Diff: LIS2MDLSensor.h

Revision:

0:671edf39d961

Child:

1:8562ae1a0534

diff -r 000000000000 -r 671edf39d961 LIS2MDLSensor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS2MDLSensor.h	Tue Mar 05 18:06:37 2019 +0000
@@ -0,0 +1,212 @@
+/**
+ ******************************************************************************
+ * @file    LIS2MDLSensor.h
+ * @author  SRA
+ * @version V1.0.0
+ * @date    February 2019
+ * @brief   Abstract Class 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Prevent recursive inclusion -----------------------------------------------*/
+
+#ifndef __LIS2MDLSensor_H__
+#define __LIS2MDLSensor_H__
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "DevI2C.h"
+#include "lis2mdl_reg.h"
+#include "MagneticSensor.h"
+#include <assert.h>
+
+/* Defines -------------------------------------------------------------------*/
+
+
+#define LIS2MDL_MAG_SENSITIVITY_FS_50GAUSS  1.500f  /**< Sensitivity value for 50 gauss full scale [mgauss/LSB] */
+
+/* Typedefs ------------------------------------------------------------------*/
+
+typedef struct
+{
+  int16_t x;
+  int16_t y;
+  int16_t z;
+} LIS2MDL_AxesRaw_t;
+
+typedef struct
+{
+  int32_t x;
+  int32_t y;
+  int32_t z;
+} LIS2MDL_Axes_t;
+
+
+/* Class Declaration ---------------------------------------------------------*/
+   
+/**
+ * Abstract class of an LIS2MDL Inertial Measurement Unit (IMU) 3 axes
+ * sensor.
+ */
+class LIS2MDLSensor : public MagneticSensor
+{
+  public:
+    enum SPI_type_t {SPI3W, SPI4W};
+    LIS2MDLSensor(SPI *spi, PinName cs_pin, PinName int_pin=NC, SPI_type_t spi_type=SPI4W);
+    LIS2MDLSensor(DevI2C *i2c, uint8_t address=LIS2MDL_I2C_ADD, PinName int_pin=NC);
+    virtual int init(void *init);
+    virtual int read_id(uint8_t *id);
+    virtual int get_m_axes(int32_t *magnetic_field);
+    virtual int get_m_axes_raw(int16_t *value);
+    int enable(void);
+    int disable(void);
+    int get_m_sensitivity(float *sensitivity);
+    int get_m_odr(float *odr);
+    int set_m_odr(float odr);
+    int get_m_fs(float *full_scale);
+    int set_m_fs(float full_scale);
+    int read_reg(uint8_t reg, uint8_t *data);
+    int write_reg(uint8_t reg, uint8_t data);
+    int set_m_self_test(uint8_t status);
+    int get_m_drdy_status(uint8_t *status);
+
+    /**
+     * @brief  Attaching an interrupt handler to the INT interrupt.
+     * @param  fptr An interrupt handler.
+     * @retval None.
+     */
+    void attach_int_irq(void (*fptr)(void))
+    {
+        _int_irq.rise(fptr);
+    }
+
+    /**
+     * @brief  Enabling the INT interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void enable_int_irq(void)
+    {
+        _int_irq.enable_irq();
+    }
+    
+    /**
+     * @brief  Disabling the INT interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void disable_int_irq(void)
+    {
+        _int_irq.disable_irq();
+    }
+
+    /**
+     * @brief Utility function to read data.
+     * @param  pBuffer: pointer to data to be read.
+     * @param  RegisterAddr: specifies internal address register to be read.
+     * @param  NumByteToRead: number of bytes to be read.
+     * @retval 0 if ok, an error code otherwise.
+     */
+    uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
+    {
+        if (_dev_spi) {
+            /* Write Reg Address */
+            _dev_spi->lock();
+            _cs_pin = 0;           
+            if (_spi_type == SPI4W) {            
+                _dev_spi->write(RegisterAddr | 0x80);
+                for (int i=0; i<NumByteToRead; i++) {
+                    *(pBuffer+i) = _dev_spi->write(0x00);
+                }
+            } else if (_spi_type == SPI3W){
+                /* Write RD Reg Address with RD bit*/
+                uint8_t TxByte = RegisterAddr | 0x80;    
+                _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
+            }            
+            _cs_pin = 1;
+            _dev_spi->unlock(); 
+            return 0;
+        }                       
+        if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
+        return 1;
+    }
+    
+    /**
+     * @brief Utility function to write data.
+     * @param  pBuffer: pointer to data to be written.
+     * @param  RegisterAddr: specifies internal address register to be written.
+     * @param  NumByteToWrite: number of bytes to write.
+     * @retval 0 if ok, an error code otherwise.
+     */
+    uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
+    {
+        if (_dev_spi) { 
+            _dev_spi->lock();
+            _cs_pin = 0;
+            _dev_spi->write(RegisterAddr);                    
+            _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);                     
+            _cs_pin = 1;                    
+            _dev_spi->unlock();
+            return 0;                    
+        }        
+        if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);    
+        return 1;
+    }
+
+  private:
+
+    /* Helper classes. */
+    DevI2C *_dev_i2c;
+    SPI    *_dev_spi;
+
+    /* Configuration */
+    uint8_t _address;
+    DigitalOut  _cs_pin;        
+    InterruptIn _int_irq;
+    SPI_type_t _spi_type;
+    
+    uint8_t _mag_is_enabled;
+    
+    lis2mdl_ctx_t _reg_ctx;
+    
+};
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+int32_t LIS2MDL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
+int32_t LIS2MDL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
+#ifdef __cplusplus
+  }
+#endif
+
+#endif