Diff: LIS2MDLSensor.cpp

Revision:

0:671edf39d961

Child:

1:8562ae1a0534

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS2MDLSensor.cpp	Tue Mar 05 18:06:37 2019 +0000
@@ -0,0 +1,415 @@
+/**
+ ******************************************************************************
+ * @file    LIS2MDLSensor.cpp
+ * @author  SRA
+ * @version V1.0.0
+ * @date    February 2019
+ * @brief   Implementation of an LIS2MDL 3 axes magnetometer sensor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2019 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 "LIS2MDLSensor.h"
+
+
+/* Class Implementation ------------------------------------------------------*/
+
+/** Constructor
+ * @param spi object of an helper class which handles the SPI peripheral
+ * @param cs_pin the chip select pin
+ * @param int_pin the interrupt pin
+ * @param spi_type the SPI type
+ */
+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)
+{
+  assert (spi);
+  if (cs_pin == NC) 
+  {
+    printf ("ERROR LIS2MDL CS MUST NOT BE NC\n\r");       
+    _dev_spi = NULL;
+    _dev_i2c = NULL;
+    return;
+  }
+
+  _reg_ctx.write_reg = LIS2MDL_io_write;
+  _reg_ctx.read_reg = LIS2MDL_io_read;
+  _reg_ctx.handle = (void *)this;
+  _cs_pin = 1;    
+  _dev_i2c = NULL;
+  _address = 0;
+    
+  if (_spi_type == SPI4W)
+  {
+    /* Enable SPI 4-Wires on the component (in this way we lose the usage of INT pin) */
+    uint8_t data = 0x34;
+    lis2mdl_write_reg(&_reg_ctx, LIS2MDL_CFG_REG_C, &data, 1);
+  }
+}
+
+/** Constructor
+ * @param i2c object of an helper class which handles the I2C peripheral
+ * @param address the address of the component's instance
+ * @param int_pin the interrupt pin
+ */
+LIS2MDLSensor::LIS2MDLSensor(DevI2C *i2c, uint8_t address, PinName int_pin) : _dev_i2c(i2c), _address(address), _cs_pin(NC), _int_irq(int_pin)
+{
+  assert (i2c);
+  _dev_spi = NULL;
+  _reg_ctx.write_reg = LIS2MDL_io_write;
+  _reg_ctx.read_reg = LIS2MDL_io_read;
+  _reg_ctx.handle = (void *)this;
+}
+
+/**
+ * @brief  Initializing the component
+ * @param  init pointer to device specific initalization structure
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::init(void *init)
+{
+  /* Enable BDU */
+  if (lis2mdl_block_data_update_set(&(_reg_ctx), PROPERTY_ENABLE) != 0)
+  {
+    return 1;
+  }
+
+  /* Operating mode selection - power down */
+  if (lis2mdl_operating_mode_set(&(_reg_ctx), LIS2MDL_POWER_DOWN) != 0)
+  {
+    return 1;
+  }
+
+  /* Output data rate selection */
+  if (lis2mdl_data_rate_set(&(_reg_ctx), LIS2MDL_ODR_100Hz) != 0)
+  {
+    return 1;
+  }
+
+  /* Self Test disabled. */
+  if (lis2mdl_self_test_set(&(_reg_ctx), PROPERTY_DISABLE) != 0)
+  {
+    return 1;
+  }
+
+  _mag_is_enabled = 0;
+
+  return 0;
+}
+
+/**
+ * @brief  Read component ID
+ * @param  id the WHO_AM_I value
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::read_id(uint8_t *id)
+{
+  if (lis2mdl_device_id_get(&_reg_ctx, id) != 0)
+  {
+    return 1;
+  }
+
+  return 0;
+}
+
+
+/**
+ * @brief Enable the LIS2MDL magnetometer sensor
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::enable()
+{
+  /* Check if the component is already enabled */
+  if (_mag_is_enabled == 1U)
+  {
+    return 0;
+  }
+
+  /* Output data rate selection. */
+  if (lis2mdl_operating_mode_set(&_reg_ctx, LIS2MDL_CONTINUOUS_MODE) != 0)
+  {
+    return 1;
+  }
+
+  _mag_is_enabled = 1;
+
+  return 0;
+}
+
+/**
+ * @brief Disable the LIS2MDL magnetometer sensor
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::disable()
+{
+  /* Check if the component is already disabled */
+  if (_mag_is_enabled == 0U)
+  {
+    return 0;
+  }
+
+  /* Output data rate selection - power down. */
+  if (lis2mdl_operating_mode_set(&_reg_ctx, LIS2MDL_POWER_DOWN) != 0)
+  {
+    return 1;
+  }
+
+  _mag_is_enabled = 0;
+
+  return 0;
+}
+
+/**
+ * @brief  Get the LIS2MDL magnetometer sensor sensitivity
+ * @param  sensitivity pointer where the sensitivity is written
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::get_m_sensitivity(float *sensitivity)
+{
+  *sensitivity = LIS2MDL_MAG_SENSITIVITY_FS_50GAUSS;
+
+  return 0;
+}
+
+/**
+ * @brief  Get the LIS2MDL magnetometer sensor output data rate
+ * @param  odr pointer where the output data rate is written
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::get_m_odr(float *odr)
+{
+  int ret = 0;
+  lis2mdl_odr_t odr_low_level;
+
+  /* Get current output data rate. */
+  if (lis2mdl_data_rate_get(&_reg_ctx, &odr_low_level) != 0)
+  {
+    return 1;
+  }
+
+  switch (odr_low_level)
+  {
+    case LIS2MDL_ODR_10Hz:
+      *odr = 10.0f;
+      break;
+
+    case LIS2MDL_ODR_20Hz:
+      *odr = 20.0f;
+      break;
+
+    case LIS2MDL_ODR_50Hz:
+      *odr = 50.0f;
+      break;
+
+    case LIS2MDL_ODR_100Hz:
+      *odr = 100.0f;
+      break;
+
+    default:
+      ret = 1;
+      break;
+  }
+
+  return ret;
+}
+
+/**
+ * @brief  Set the LIS2MDL magnetometer sensor output data rate
+ * @param  odr the output data rate value to be set
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::set_m_odr(float odr)
+{
+  lis2mdl_odr_t new_odr;
+
+  new_odr = (odr <= 10.000f) ? LIS2MDL_ODR_10Hz
+          : (odr <= 20.000f) ? LIS2MDL_ODR_20Hz
+          : (odr <= 50.000f) ? LIS2MDL_ODR_50Hz
+          :                    LIS2MDL_ODR_100Hz;
+
+  if (lis2mdl_data_rate_set(&_reg_ctx, new_odr) != 0)
+  {
+    return 1;
+  }
+
+  return 0;
+}
+
+/**
+ * @brief  Get the LIS2MDL magnetometer sensor full scale
+ * @param  full_scale pointer where the full scale is written
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::get_m_fs(float *full_scale)
+{
+  *full_scale = 50.0f;
+
+  return 0;
+}
+
+/**
+ * @brief  Set the LIS2MDL magnetometer sensor full scale
+ * @param  full_scale the functional full scale to be set
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::set_m_fs(float full_scale)
+{
+  (void)full_scale;
+  return 0;
+}
+
+/**
+ * @brief  Get the LIS2MDL magnetometer sensor axes
+ * @param  magnetic_field pointer where the values of the axes are written
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::get_m_axes(int32_t *magnetic_field)
+{
+  axis3bit16_t data_raw;
+  float sensitivity;
+
+  /* Read raw data values. */
+  if (lis2mdl_magnetic_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
+  {
+    return 1;
+  }
+
+  /* Get LIS2MDL actual sensitivity. */
+  if (get_m_sensitivity(&sensitivity) != 0)
+  {
+    return 1;
+  }
+
+  /* Calculate the data. */
+  magnetic_field[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
+  magnetic_field[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
+  magnetic_field[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
+
+  return 0;
+}
+
+/**
+ * @brief  Get the LIS2MDL magnetometer sensor raw axes
+ * @param  value pointer where the raw values of the axes are written
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::get_m_axes_raw(int16_t *value)
+{
+  axis3bit16_t data_raw;
+
+  /* Read raw data values. */
+  if (lis2mdl_magnetic_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
+  {
+    return 1;
+  }
+
+  /* Format the data. */
+  value[0] = data_raw.i16bit[0];
+  value[1] = data_raw.i16bit[1];
+  value[2] = data_raw.i16bit[2];
+
+  return 0;
+}
+
+/**
+ * @brief  Get the LIS2MDL register value for magnetic sensor
+ * @param  reg address to be read
+ * @param  data pointer where the value is written
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::read_reg(uint8_t reg, uint8_t *data)
+{
+  if (lis2mdl_read_reg(&_reg_ctx, reg, data, 1) != 0)
+  {
+    return 1;
+  }
+
+  return 0;
+}
+
+/**
+ * @brief  Set the LIS2MDL register value for magnetic sensor
+ * @param  pObj the device pObj
+ * @param  reg address to be written
+ * @param  data value to be written
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::write_reg(uint8_t reg, uint8_t data)
+{
+  if (lis2mdl_write_reg(&_reg_ctx, reg, &data, 1) != 0)
+  {
+    return 1;
+  }
+
+  return 0;
+}
+
+/**
+ * @brief  Set self test
+ * @param  status the value of self_test in reg CFG_REG_C
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::set_m_self_test(uint8_t status)
+{
+  if (lis2mdl_self_test_set(&_reg_ctx, status) != 0)
+  {
+    return 1;
+  }
+
+  return 0;
+}
+
+/**
+ * @brief  Get the LIS2MDL MAG data ready bit value
+ * @param  status the status of data ready bit
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2MDLSensor::get_m_drdy_status(uint8_t *status)
+{
+  if (lis2mdl_mag_data_ready_get(&_reg_ctx, status) != 0)
+  {
+    return 1;
+  }
+
+  return 0;
+}
+
+
+
+int32_t LIS2MDL_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite)
+{
+  return ((LIS2MDLSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
+}
+
+int32_t LIS2MDL_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead)
+{
+  return ((LIS2MDLSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
+}