lis3mdl.c

00001 /**
00002  ******************************************************************************
00003  * @file    lis3mdl.c
00004  * @author  MEMS Application Team
00005  * @version V1.0.0
00006  * @date    30-July-2014
00007  * @brief   This file provides a set of functions needed to manage the lis3mdl.
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
00012  *
00013  * Redistribution and use in source and binary forms, with or without modification,
00014  * are permitted provided that the following conditions are met:
00015  *   1. Redistributions of source code must retain the above copyright notice,
00016  *      this list of conditions and the following disclaimer.
00017  *   2. Redistributions in binary form must reproduce the above copyright notice,
00018  *      this list of conditions and the following disclaimer in the documentation
00019  *      and/or other materials provided with the distribution.
00020  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021  *      may be used to endorse or promote products derived from this software
00022  *      without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  ******************************************************************************
00036  */
00037 /* Includes ------------------------------------------------------------------*/
00038 #include "lis3mdl.h"
00039 #include <math.h>
00040 
00041 /** @addtogroup BSP
00042  * @{
00043  */
00044 
00045 /** @addtogroup MEMS_SHIELD
00046  * @{
00047  */
00048 
00049 /** @addtogroup LIS3MDL
00050  * @{
00051  */
00052 
00053 /** @defgroup LIS3MDL_Private_TypesDefinitions
00054  * @{
00055  */
00056 
00057 /**
00058  * @}
00059  */
00060 
00061 /** @defgroup LIS3MDL_Private_Defines
00062  * @{
00063  */
00064 
00065 /**
00066  * @}
00067  */
00068 
00069 /** @defgroup LIS3MDL_Private_Macros
00070  * @{
00071  */
00072 
00073 /**
00074  * @}
00075  */
00076 
00077 /** @defgroup LIS3MDL_Private_Variables
00078  * @{
00079  */
00080 
00081 MAGNETO_DrvTypeDef LIS3MDLDrv =
00082 {
00083  LIS3MDL_Init,
00084  LIS3MDL_Read_M_ID,
00085  LIS3MDL_M_GetAxes
00086 };
00087 
00088 /**
00089  * @}
00090  */
00091 
00092 /** @defgroup LIS3MDL_Private_FunctionPrototypes
00093  * @{
00094  */
00095 
00096 void LIS3MDL_M_GetAxesRaw(int16_t *pData);
00097 
00098 /**
00099  * @}
00100  */
00101 
00102 /** @defgroup LIS3MDL_Private_Functions
00103  * @{
00104  */
00105 
00106 
00107 /**
00108  * @brief  Set LIS3MDL Initialization.
00109  * @param  InitStruct: it contains the configuration setting for the LIS3MDL.
00110  * @retval None
00111  */
00112 void LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init)
00113 {
00114     uint8_t tmp1 = 0x00;
00115 
00116     /* Configure the low level interface ---------------------------------------*/
00117     MAGNETO_IO_Init();
00118 
00119 
00120 /****** Magnetic sensor *******/
00121 
00122     MAGNETO_IO_Read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
00123 
00124     /* Conversion mode selection */
00125     tmp1 &= ~(LIS3MDL_M_MD_MASK);
00126     tmp1 |= LIS3MDL_Init->M_OperatingMode;
00127 
00128     MAGNETO_IO_Write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
00129 
00130 
00131     MAGNETO_IO_Read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
00132 
00133     /* Output data rate selection */
00134     tmp1 &= ~(LIS3MDL_M_DO_MASK);
00135     tmp1 |= LIS3MDL_Init->M_OutputDataRate;
00136 
00137     /* X and Y axes Operative mode selection */
00138     tmp1 &= ~(LIS3MDL_M_OM_MASK);
00139     tmp1 |= LIS3MDL_Init->M_XYOperativeMode;
00140 
00141     MAGNETO_IO_Write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
00142 
00143 
00144     MAGNETO_IO_Read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
00145 
00146     /* Full scale selection */
00147     tmp1 &= ~(LIS3MDL_M_FS_MASK);
00148     tmp1 |= LIS3MDL_Init->M_FullScale;
00149 
00150     MAGNETO_IO_Write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
00151 
00152 /******************************/
00153 }
00154 
00155 
00156 /**
00157  * @brief  Read ID of LIS3MDL Magnetic sensor
00158  * @param  Device ID
00159  * @retval ID name
00160  */
00161 uint8_t LIS3MDL_Read_M_ID(void)
00162 {
00163     uint8_t tmp = 0x00;
00164 
00165     /* Read WHO I AM register */
00166     MAGNETO_IO_Read(&tmp, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_WHO_AM_I_ADDR, 1);
00167 
00168     /* Return the ID */
00169     return (uint8_t)tmp;
00170 }
00171 
00172 
00173 /**
00174  * @brief Read raw data from LIS3MDL Magnetic sensor output register.
00175  * @param float *pfData
00176  * @retval None.
00177  */
00178 void LIS3MDL_M_GetAxesRaw(int16_t *pData)
00179 {
00180     uint8_t tempReg[2] = {0,0};
00181 
00182 
00183     MAGNETO_IO_Read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_X_L_M + 0x80, 2);
00184 
00185     pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
00186 
00187     MAGNETO_IO_Read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Y_L_M + 0x80, 2);
00188 
00189     pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
00190 
00191     MAGNETO_IO_Read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Z_L_M + 0x80, 2);
00192 
00193     pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
00194 }
00195 
00196 
00197 /**
00198  * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss.
00199  * @param float *pfData
00200  * @retval None.
00201  */
00202 void LIS3MDL_M_GetAxes(int32_t *pData)
00203 {
00204 
00205   uint8_t tempReg = 0x00;
00206   int16_t pDataRaw[3];
00207   float sensitivity = 0;
00208 
00209   LIS3MDL_M_GetAxesRaw(pDataRaw);
00210 
00211   MAGNETO_IO_Read(&tempReg, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
00212 
00213   tempReg &= LIS3MDL_M_FS_MASK;
00214 
00215   switch(tempReg)
00216   {
00217     case LIS3MDL_M_FS_4:
00218       sensitivity = 0.14;
00219       break;
00220     case LIS3MDL_M_FS_8:
00221       sensitivity = 0.29;
00222       break;
00223     case LIS3MDL_M_FS_12:
00224       sensitivity = 0.43;
00225       break;
00226     case LIS3MDL_M_FS_16:
00227       sensitivity = 0.58;
00228       break;
00229   }
00230 
00231   pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
00232   pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
00233   pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
00234 }
00235 
00236 /**
00237  * @}
00238  */
00239 
00240 /**
00241  * @}
00242  */
00243 
00244 /**
00245  * @}
00246  */
00247 
00248 /**
00249  * @}
00250  */
00251 
00252 
00253 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
00254