3-axis MEMS ultra low power magnetometer

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   X_NUCLEO_IKS01A3

Committer:
cparata
Date:
Wed Jul 24 14:18:39 2019 +0000
Revision:
1:8562ae1a0534
Parent:
0:671edf39d961
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cparata 0:671edf39d961 1 /**
cparata 0:671edf39d961 2 ******************************************************************************
cparata 0:671edf39d961 3 * @file LIS2MDLSensor.cpp
cparata 0:671edf39d961 4 * @author SRA
cparata 0:671edf39d961 5 * @version V1.0.0
cparata 0:671edf39d961 6 * @date February 2019
cparata 0:671edf39d961 7 * @brief Implementation of an LIS2MDL 3 axes magnetometer sensor.
cparata 0:671edf39d961 8 ******************************************************************************
cparata 0:671edf39d961 9 * @attention
cparata 0:671edf39d961 10 *
cparata 0:671edf39d961 11 * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
cparata 0:671edf39d961 12 *
cparata 0:671edf39d961 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:671edf39d961 14 * are permitted provided that the following conditions are met:
cparata 0:671edf39d961 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:671edf39d961 16 * this list of conditions and the following disclaimer.
cparata 0:671edf39d961 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:671edf39d961 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:671edf39d961 19 * and/or other materials provided with the distribution.
cparata 0:671edf39d961 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:671edf39d961 21 * may be used to endorse or promote products derived from this software
cparata 0:671edf39d961 22 * without specific prior written permission.
cparata 0:671edf39d961 23 *
cparata 0:671edf39d961 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:671edf39d961 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:671edf39d961 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:671edf39d961 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:671edf39d961 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:671edf39d961 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:671edf39d961 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:671edf39d961 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:671edf39d961 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:671edf39d961 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:671edf39d961 34 *
cparata 0:671edf39d961 35 ******************************************************************************
cparata 0:671edf39d961 36 */
cparata 0:671edf39d961 37
cparata 0:671edf39d961 38
cparata 0:671edf39d961 39 /* Includes ------------------------------------------------------------------*/
cparata 0:671edf39d961 40
cparata 0:671edf39d961 41 #include "LIS2MDLSensor.h"
cparata 0:671edf39d961 42
cparata 0:671edf39d961 43
cparata 0:671edf39d961 44 /* Class Implementation ------------------------------------------------------*/
cparata 0:671edf39d961 45
cparata 0:671edf39d961 46 /** Constructor
cparata 0:671edf39d961 47 * @param spi object of an helper class which handles the SPI peripheral
cparata 0:671edf39d961 48 * @param cs_pin the chip select pin
cparata 0:671edf39d961 49 * @param int_pin the interrupt pin
cparata 0:671edf39d961 50 * @param spi_type the SPI type
cparata 0:671edf39d961 51 */
cparata 0:671edf39d961 52 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)
cparata 0:671edf39d961 53 {
cparata 1:8562ae1a0534 54 assert(spi);
cparata 1:8562ae1a0534 55 if (cs_pin == NC) {
cparata 1:8562ae1a0534 56 printf("ERROR LIS2MDL CS MUST NOT BE NC\n\r");
cparata 1:8562ae1a0534 57 _dev_spi = NULL;
cparata 1:8562ae1a0534 58 _dev_i2c = NULL;
cparata 1:8562ae1a0534 59 return;
cparata 1:8562ae1a0534 60 }
cparata 0:671edf39d961 61
cparata 1:8562ae1a0534 62 _reg_ctx.write_reg = LIS2MDL_io_write;
cparata 1:8562ae1a0534 63 _reg_ctx.read_reg = LIS2MDL_io_read;
cparata 1:8562ae1a0534 64 _reg_ctx.handle = (void *)this;
cparata 1:8562ae1a0534 65 _cs_pin = 1;
cparata 1:8562ae1a0534 66 _dev_i2c = NULL;
cparata 1:8562ae1a0534 67 _address = 0;
cparata 1:8562ae1a0534 68
cparata 1:8562ae1a0534 69 if (_spi_type == SPI4W) {
cparata 1:8562ae1a0534 70 /* Enable SPI 4-Wires on the component (in this way we lose the usage of INT pin) */
cparata 1:8562ae1a0534 71 uint8_t data = 0x34;
cparata 1:8562ae1a0534 72 lis2mdl_write_reg(&_reg_ctx, LIS2MDL_CFG_REG_C, &data, 1);
cparata 1:8562ae1a0534 73 }
cparata 0:671edf39d961 74 }
cparata 0:671edf39d961 75
cparata 0:671edf39d961 76 /** Constructor
cparata 0:671edf39d961 77 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:671edf39d961 78 * @param address the address of the component's instance
cparata 0:671edf39d961 79 * @param int_pin the interrupt pin
cparata 0:671edf39d961 80 */
cparata 0:671edf39d961 81 LIS2MDLSensor::LIS2MDLSensor(DevI2C *i2c, uint8_t address, PinName int_pin) : _dev_i2c(i2c), _address(address), _cs_pin(NC), _int_irq(int_pin)
cparata 0:671edf39d961 82 {
cparata 1:8562ae1a0534 83 assert(i2c);
cparata 1:8562ae1a0534 84 _dev_spi = NULL;
cparata 1:8562ae1a0534 85 _reg_ctx.write_reg = LIS2MDL_io_write;
cparata 1:8562ae1a0534 86 _reg_ctx.read_reg = LIS2MDL_io_read;
cparata 1:8562ae1a0534 87 _reg_ctx.handle = (void *)this;
cparata 0:671edf39d961 88 }
cparata 0:671edf39d961 89
cparata 0:671edf39d961 90 /**
cparata 0:671edf39d961 91 * @brief Initializing the component
cparata 0:671edf39d961 92 * @param init pointer to device specific initalization structure
cparata 0:671edf39d961 93 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 94 */
cparata 0:671edf39d961 95 int LIS2MDLSensor::init(void *init)
cparata 0:671edf39d961 96 {
cparata 1:8562ae1a0534 97 /* Enable BDU */
cparata 1:8562ae1a0534 98 if (lis2mdl_block_data_update_set(&(_reg_ctx), PROPERTY_ENABLE) != 0) {
cparata 1:8562ae1a0534 99 return 1;
cparata 1:8562ae1a0534 100 }
cparata 0:671edf39d961 101
cparata 1:8562ae1a0534 102 /* Operating mode selection - power down */
cparata 1:8562ae1a0534 103 if (lis2mdl_operating_mode_set(&(_reg_ctx), LIS2MDL_POWER_DOWN) != 0) {
cparata 1:8562ae1a0534 104 return 1;
cparata 1:8562ae1a0534 105 }
cparata 0:671edf39d961 106
cparata 1:8562ae1a0534 107 /* Output data rate selection */
cparata 1:8562ae1a0534 108 if (lis2mdl_data_rate_set(&(_reg_ctx), LIS2MDL_ODR_100Hz) != 0) {
cparata 1:8562ae1a0534 109 return 1;
cparata 1:8562ae1a0534 110 }
cparata 0:671edf39d961 111
cparata 1:8562ae1a0534 112 /* Self Test disabled. */
cparata 1:8562ae1a0534 113 if (lis2mdl_self_test_set(&(_reg_ctx), PROPERTY_DISABLE) != 0) {
cparata 1:8562ae1a0534 114 return 1;
cparata 1:8562ae1a0534 115 }
cparata 0:671edf39d961 116
cparata 1:8562ae1a0534 117 _mag_is_enabled = 0;
cparata 0:671edf39d961 118
cparata 1:8562ae1a0534 119 return 0;
cparata 0:671edf39d961 120 }
cparata 0:671edf39d961 121
cparata 0:671edf39d961 122 /**
cparata 0:671edf39d961 123 * @brief Read component ID
cparata 0:671edf39d961 124 * @param id the WHO_AM_I value
cparata 0:671edf39d961 125 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 126 */
cparata 0:671edf39d961 127 int LIS2MDLSensor::read_id(uint8_t *id)
cparata 0:671edf39d961 128 {
cparata 1:8562ae1a0534 129 if (lis2mdl_device_id_get(&_reg_ctx, id) != 0) {
cparata 1:8562ae1a0534 130 return 1;
cparata 1:8562ae1a0534 131 }
cparata 0:671edf39d961 132
cparata 1:8562ae1a0534 133 return 0;
cparata 0:671edf39d961 134 }
cparata 0:671edf39d961 135
cparata 0:671edf39d961 136
cparata 0:671edf39d961 137 /**
cparata 0:671edf39d961 138 * @brief Enable the LIS2MDL magnetometer sensor
cparata 0:671edf39d961 139 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 140 */
cparata 0:671edf39d961 141 int LIS2MDLSensor::enable()
cparata 0:671edf39d961 142 {
cparata 1:8562ae1a0534 143 /* Check if the component is already enabled */
cparata 1:8562ae1a0534 144 if (_mag_is_enabled == 1U) {
cparata 1:8562ae1a0534 145 return 0;
cparata 1:8562ae1a0534 146 }
cparata 0:671edf39d961 147
cparata 1:8562ae1a0534 148 /* Output data rate selection. */
cparata 1:8562ae1a0534 149 if (lis2mdl_operating_mode_set(&_reg_ctx, LIS2MDL_CONTINUOUS_MODE) != 0) {
cparata 1:8562ae1a0534 150 return 1;
cparata 1:8562ae1a0534 151 }
cparata 0:671edf39d961 152
cparata 1:8562ae1a0534 153 _mag_is_enabled = 1;
cparata 0:671edf39d961 154
cparata 1:8562ae1a0534 155 return 0;
cparata 0:671edf39d961 156 }
cparata 0:671edf39d961 157
cparata 0:671edf39d961 158 /**
cparata 0:671edf39d961 159 * @brief Disable the LIS2MDL magnetometer sensor
cparata 0:671edf39d961 160 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 161 */
cparata 0:671edf39d961 162 int LIS2MDLSensor::disable()
cparata 0:671edf39d961 163 {
cparata 1:8562ae1a0534 164 /* Check if the component is already disabled */
cparata 1:8562ae1a0534 165 if (_mag_is_enabled == 0U) {
cparata 1:8562ae1a0534 166 return 0;
cparata 1:8562ae1a0534 167 }
cparata 0:671edf39d961 168
cparata 1:8562ae1a0534 169 /* Output data rate selection - power down. */
cparata 1:8562ae1a0534 170 if (lis2mdl_operating_mode_set(&_reg_ctx, LIS2MDL_POWER_DOWN) != 0) {
cparata 1:8562ae1a0534 171 return 1;
cparata 1:8562ae1a0534 172 }
cparata 0:671edf39d961 173
cparata 1:8562ae1a0534 174 _mag_is_enabled = 0;
cparata 0:671edf39d961 175
cparata 1:8562ae1a0534 176 return 0;
cparata 0:671edf39d961 177 }
cparata 0:671edf39d961 178
cparata 0:671edf39d961 179 /**
cparata 0:671edf39d961 180 * @brief Get the LIS2MDL magnetometer sensor sensitivity
cparata 0:671edf39d961 181 * @param sensitivity pointer where the sensitivity is written
cparata 0:671edf39d961 182 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 183 */
cparata 0:671edf39d961 184 int LIS2MDLSensor::get_m_sensitivity(float *sensitivity)
cparata 0:671edf39d961 185 {
cparata 1:8562ae1a0534 186 *sensitivity = LIS2MDL_MAG_SENSITIVITY_FS_50GAUSS;
cparata 0:671edf39d961 187
cparata 1:8562ae1a0534 188 return 0;
cparata 0:671edf39d961 189 }
cparata 0:671edf39d961 190
cparata 0:671edf39d961 191 /**
cparata 0:671edf39d961 192 * @brief Get the LIS2MDL magnetometer sensor output data rate
cparata 0:671edf39d961 193 * @param odr pointer where the output data rate is written
cparata 0:671edf39d961 194 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 195 */
cparata 0:671edf39d961 196 int LIS2MDLSensor::get_m_odr(float *odr)
cparata 0:671edf39d961 197 {
cparata 1:8562ae1a0534 198 int ret = 0;
cparata 1:8562ae1a0534 199 lis2mdl_odr_t odr_low_level;
cparata 0:671edf39d961 200
cparata 1:8562ae1a0534 201 /* Get current output data rate. */
cparata 1:8562ae1a0534 202 if (lis2mdl_data_rate_get(&_reg_ctx, &odr_low_level) != 0) {
cparata 1:8562ae1a0534 203 return 1;
cparata 1:8562ae1a0534 204 }
cparata 0:671edf39d961 205
cparata 1:8562ae1a0534 206 switch (odr_low_level) {
cparata 1:8562ae1a0534 207 case LIS2MDL_ODR_10Hz:
cparata 1:8562ae1a0534 208 *odr = 10.0f;
cparata 1:8562ae1a0534 209 break;
cparata 0:671edf39d961 210
cparata 1:8562ae1a0534 211 case LIS2MDL_ODR_20Hz:
cparata 1:8562ae1a0534 212 *odr = 20.0f;
cparata 1:8562ae1a0534 213 break;
cparata 0:671edf39d961 214
cparata 1:8562ae1a0534 215 case LIS2MDL_ODR_50Hz:
cparata 1:8562ae1a0534 216 *odr = 50.0f;
cparata 1:8562ae1a0534 217 break;
cparata 0:671edf39d961 218
cparata 1:8562ae1a0534 219 case LIS2MDL_ODR_100Hz:
cparata 1:8562ae1a0534 220 *odr = 100.0f;
cparata 1:8562ae1a0534 221 break;
cparata 0:671edf39d961 222
cparata 1:8562ae1a0534 223 default:
cparata 1:8562ae1a0534 224 ret = 1;
cparata 1:8562ae1a0534 225 break;
cparata 1:8562ae1a0534 226 }
cparata 0:671edf39d961 227
cparata 1:8562ae1a0534 228 return ret;
cparata 0:671edf39d961 229 }
cparata 0:671edf39d961 230
cparata 0:671edf39d961 231 /**
cparata 0:671edf39d961 232 * @brief Set the LIS2MDL magnetometer sensor output data rate
cparata 0:671edf39d961 233 * @param odr the output data rate value to be set
cparata 0:671edf39d961 234 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 235 */
cparata 0:671edf39d961 236 int LIS2MDLSensor::set_m_odr(float odr)
cparata 0:671edf39d961 237 {
cparata 1:8562ae1a0534 238 lis2mdl_odr_t new_odr;
cparata 0:671edf39d961 239
cparata 1:8562ae1a0534 240 new_odr = (odr <= 10.000f) ? LIS2MDL_ODR_10Hz
cparata 1:8562ae1a0534 241 : (odr <= 20.000f) ? LIS2MDL_ODR_20Hz
cparata 1:8562ae1a0534 242 : (odr <= 50.000f) ? LIS2MDL_ODR_50Hz
cparata 1:8562ae1a0534 243 : LIS2MDL_ODR_100Hz;
cparata 0:671edf39d961 244
cparata 1:8562ae1a0534 245 if (lis2mdl_data_rate_set(&_reg_ctx, new_odr) != 0) {
cparata 1:8562ae1a0534 246 return 1;
cparata 1:8562ae1a0534 247 }
cparata 1:8562ae1a0534 248
cparata 1:8562ae1a0534 249 return 0;
cparata 0:671edf39d961 250 }
cparata 0:671edf39d961 251
cparata 0:671edf39d961 252 /**
cparata 0:671edf39d961 253 * @brief Get the LIS2MDL magnetometer sensor full scale
cparata 0:671edf39d961 254 * @param full_scale pointer where the full scale is written
cparata 0:671edf39d961 255 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 256 */
cparata 0:671edf39d961 257 int LIS2MDLSensor::get_m_fs(float *full_scale)
cparata 0:671edf39d961 258 {
cparata 1:8562ae1a0534 259 *full_scale = 50.0f;
cparata 0:671edf39d961 260
cparata 1:8562ae1a0534 261 return 0;
cparata 0:671edf39d961 262 }
cparata 0:671edf39d961 263
cparata 0:671edf39d961 264 /**
cparata 0:671edf39d961 265 * @brief Set the LIS2MDL magnetometer sensor full scale
cparata 0:671edf39d961 266 * @param full_scale the functional full scale to be set
cparata 0:671edf39d961 267 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 268 */
cparata 0:671edf39d961 269 int LIS2MDLSensor::set_m_fs(float full_scale)
cparata 0:671edf39d961 270 {
cparata 1:8562ae1a0534 271 (void)full_scale;
cparata 1:8562ae1a0534 272 return 0;
cparata 0:671edf39d961 273 }
cparata 0:671edf39d961 274
cparata 0:671edf39d961 275 /**
cparata 0:671edf39d961 276 * @brief Get the LIS2MDL magnetometer sensor axes
cparata 0:671edf39d961 277 * @param magnetic_field pointer where the values of the axes are written
cparata 0:671edf39d961 278 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 279 */
cparata 0:671edf39d961 280 int LIS2MDLSensor::get_m_axes(int32_t *magnetic_field)
cparata 0:671edf39d961 281 {
cparata 1:8562ae1a0534 282 axis3bit16_t data_raw;
cparata 1:8562ae1a0534 283 float sensitivity;
cparata 0:671edf39d961 284
cparata 1:8562ae1a0534 285 /* Read raw data values. */
cparata 1:8562ae1a0534 286 if (lis2mdl_magnetic_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata 1:8562ae1a0534 287 return 1;
cparata 1:8562ae1a0534 288 }
cparata 0:671edf39d961 289
cparata 1:8562ae1a0534 290 /* Get LIS2MDL actual sensitivity. */
cparata 1:8562ae1a0534 291 if (get_m_sensitivity(&sensitivity) != 0) {
cparata 1:8562ae1a0534 292 return 1;
cparata 1:8562ae1a0534 293 }
cparata 0:671edf39d961 294
cparata 1:8562ae1a0534 295 /* Calculate the data. */
cparata 1:8562ae1a0534 296 magnetic_field[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata 1:8562ae1a0534 297 magnetic_field[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata 1:8562ae1a0534 298 magnetic_field[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata 0:671edf39d961 299
cparata 1:8562ae1a0534 300 return 0;
cparata 0:671edf39d961 301 }
cparata 0:671edf39d961 302
cparata 0:671edf39d961 303 /**
cparata 0:671edf39d961 304 * @brief Get the LIS2MDL magnetometer sensor raw axes
cparata 0:671edf39d961 305 * @param value pointer where the raw values of the axes are written
cparata 0:671edf39d961 306 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 307 */
cparata 0:671edf39d961 308 int LIS2MDLSensor::get_m_axes_raw(int16_t *value)
cparata 0:671edf39d961 309 {
cparata 1:8562ae1a0534 310 axis3bit16_t data_raw;
cparata 1:8562ae1a0534 311
cparata 1:8562ae1a0534 312 /* Read raw data values. */
cparata 1:8562ae1a0534 313 if (lis2mdl_magnetic_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata 1:8562ae1a0534 314 return 1;
cparata 1:8562ae1a0534 315 }
cparata 0:671edf39d961 316
cparata 1:8562ae1a0534 317 /* Format the data. */
cparata 1:8562ae1a0534 318 value[0] = data_raw.i16bit[0];
cparata 1:8562ae1a0534 319 value[1] = data_raw.i16bit[1];
cparata 1:8562ae1a0534 320 value[2] = data_raw.i16bit[2];
cparata 0:671edf39d961 321
cparata 1:8562ae1a0534 322 return 0;
cparata 0:671edf39d961 323 }
cparata 0:671edf39d961 324
cparata 0:671edf39d961 325 /**
cparata 0:671edf39d961 326 * @brief Get the LIS2MDL register value for magnetic sensor
cparata 0:671edf39d961 327 * @param reg address to be read
cparata 0:671edf39d961 328 * @param data pointer where the value is written
cparata 0:671edf39d961 329 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 330 */
cparata 0:671edf39d961 331 int LIS2MDLSensor::read_reg(uint8_t reg, uint8_t *data)
cparata 0:671edf39d961 332 {
cparata 1:8562ae1a0534 333 if (lis2mdl_read_reg(&_reg_ctx, reg, data, 1) != 0) {
cparata 1:8562ae1a0534 334 return 1;
cparata 1:8562ae1a0534 335 }
cparata 0:671edf39d961 336
cparata 1:8562ae1a0534 337 return 0;
cparata 0:671edf39d961 338 }
cparata 0:671edf39d961 339
cparata 0:671edf39d961 340 /**
cparata 0:671edf39d961 341 * @brief Set the LIS2MDL register value for magnetic sensor
cparata 0:671edf39d961 342 * @param pObj the device pObj
cparata 0:671edf39d961 343 * @param reg address to be written
cparata 0:671edf39d961 344 * @param data value to be written
cparata 0:671edf39d961 345 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 346 */
cparata 0:671edf39d961 347 int LIS2MDLSensor::write_reg(uint8_t reg, uint8_t data)
cparata 0:671edf39d961 348 {
cparata 1:8562ae1a0534 349 if (lis2mdl_write_reg(&_reg_ctx, reg, &data, 1) != 0) {
cparata 1:8562ae1a0534 350 return 1;
cparata 1:8562ae1a0534 351 }
cparata 0:671edf39d961 352
cparata 1:8562ae1a0534 353 return 0;
cparata 0:671edf39d961 354 }
cparata 0:671edf39d961 355
cparata 0:671edf39d961 356 /**
cparata 0:671edf39d961 357 * @brief Set self test
cparata 0:671edf39d961 358 * @param status the value of self_test in reg CFG_REG_C
cparata 0:671edf39d961 359 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 360 */
cparata 0:671edf39d961 361 int LIS2MDLSensor::set_m_self_test(uint8_t status)
cparata 0:671edf39d961 362 {
cparata 1:8562ae1a0534 363 if (lis2mdl_self_test_set(&_reg_ctx, status) != 0) {
cparata 1:8562ae1a0534 364 return 1;
cparata 1:8562ae1a0534 365 }
cparata 0:671edf39d961 366
cparata 1:8562ae1a0534 367 return 0;
cparata 0:671edf39d961 368 }
cparata 0:671edf39d961 369
cparata 0:671edf39d961 370 /**
cparata 0:671edf39d961 371 * @brief Get the LIS2MDL MAG data ready bit value
cparata 0:671edf39d961 372 * @param status the status of data ready bit
cparata 0:671edf39d961 373 * @retval 0 in case of success, an error code otherwise
cparata 0:671edf39d961 374 */
cparata 0:671edf39d961 375 int LIS2MDLSensor::get_m_drdy_status(uint8_t *status)
cparata 0:671edf39d961 376 {
cparata 1:8562ae1a0534 377 if (lis2mdl_mag_data_ready_get(&_reg_ctx, status) != 0) {
cparata 1:8562ae1a0534 378 return 1;
cparata 1:8562ae1a0534 379 }
cparata 0:671edf39d961 380
cparata 1:8562ae1a0534 381 return 0;
cparata 0:671edf39d961 382 }
cparata 0:671edf39d961 383
cparata 0:671edf39d961 384
cparata 0:671edf39d961 385
cparata 0:671edf39d961 386 int32_t LIS2MDL_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite)
cparata 0:671edf39d961 387 {
cparata 1:8562ae1a0534 388 return ((LIS2MDLSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:671edf39d961 389 }
cparata 0:671edf39d961 390
cparata 0:671edf39d961 391 int32_t LIS2MDL_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead)
cparata 0:671edf39d961 392 {
cparata 1:8562ae1a0534 393 return ((LIS2MDLSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:671edf39d961 394 }