File content as of revision 0:528e23a13fb7:

/**
******************************************************************************
* @file    x_cube_mems_lis3mdl.h
* @author  AST / EST
* @version V0.0.1
* @date    9-December-2014
* @brief   Implementation file for component LIS3MDL
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2014 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 "mbed.h"
#include "lis3mdl.h"
#include "lis3mdl_platform.h"
#include <math.h>

/* Methods -------------------------------------------------------------------*/

/**
 * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss.
 * @param float *pfData
 * @retval None.
 */
void LIS3MDL::GetAxes(AxesRaw_TypeDef *pData)
{
    uint8_t tempReg = 0x00;
    int16_t pDataRaw[3];
    float sensitivity = 0;
    int ret;

    GetAxesRaw(pDataRaw);

    ret = dev_i2c.i2c_read(&tempReg, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);

    if (ret == 0)
    {
      tempReg &= LIS3MDL_M_FS_MASK;

      switch(tempReg)
      {
        case LIS3MDL_M_FS_4:
          sensitivity = 0.14;
          break;
        case LIS3MDL_M_FS_8:
          sensitivity = 0.29;
          break;
        case LIS3MDL_M_FS_12:
          sensitivity = 0.43;
          break;
        case LIS3MDL_M_FS_16:
          sensitivity = 0.58;
          break;
      }
    }

    pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
    pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
    pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
  
}

/**
 * @brief Read raw data from LIS3MDL Magnetic sensor output register.
 * @param float *pfData
 * @retval None.
 */
void LIS3MDL::GetAxesRaw(int16_t *pData)
{
    uint8_t tempReg[2] = {0,0};
    int ret;

    pData[0] = pData[1] = pData[2] = 0;
    
    ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_X_L_M + 0x80, 2);

    if (ret == 0)
    {
      pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
      ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Y_L_M + 0x80, 2);
    }
    
    if (ret == 0)
    {
      pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
      ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Z_L_M + 0x80, 2);
    }
    
    if (ret == 0)
    {
      pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
    }
}

/**
 * @brief  Read ID address of HTS221
 * @param  Device ID address
 * @retval ID name
 */
uint8_t LIS3MDL::ReadID(void)
{
    uint8_t tmp=0x00;
    int ret;
    
    /* Read WHO I AM register */
    ret = dev_i2c.i2c_read(&tmp, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_WHO_AM_I_ADDR, 1);

    /* Return the ID */
    return ((ret == 0) ? (uint8_t)tmp : 0);
}

/**
 * @brief  Set HTS221 Initialization.
 * @param  InitStruct: it contains the configuration setting for the HTS221.
 * @retval None
 */
void LIS3MDL::Init() {
    
    uint8_t tmp1 = 0x00;
    int ret;
    
    /****** Magnetic sensor *******/

    ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);

    /* Conversion mode selection */
    if (ret == 0)
    {
      tmp1 &= ~(LIS3MDL_M_MD_MASK);
      tmp1 |= LIS3MDL_M_MD_CONTINUOUS;
      ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
    }

    if (ret == 0)
    {
      ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
    }
    
    if (ret == 0)
    {
      /* Output data rate selection */
      tmp1 &= ~(LIS3MDL_M_DO_MASK);
      tmp1 |= LIS3MDL_M_DO_80;

      /* X and Y axes Operative mode selection */
      tmp1 &= ~(LIS3MDL_M_OM_MASK);
      tmp1 |= LIS3MDL_M_OM_HP;

      ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
    }
    
    if (ret == 0)
    {
      ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
    }
    
    if (ret == 0)
    {
      /* Full scale selection */
      tmp1 &= ~(LIS3MDL_M_FS_MASK);
      tmp1 |= LIS3MDL_M_FS_4;

      ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
    }
    
    /******************************/
    
    if (ret == 0)
    {
      if(ReadID() == I_AM_LIS3MDL_M)
      {
          LIS3MDLInitialized = 1;
      }
    }

    return;
}