre94 | 3:a16e6dd1ee7f | 427 | case LIS2MDL_SET_SENS_ONLY_AT_POWER_ON: |
martlefebvre94 | 3:a16e6dd1ee7f | 428 | *off_canc = 2; |
martlefebvre94 | 3:a16e6dd1ee7f | 429 | break; |
martlefebvre94 | 3:a16e6dd1ee7f | 430 | |
martlefebvre94 | 3:a16e6dd1ee7f | 431 | default: |
martlefebvre94 | 3:a16e6dd1ee7f | 432 | ret = 1; |
martlefebvre94 | 3:a16e6dd1ee7f | 433 | break; |
martlefebvre94 | 3:a16e6dd1ee7f | 434 | } |
martlefebvre94 | 3:a16e6dd1ee7f | 435 | |
martlefebvre94 | 3:a16e6dd1ee7f | 436 | return ret; |
martlefebvre94 | 3:a16e6dd1ee7f | 437 | } |
martlefebvre94 | 3:a16e6dd1ee7f | 438 | |
martlefebvre94 | 3:a16e6dd1ee7f | 439 | /** |
martlefebvre94 | 3:a16e6dd1ee7f | 440 | * @brief Set the LIS2MDL magnetometer sensor offset cancellation |
martlefebvre94 | 3:a16e6dd1ee7f | 441 | * @param off_canc the offset cancellation value to be set |
martlefebvre94 | 3:a16e6dd1ee7f | 442 | * @retval 0 in case of success, an error code otherwise |
martlefebvre94 | 3:a16e6dd1ee7f | 443 | */ |
martlefebvre94 | 3:a16e6dd1ee7f | 444 | int LIS2MDLSensor::set_m_off_canc(uint8_t off_canc) |
martlefebvre94 | 3:a16e6dd1ee7f | 445 | { |
martlefebvre94 | 3:a16e6dd1ee7f | 446 | lis2mdl_set_rst_t new_off_canc; |
martlefebvre94 | 3:a16e6dd1ee7f | 447 | |
martlefebvre94 | 3:a16e6dd1ee7f | 448 | new_off_canc = (off_canc == 0) ? LIS2MDL_SET_SENS_ODR_DIV_63 |
martlefebvre94 | 3:a16e6dd1ee7f | 449 | : (off_canc == 1) ? LIS2MDL_SENS_OFF_CANC_EVERY_ODR |
martlefebvre94 | 3:a16e6dd1ee7f | 450 | : LIS2MDL_SET_SENS_ONLY_AT_POWER_ON; |
martlefebvre94 | 3:a16e6dd1ee7f | 451 | |
martlefebvre94 | 3:a16e6dd1ee7f | 452 | if (lis2mdl_set_rst_mode_set(&_reg_ctx, new_off_canc) != 0) { |
martlefebvre94 | 3:a16e6dd1ee7f | 453 | return 1; |
martlefebvre94 | 3:a16e6dd1ee7f | 454 | } |
martlefebvre94 | 3:a16e6dd1ee7f | 455 | |
martlefebvre94 | 3:a16e6dd1ee7f | 456 | return 0; |
martlefebvre94 | 3:a16e6dd1ee7f | 457 | } |
martlefebvre94 | 3:a16e6dd1ee7f | 458 | |
martlefebvre94 | 3:a16e6dd1ee7f | 459 | /** |
cparata | 0:671edf39d961 | 460 | * @brief Get the LIS2MDL magnetometer sensor axes |
cparata | 0:671edf39d961 | 461 | * @param magnetic_field pointer where the values of the axes are written |
cparata | 0:671edf39d961 | 462 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 463 | */ |
cparata | 0:671edf39d961 | 464 | int LIS2MDLSensor::get_m_axes(int32_t *magnetic_field) |
cparata | 0:671edf39d961 | 465 | { |
cparata | 1:8562ae1a0534 | 466 | axis3bit16_t data_raw; |
cparata | 1:8562ae1a0534 | 467 | float sensitivity; |
cparata | 0:671edf39d961 | 468 | |
cparata | 1:8562ae1a0534 | 469 | /* Read raw data values. */ |
cparata | 1:8562ae1a0534 | 470 | if (lis2mdl_magnetic_raw_get(&_reg_ctx, data_raw.u8bit) != 0) { |
cparata | 1:8562ae1a0534 | 471 | return 1; |
cparata | 1:8562ae1a0534 | 472 | } |
cparata | 0:671edf39d961 | 473 | |
cparata | 1:8562ae1a0534 | 474 | /* Get LIS2MDL actual sensitivity. */ |
cparata | 1:8562ae1a0534 | 475 | if (get_m_sensitivity(&sensitivity) != 0) { |
cparata | 1:8562ae1a0534 | 476 | return 1; |
cparata | 1:8562ae1a0534 | 477 | } |
cparata | 0:671edf39d961 | 478 | |
cparata | 1:8562ae1a0534 | 479 | /* Calculate the data. */ |
cparata | 1:8562ae1a0534 | 480 | magnetic_field[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity)); |
cparata | 1:8562ae1a0534 | 481 | magnetic_field[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity)); |
cparata | 1:8562ae1a0534 | 482 | magnetic_field[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity)); |
cparata | 0:671edf39d961 | 483 | |
cparata | 1:8562ae1a0534 | 484 | return 0; |
cparata | 0:671edf39d961 | 485 | } |
cparata | 0:671edf39d961 | 486 | |
cparata | 0:671edf39d961 | 487 | /** |
cparata | 0:671edf39d961 | 488 | * @brief Get the LIS2MDL magnetometer sensor raw axes |
cparata | 0:671edf39d961 | 489 | * @param value pointer where the raw values of the axes are written |
cparata | 0:671edf39d961 | 490 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 491 | */ |
cparata | 0:671edf39d961 | 492 | int LIS2MDLSensor::get_m_axes_raw(int16_t *value) |
cparata | 0:671edf39d961 | 493 | { |
cparata | 1:8562ae1a0534 | 494 | axis3bit16_t data_raw; |
cparata | 1:8562ae1a0534 | 495 | |
cparata | 1:8562ae1a0534 | 496 | /* Read raw data values. */ |
cparata | 1:8562ae1a0534 | 497 | if (lis2mdl_magnetic_raw_get(&_reg_ctx, data_raw.u8bit) != 0) { |
cparata | 1:8562ae1a0534 | 498 | return 1; |
cparata | 1:8562ae1a0534 | 499 | } |
cparata | 0:671edf39d961 | 500 | |
cparata | 1:8562ae1a0534 | 501 | /* Format the data. */ |
cparata | 1:8562ae1a0534 | 502 | value[0] = data_raw.i16bit[0]; |
cparata | 1:8562ae1a0534 | 503 | value[1] = data_raw.i16bit[1]; |
cparata | 1:8562ae1a0534 | 504 | value[2] = data_raw.i16bit[2]; |
cparata | 0:671edf39d961 | 505 | |
cparata | 1:8562ae1a0534 | 506 | return 0; |
cparata | 0:671edf39d961 | 507 | } |
cparata | 0:671edf39d961 | 508 | |
cparata | 0:671edf39d961 | 509 | /** |
cparata | 0:671edf39d961 | 510 | * @brief Get the LIS2MDL register value for magnetic sensor |
cparata | 0:671edf39d961 | 511 | * @param reg address to be read |
cparata | 0:671edf39d961 | 512 | * @param data pointer where the value is written |
cparata | 0:671edf39d961 | 513 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 514 | */ |
cparata | 0:671edf39d961 | 515 | int LIS2MDLSensor::read_reg(uint8_t reg, uint8_t *data) |
cparata | 0:671edf39d961 | 516 | { |
cparata | 1:8562ae1a0534 | 517 | if (lis2mdl_read_reg(&_reg_ctx, reg, data, 1) != 0) { |
cparata | 1:8562ae1a0534 | 518 | return 1; |
cparata | 1:8562ae1a0534 | 519 | } |
cparata | 0:671edf39d961 | 520 | |
cparata | 1:8562ae1a0534 | 521 | return 0; |
cparata | 0:671edf39d961 | 522 | } |
cparata | 0:671edf39d961 | 523 | |
cparata | 0:671edf39d961 | 524 | /** |
cparata | 0:671edf39d961 | 525 | * @brief Set the LIS2MDL register value for magnetic sensor |
cparata | 0:671edf39d961 | 526 | * @param pObj the device pObj |
cparata | 0:671edf39d961 | 527 | * @param reg address to be written |
cparata | 0:671edf39d961 | 528 | * @param data value to be written |
cparata | 0:671edf39d961 | 529 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 530 | */ |
cparata | 0:671edf39d961 | 531 | int LIS2MDLSensor::write_reg(uint8_t reg, uint8_t data) |
cparata | 0:671edf39d961 | 532 | { |
cparata | 1:8562ae1a0534 | 533 | if (lis2mdl_write_reg(&_reg_ctx, reg, &data, 1) != 0) { |
cparata | 1:8562ae1a0534 | 534 | return 1; |
cparata | 1:8562ae1a0534 | 535 | } |
cparata | 0:671edf39d961 | 536 | |
cparata | 1:8562ae1a0534 | 537 | return 0; |
cparata | 0:671edf39d961 | 538 | } |
cparata | 0:671edf39d961 | 539 | |
cparata | 0:671edf39d961 | 540 | /** |
cparata | 0:671edf39d961 | 541 | * @brief Set self test |
cparata | 0:671edf39d961 | 542 | * @param status the value of self_test in reg CFG_REG_C |
cparata | 0:671edf39d961 | 543 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 544 | */ |
cparata | 0:671edf39d961 | 545 | int LIS2MDLSensor::set_m_self_test(uint8_t status) |
cparata | 0:671edf39d961 | 546 | { |
cparata | 1:8562ae1a0534 | 547 | if (lis2mdl_self_test_set(&_reg_ctx, status) != 0) { |
cparata | 1:8562ae1a0534 | 548 | return 1; |
cparata | 1:8562ae1a0534 | 549 | } |
cparata | 0:671edf39d961 | 550 | |
cparata | 1:8562ae1a0534 | 551 | return 0; |
cparata | 0:671edf39d961 | 552 | } |
cparata | 0:671edf39d961 | 553 | |
cparata | 0:671edf39d961 | 554 | /** |
cparata | 0:671edf39d961 | 555 | * @brief Get the LIS2MDL MAG data ready bit value |
cparata | 0:671edf39d961 | 556 | * @param status the status of data ready bit |
cparata | 0:671edf39d961 | 557 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:671edf39d961 | 558 | */ |
cparata | 0:671edf39d961 | 559 | int LIS2MDLSensor::get_m_drdy_status(uint8_t *status) |
cparata | 0:671edf39d961 | 560 | { |
cparata | 1:8562ae1a0534 | 561 | if (lis2mdl_mag_data_ready_get(&_reg_ctx, status) != 0) { |
cparata | 1:8562ae1a0534 | 562 | return 1; |
cparata | 1:8562ae1a0534 | 563 | } |
cparata | 0:671edf39d961 | 564 | |
cparata | 1:8562ae1a0534 | 565 | return 0; |
cparata | 0:671edf39d961 | 566 | } |
cparata | 0:671edf39d961 | 567 | |
cparata | 0:671edf39d961 | 568 | |
cparata | 0:671edf39d961 | 569 | |
cparata | 0:671edf39d961 | 570 | int32_t LIS2MDL_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite) |
cparata | 0:671edf39d961 | 571 | { |
cparata | 1:8562ae1a0534 | 572 | return ((LIS2MDLSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite); |
cparata | 0:671edf39d961 | 573 | } |
cparata | 0:671edf39d961 | 574 | |
cparata | 0:671edf39d961 | 575 | int32_t LIS2MDL_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead) |
cparata | 0:671edf39d961 | 576 | { |
cparata | 1:8562ae1a0534 | 577 | return ((LIS2MDLSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead); |
cparata | 0:671edf39d961 | 578 | } |