lis3mdl.cpp

00001 /**
00002 ******************************************************************************
00003 * @file    x_cube_mems_lis3mdl.h
00004 * @author  AST / EST
00005 * @version V0.0.1
00006 * @date    9-December-2014
00007 * @brief   Implementation file for component 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 
00038 /* Includes ------------------------------------------------------------------*/
00039 #include "mbed.h"
00040 #include "lis3mdl.h"
00041 #include "lis3mdl_platform.h"
00042 #include <math.h>
00043 
00044 /* Methods -------------------------------------------------------------------*/
00045 
00046 /**
00047  * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss.
00048  * @param float *pfData
00049  * @retval None.
00050  */
00051 void LIS3MDL::GetAxes(AxesRaw_TypeDef *pData)
00052 {
00053     uint8_t tempReg = 0x00;
00054     int16_t pDataRaw[3];
00055     float sensitivity = 0;
00056     int ret;
00057 
00058     GetAxesRaw(pDataRaw);
00059 
00060     ret = dev_i2c.i2c_read(&tempReg, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
00061 
00062     if (ret == 0)
00063     {
00064       tempReg &= LIS3MDL_M_FS_MASK;
00065 
00066       switch(tempReg)
00067       {
00068         case LIS3MDL_M_FS_4:
00069           sensitivity = 0.14;
00070           break;
00071         case LIS3MDL_M_FS_8:
00072           sensitivity = 0.29;
00073           break;
00074         case LIS3MDL_M_FS_12:
00075           sensitivity = 0.43;
00076           break;
00077         case LIS3MDL_M_FS_16:
00078           sensitivity = 0.58;
00079           break;
00080       }
00081     }
00082 
00083     pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
00084     pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
00085     pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
00086   
00087 }
00088 
00089 /**
00090  * @brief Read raw data from LIS3MDL Magnetic sensor output register.
00091  * @param float *pfData
00092  * @retval None.
00093  */
00094 void LIS3MDL::GetAxesRaw(int16_t *pData)
00095 {
00096     uint8_t tempReg[2] = {0,0};
00097     int ret;
00098 
00099     pData[0] = pData[1] = pData[2] = 0;
00100     
00101     ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_X_L_M + 0x80, 2);
00102 
00103     if (ret == 0)
00104     {
00105       pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
00106       ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Y_L_M + 0x80, 2);
00107     }
00108     
00109     if (ret == 0)
00110     {
00111       pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
00112       ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Z_L_M + 0x80, 2);
00113     }
00114     
00115     if (ret == 0)
00116     {
00117       pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
00118     }
00119 }
00120 
00121 /**
00122  * @brief  Read ID address of HTS221
00123  * @param  Device ID address
00124  * @retval ID name
00125  */
00126 uint8_t LIS3MDL::ReadID(void)
00127 {
00128     uint8_t tmp=0x00;
00129     int ret;
00130     
00131     /* Read WHO I AM register */
00132     ret = dev_i2c.i2c_read(&tmp, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_WHO_AM_I_ADDR, 1);
00133 
00134     /* Return the ID */
00135     return ((ret == 0) ? (uint8_t)tmp : 0);
00136 }
00137 
00138 /**
00139  * @brief  Set HTS221 Initialization.
00140  * @param  InitStruct: it contains the configuration setting for the HTS221.
00141  * @retval None
00142  */
00143 void LIS3MDL::Init() {
00144     
00145     uint8_t tmp1 = 0x00;
00146     int ret;
00147     
00148     /****** Magnetic sensor *******/
00149 
00150     ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
00151 
00152     /* Conversion mode selection */
00153     if (ret == 0)
00154     {
00155       tmp1 &= ~(LIS3MDL_M_MD_MASK);
00156       tmp1 |= LIS3MDL_M_MD_CONTINUOUS;
00157       ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
00158     }
00159 
00160     if (ret == 0)
00161     {
00162       ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
00163     }
00164     
00165     if (ret == 0)
00166     {
00167       /* Output data rate selection */
00168       tmp1 &= ~(LIS3MDL_M_DO_MASK);
00169       tmp1 |= LIS3MDL_M_DO_80;
00170 
00171       /* X and Y axes Operative mode selection */
00172       tmp1 &= ~(LIS3MDL_M_OM_MASK);
00173       tmp1 |= LIS3MDL_M_OM_HP;
00174 
00175       ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
00176     }
00177     
00178     if (ret == 0)
00179     {
00180       ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
00181     }
00182     
00183     if (ret == 0)
00184     {
00185       /* Full scale selection */
00186       tmp1 &= ~(LIS3MDL_M_FS_MASK);
00187       tmp1 |= LIS3MDL_M_FS_4;
00188 
00189       ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
00190     }
00191     
00192     /******************************/
00193     
00194     if (ret == 0)
00195     {
00196       if(ReadID() == I_AM_LIS3MDL_M)
00197       {
00198           LIS3MDLInitialized = 1;
00199       }
00200     }
00201 
00202     return;
00203 }