lis3mdl.c

00001 /**
00002  ******************************************************************************
00003  * @file    lis3mdl.c
00004  * @author  MCD Application Team
00005  * @brief   This file provides a set of functions needed to manage the LIS3MDL
00006  *          magnetometer devices
00007  ******************************************************************************
00008  * @attention
00009  *
00010  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
00011  * All rights reserved.</center></h2>
00012  *
00013  * This software component is licensed by ST under BSD 3-Clause license,
00014  * the "License"; You may not use this file except in compliance with the
00015  * License. You may obtain a copy of the License at:
00016  *                        opensource.org/licenses/BSD-3-Clause
00017  *
00018  ******************************************************************************
00019  */
00020 
00021 /* Includes ------------------------------------------------------------------*/
00022 #include "lis3mdl.h"
00023 
00024 /** @addtogroup BSP
00025   * @{
00026   */
00027 
00028 /** @addtogroup Component
00029   * @{
00030   */
00031 
00032 /** @defgroup LIS3MDL LIS3MDL
00033   * @{
00034   */
00035 
00036 /** @defgroup LIS3MDL_Mag_Private_Variables LIS3MDL Mag Private Variables
00037   * @{
00038   */ 
00039 MAGNETO_DrvTypeDef Lis3mdlMagDrv =
00040 {
00041   LIS3MDL_MagInit,
00042   LIS3MDL_MagDeInit,
00043   LIS3MDL_MagReadID,
00044   0,
00045   LIS3MDL_MagLowPower,
00046   0,
00047   0,
00048   0,
00049   0,
00050   0,
00051   0,
00052   0,
00053   LIS3MDL_MagReadXYZ
00054 };
00055 /**
00056   * @}
00057   */ 
00058 
00059 
00060 /** @defgroup LIS3MDL_Mag_Private_Functions LIS3MDL Mag Private Functions
00061   * @{
00062   */
00063 /**
00064   * @brief  Set LIS3MDL Magnetometer Initialization.
00065   * @param  LIS3MDL_InitStruct: pointer to a LIS3MDL_MagInitTypeDef structure 
00066   *         that contains the configuration setting for the LIS3MDL.
00067   */
00068 void LIS3MDL_MagInit(MAGNETO_InitTypeDef LIS3MDL_InitStruct)
00069 {  
00070   SENSOR_IO_Write(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG1, LIS3MDL_InitStruct.Register1);
00071   SENSOR_IO_Write(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG2, LIS3MDL_InitStruct.Register2);
00072   SENSOR_IO_Write(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG3, LIS3MDL_InitStruct.Register3);
00073   SENSOR_IO_Write(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG4, LIS3MDL_InitStruct.Register4);
00074   SENSOR_IO_Write(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG5, LIS3MDL_InitStruct.Register5);
00075 }
00076 
00077 /**
00078   * @brief  LIS3MDL Magnetometer De-initialization.
00079   */
00080 void LIS3MDL_MagDeInit(void)
00081 {
00082   uint8_t ctrl = 0x00;
00083   
00084   /* Read control register 1 value */
00085   ctrl = SENSOR_IO_Read(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG3);
00086 
00087   /* Clear Selection Mode bits */
00088   ctrl &= ~(LIS3MDL_MAG_SELECTION_MODE);
00089 
00090   /* Set Power down */
00091   ctrl |= LIS3MDL_MAG_POWERDOWN2_MODE;
00092   
00093   /* write back control register */
00094   SENSOR_IO_Write(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG3, ctrl);  
00095 }
00096 
00097 /**
00098   * @brief  Read LIS3MDL ID.
00099   * @retval ID 
00100   */
00101 uint8_t LIS3MDL_MagReadID(void)
00102 {
00103   /* IO interface initialization */
00104   SENSOR_IO_Init();  
00105   /* Read value at Who am I register address */
00106   return (SENSOR_IO_Read(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_WHO_AM_I_REG));
00107 }
00108 
00109 /**
00110   * @brief  Set/Unset Magnetometer in low power mode.
00111   * @param  status 0 means disable Low Power Mode, otherwise Low Power Mode is enabled
00112   */
00113 void LIS3MDL_MagLowPower(uint16_t status)
00114 {  
00115   uint8_t ctrl = 0;
00116   
00117   /* Read control register 1 value */
00118   ctrl = SENSOR_IO_Read(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG3);
00119 
00120   /* Clear Low Power Mode bit */
00121   ctrl &= ~(0x20);
00122 
00123   /* Set Low Power Mode */
00124   if(status)
00125   {
00126     ctrl |= LIS3MDL_MAG_CONFIG_LOWPOWER_MODE;
00127   }else
00128   {
00129     ctrl |= LIS3MDL_MAG_CONFIG_NORMAL_MODE;
00130   }
00131   
00132   /* write back control register */
00133   SENSOR_IO_Write(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG3, ctrl);  
00134 }
00135 
00136 /**
00137   * @brief  Read X, Y & Z Magnetometer values 
00138   * @param  pData: Data out pointer
00139   */
00140 void LIS3MDL_MagReadXYZ(int16_t* pData)
00141 {
00142   int16_t pnRawData[3];
00143   uint8_t ctrlm= 0;
00144   uint8_t buffer[6];
00145   uint8_t i = 0;
00146   float sensitivity = 0;
00147   
00148   /* Read the magnetometer control register content */
00149   ctrlm = SENSOR_IO_Read(LIS3MDL_MAG_I2C_ADDRESS_HIGH, LIS3MDL_MAG_CTRL_REG2);
00150   
00151   /* Read output register X, Y & Z acceleration */
00152   SENSOR_IO_ReadMultiple(LIS3MDL_MAG_I2C_ADDRESS_HIGH, (LIS3MDL_MAG_OUTX_L | 0x80), buffer, 6);
00153   
00154   for(i=0; i<3; i++)
00155   {
00156     pnRawData[i]=((((uint16_t)buffer[2*i+1]) << 8) + (uint16_t)buffer[2*i]);
00157   }
00158   
00159   /* Normal mode */
00160   /* Switch the sensitivity value set in the CRTL_REG2 */
00161   switch(ctrlm & 0x60)
00162   {
00163   case LIS3MDL_MAG_FS_4_GA:
00164     sensitivity = LIS3MDL_MAG_SENSITIVITY_FOR_FS_4GA;
00165     break;
00166   case LIS3MDL_MAG_FS_8_GA:
00167     sensitivity = LIS3MDL_MAG_SENSITIVITY_FOR_FS_8GA;
00168     break;
00169   case LIS3MDL_MAG_FS_12_GA:
00170     sensitivity = LIS3MDL_MAG_SENSITIVITY_FOR_FS_12GA;
00171     break;
00172   case LIS3MDL_MAG_FS_16_GA:
00173     sensitivity = LIS3MDL_MAG_SENSITIVITY_FOR_FS_16GA;
00174     break;    
00175   }
00176   
00177   /* Obtain the mGauss value for the three axis */
00178   for(i=0; i<3; i++)
00179   {
00180     pData[i]=( int16_t )(pnRawData[i] * sensitivity);
00181   }
00182 }
00183 
00184 
00185 /**
00186   * @}
00187   */ 
00188 
00189 /**
00190   * @}
00191   */
00192   
00193 /**
00194   * @}
00195   */
00196   
00197 /**
00198   * @}
00199   */
00200   
00201 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
00202