ST
3-axis MEMS ultra low power magnetometer
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: X_NUCLEO_IKS01A3 X_NUCLEO_IKS01A3
Revision 0:671edf39d961, committed 2019-03-05
- Comitter:
- cparata
- Date:
- Tue Mar 05 18:06:37 2019 +0000
- Child:
- 1:8562ae1a0534
- Commit message:
- First version of LIS2MDL library
Changed in this revision
--- /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>© 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);
+}
--- /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>© 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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ST_INTERFACES.lib Tue Mar 05 18:06:37 2019 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#d3c9b33b992c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_COMMON.lib Tue Mar 05 18:06:37 2019 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#21096473f63e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lis2mdl_reg.c Tue Mar 05 18:06:37 2019 +0000
@@ -0,0 +1,1156 @@
+/*
+ ******************************************************************************
+ * @file lis2mdl_reg.c
+ * @author Sensors Software Solution Team
+ * @brief LIS2MDL driver file
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2018 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.
+ *
+*/
+#include "lis2mdl_reg.h"
+
+/**
+ * @defgroup LIS2MDL
+ * @brief This file provides a set of functions needed to drive the
+ * lis2mdl enhanced inertial module.
+ * @{
+ *
+ */
+
+/**
+ * @defgroup LIS2MDL_Interfaces_Functions
+ * @brief This section provide a set of functions used to read and
+ * write a generic register of the device.
+ * MANDATORY: return 0 -> no Error.
+ * @{
+ *
+ */
+
+/**
+ * @brief Read generic device register
+ *
+ * @param ctx read / write interface definitions(ptr)
+ * @param reg register to read
+ * @param data pointer to buffer that store the data read(ptr)
+ * @param len number of consecutive register to read
+ * @retval interface status (MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_read_reg(lis2mdl_ctx_t* ctx, uint8_t reg, uint8_t* data,
+ uint16_t len)
+{
+ int32_t ret;
+ ret = ctx->read_reg(ctx->handle, reg, data, len);
+ return ret;
+}
+
+/**
+ * @brief Write generic device register
+ *
+ * @param ctx read / write interface definitions(ptr)
+ * @param reg register to write
+ * @param data pointer to data to write in register reg(ptr)
+ * @param len number of consecutive register to write
+ * @retval interface status (MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_write_reg(lis2mdl_ctx_t* ctx, uint8_t reg, uint8_t* data,
+ uint16_t len)
+{
+ int32_t ret;
+ ret = ctx->write_reg(ctx->handle, reg, data, len);
+ return ret;
+}
+
+/**
+ * @}
+ *
+ */
+
+ /**
+ * @defgroup LIS2MDL_Sensitivity
+ * @brief These functions convert raw-data into engineering units.
+ * @{
+ *
+ */
+float_t lis2mdl_from_lsb_to_mgauss(int16_t lsb)
+{
+ return ((float_t)lsb * 1.5f);
+}
+
+float_t lis2mdl_from_lsb_to_celsius(int16_t lsb)
+{
+ return (((float_t)lsb / 8.0f) + 25.0f);
+}
+
+/**
+ * @}
+ *
+ */
+
+/**
+ * @defgroup LIS2MDL_data_generation
+ * @brief This section group all the functions concerning
+ * data generation
+ * @{
+ *
+ */
+
+/**
+ * @brief These registers comprise a 3 group of 16-bit number and represent
+ * hard-iron offset in order to compensate environmental effects.
+ * Data format is the same of output data raw: two’s complement
+ * with 1LSb = 1.5mG. These values act on the magnetic output data
+ * value in order to delete the environmental offset.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param buff buffer that contains data to write
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_mag_user_offset_set(lis2mdl_ctx_t *ctx, uint8_t *buff)
+{
+ int32_t ret;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_OFFSET_X_REG_L, buff, 6);
+ return ret;
+}
+
+/**
+ * @brief These registers comprise a 3 group of 16-bit number and represent
+ * hard-iron offset in order to compensate environmental effects.
+ * Data format is the same of output data raw: two’s complement
+ * with 1LSb = 1.5mG. These values act on the magnetic output data
+ * value in order to delete the environmental offset.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param buff that stores data read
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_mag_user_offset_get(lis2mdl_ctx_t *ctx, uint8_t *buff)
+{
+ int32_t ret;
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_OFFSET_X_REG_L, buff, 6);
+ return ret;
+}
+
+/**
+ * @brief Operating mode selection.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of md in reg CFG_REG_A
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_operating_mode_set(lis2mdl_ctx_t *ctx, lis2mdl_md_t val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.md = (uint8_t)val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Operating mode selection.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val Get the values of md in reg CFG_REG_A.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_operating_mode_get(lis2mdl_ctx_t *ctx, lis2mdl_md_t *val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ switch (reg.md){
+ case LIS2MDL_POWER_DOWN:
+ *val = LIS2MDL_POWER_DOWN;
+ break;
+ case LIS2MDL_CONTINUOUS_MODE:
+ *val = LIS2MDL_CONTINUOUS_MODE;
+ break;
+ case LIS2MDL_SINGLE_TRIGGER:
+ *val = LIS2MDL_SINGLE_TRIGGER;
+ break;
+ default:
+ *val = LIS2MDL_POWER_DOWN;
+ break;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Output data rate selection.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of odr in reg CFG_REG_A
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_data_rate_set(lis2mdl_ctx_t *ctx, lis2mdl_odr_t val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.odr = (uint8_t)val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Output data rate selection.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val Get the values of odr in reg CFG_REG_A.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_data_rate_get(lis2mdl_ctx_t *ctx, lis2mdl_odr_t *val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ switch (reg.odr){
+ case LIS2MDL_ODR_10Hz:
+ *val = LIS2MDL_ODR_10Hz;
+ break;
+ case LIS2MDL_ODR_20Hz:
+ *val = LIS2MDL_ODR_20Hz;
+ break;
+ case LIS2MDL_ODR_50Hz:
+ *val = LIS2MDL_ODR_50Hz;
+ break;
+ case LIS2MDL_ODR_100Hz:
+ *val = LIS2MDL_ODR_100Hz;
+ break;
+ default:
+ *val = LIS2MDL_ODR_10Hz;
+ break;
+ }
+ return ret;
+}
+
+/**
+ * @brief Enables high-resolution/low-power mode.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of lp in reg CFG_REG_A
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_power_mode_set(lis2mdl_ctx_t *ctx, lis2mdl_lp_t val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.lp = (uint8_t)val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Enables high-resolution/low-power mode.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val Get the values of lp in reg CFG_REG_A.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_power_mode_get(lis2mdl_ctx_t *ctx, lis2mdl_lp_t *val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ switch (reg.lp){
+ case LIS2MDL_HIGH_RESOLUTION:
+ *val = LIS2MDL_HIGH_RESOLUTION;
+ break;
+ case LIS2MDL_LOW_POWER:
+ *val = LIS2MDL_LOW_POWER;
+ break;
+ default:
+ *val = LIS2MDL_HIGH_RESOLUTION;
+ break;
+ }
+ return ret;
+}
+
+/**
+ * @brief Enables the magnetometer temperature compensation.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of comp_temp_en in reg CFG_REG_A
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_offset_temp_comp_set(lis2mdl_ctx_t *ctx, uint8_t val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.comp_temp_en = val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Enables the magnetometer temperature compensation.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of comp_temp_en in reg CFG_REG_A.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_offset_temp_comp_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ *val = reg.comp_temp_en;
+
+ return ret;
+}
+
+/**
+ * @brief Low-pass bandwidth selection.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of lpf in reg CFG_REG_B
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_low_pass_bandwidth_set(lis2mdl_ctx_t *ctx,
+ lis2mdl_lpf_t val)
+{
+ lis2mdl_cfg_reg_b_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.lpf = (uint8_t)val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Low-pass bandwidth selection.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val Get the values of lpf in reg CFG_REG_B.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_low_pass_bandwidth_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_lpf_t *val)
+{
+ lis2mdl_cfg_reg_b_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+ switch (reg.lpf){
+ case LIS2MDL_ODR_DIV_2:
+ *val = LIS2MDL_ODR_DIV_2;
+ break;
+ case LIS2MDL_ODR_DIV_4:
+ *val = LIS2MDL_ODR_DIV_4;
+ break;
+ default:
+ *val = LIS2MDL_ODR_DIV_2;
+ break;
+ }
+ return ret;
+}
+
+/**
+ * @brief Reset mode.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of set_rst in reg CFG_REG_B
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_set_rst_mode_set(lis2mdl_ctx_t *ctx, lis2mdl_set_rst_t val)
+{
+ lis2mdl_cfg_reg_b_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.set_rst = (uint8_t)val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Reset mode.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val Get the values of set_rst in reg CFG_REG_B.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_set_rst_mode_get(lis2mdl_ctx_t *ctx, lis2mdl_set_rst_t *val)
+{
+ lis2mdl_cfg_reg_b_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+ switch (reg.set_rst){
+ case LIS2MDL_SET_SENS_ODR_DIV_63:
+ *val = LIS2MDL_SET_SENS_ODR_DIV_63;
+ break;
+ case LIS2MDL_SENS_OFF_CANC_EVERY_ODR:
+ *val = LIS2MDL_SENS_OFF_CANC_EVERY_ODR;
+ break;
+ case LIS2MDL_SET_SENS_ONLY_AT_POWER_ON:
+ *val = LIS2MDL_SET_SENS_ONLY_AT_POWER_ON;
+ break;
+ default:
+ *val = LIS2MDL_SET_SENS_ODR_DIV_63;
+ break;
+ }
+ return ret;
+}
+
+/**
+ * @brief Enables offset cancellation in single measurement mode.
+ * The OFF_CANC bit must be set to 1 when enabling offset
+ * cancellation in single measurement mode this means a
+ * call function: set_rst_mode(SENS_OFF_CANC_EVERY_ODR)
+ * is need.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of off_canc_one_shot in reg CFG_REG_B
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_set_rst_sensor_single_set(lis2mdl_ctx_t *ctx, uint8_t val)
+{
+ lis2mdl_cfg_reg_b_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.off_canc_one_shot = val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Enables offset cancellation in single measurement mode.
+ * The OFF_CANC bit must be set to 1 when enabling offset
+ * cancellation in single measurement mode this means a
+ * call function: set_rst_mode(SENS_OFF_CANC_EVERY_ODR)
+ * is need.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of off_canc_one_shot in reg CFG_REG_B.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_set_rst_sensor_single_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_cfg_reg_b_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+ *val = reg.off_canc_one_shot;
+
+ return ret;
+}
+
+/**
+ * @brief Blockdataupdate.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of bdu in reg CFG_REG_C
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_block_data_update_set(lis2mdl_ctx_t *ctx, uint8_t val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.bdu = val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Blockdataupdate.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of bdu in reg CFG_REG_C.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_block_data_update_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ *val = reg.bdu;
+
+ return ret;
+}
+
+/**
+ * @brief Magnetic set of data available.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of zyxda in reg STATUS_REG.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_mag_data_ready_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_status_reg_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_STATUS_REG, (uint8_t*)®, 1);
+ *val = reg.zyxda;
+
+ return ret;
+}
+
+/**
+ * @brief Magnetic set of data overrun.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of zyxor in reg STATUS_REG.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_mag_data_ovr_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_status_reg_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_STATUS_REG, (uint8_t*)®, 1);
+ *val = reg.zyxor;
+
+ return ret;
+}
+
+/**
+ * @brief Magnetic output value.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param buff that stores data read
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_magnetic_raw_get(lis2mdl_ctx_t *ctx, uint8_t *buff)
+{
+ int32_t ret;
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_OUTX_L_REG, buff, 6);
+ return ret;
+}
+
+/**
+ * @brief Temperature output value.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param buff that stores data read
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_temperature_raw_get(lis2mdl_ctx_t *ctx, uint8_t *buff)
+{
+ int32_t ret;
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_TEMP_OUT_L_REG, buff, 2);
+ return ret;
+}
+
+/**
+ * @}
+ *
+ */
+
+/**
+ * @defgroup LIS2MDL_common
+ * @brief This section group common usefull functions
+ * @{
+ *
+ */
+
+/**
+ * @brief DeviceWhoamI.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param buff that stores data read
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_device_id_get(lis2mdl_ctx_t *ctx, uint8_t *buff)
+{
+ int32_t ret;
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_WHO_AM_I, buff, 1);
+ return ret;
+}
+
+/**
+ * @brief Software reset. Restore the default values in user registers.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of soft_rst in reg CFG_REG_A
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_reset_set(lis2mdl_ctx_t *ctx, uint8_t val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.soft_rst = val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Software reset. Restore the default values in user registers.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of soft_rst in reg CFG_REG_A.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_reset_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ *val = reg.soft_rst;
+
+ return ret;
+}
+
+/**
+ * @brief Reboot memory content. Reload the calibration parameters.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of reboot in reg CFG_REG_A
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_boot_set(lis2mdl_ctx_t *ctx, uint8_t val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.reboot = val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Reboot memory content. Reload the calibration parameters.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of reboot in reg CFG_REG_A.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_boot_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_cfg_reg_a_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_A, (uint8_t*)®, 1);
+ *val = reg.reboot;
+
+ return ret;
+}
+
+/**
+ * @brief Selftest.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of self_test in reg CFG_REG_C
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_self_test_set(lis2mdl_ctx_t *ctx, uint8_t val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.self_test = val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Selftest.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of self_test in reg CFG_REG_C.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_self_test_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ *val = reg.self_test;
+
+ return ret;
+}
+
+/**
+ * @brief Big/Little Endian data selection.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of ble in reg CFG_REG_C
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_data_format_set(lis2mdl_ctx_t *ctx, lis2mdl_ble_t val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.ble = (uint8_t)val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Big/Little Endian data selection.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val Get the values of ble in reg CFG_REG_C.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_data_format_get(lis2mdl_ctx_t *ctx, lis2mdl_ble_t *val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ switch (reg.ble){
+ case LIS2MDL_LSB_AT_LOW_ADD:
+ *val = LIS2MDL_LSB_AT_LOW_ADD;
+ break;
+ case LIS2MDL_MSB_AT_LOW_ADD:
+ *val = LIS2MDL_MSB_AT_LOW_ADD;
+ break;
+ default:
+ *val = LIS2MDL_LSB_AT_LOW_ADD;
+ break;
+ }
+ return ret;
+}
+
+/**
+ * @brief Info about device status.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val registers STATUS_REG.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_status_get(lis2mdl_ctx_t *ctx, lis2mdl_status_reg_t *val)
+{
+ int32_t ret;
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_STATUS_REG, (uint8_t*) val, 1);
+ return ret;
+}
+
+/**
+ * @}
+ *
+ */
+
+/**
+ * @defgroup LIS2MDL_interrupts
+ * @brief This section group all the functions that manage interrupts
+ * @{
+ *
+ */
+
+/**
+ * @brief The interrupt block recognition checks data after/before the
+ * hard-iron correction to discover the interrupt.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of int_on_dataoff in reg CFG_REG_B
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_offset_int_conf_set(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_on_dataoff_t val)
+{
+ lis2mdl_cfg_reg_b_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.int_on_dataoff = (uint8_t)val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief The interrupt block recognition checks data after/before the
+ * hard-iron correction to discover the interrupt.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val Get the values of int_on_dataoff in reg CFG_REG_B.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_offset_int_conf_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_on_dataoff_t *val)
+{
+ lis2mdl_cfg_reg_b_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_B, (uint8_t*)®, 1);
+ switch (reg.int_on_dataoff){
+ case LIS2MDL_CHECK_BEFORE:
+ *val = LIS2MDL_CHECK_BEFORE;
+ break;
+ case LIS2MDL_CHECK_AFTER:
+ *val = LIS2MDL_CHECK_AFTER;
+ break;
+ default:
+ *val = LIS2MDL_CHECK_BEFORE;
+ break;
+ }
+ return ret;
+}
+
+/**
+ * @brief Data-ready signal on INT_DRDY pin.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of drdy_on_pin in reg CFG_REG_C
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_drdy_on_pin_set(lis2mdl_ctx_t *ctx, uint8_t val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.drdy_on_pin = val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Data-ready signal on INT_DRDY pin.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of drdy_on_pin in reg CFG_REG_C.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_drdy_on_pin_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ *val = reg.drdy_on_pin;
+
+ return ret;
+}
+
+/**
+ * @brief Interrupt signal on INT_DRDY pin.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of int_on_pin in reg CFG_REG_C
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_int_on_pin_set(lis2mdl_ctx_t *ctx, uint8_t val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.int_on_pin = val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Interrupt signal on INT_DRDY pin.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of int_on_pin in reg CFG_REG_C.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_int_on_pin_get(lis2mdl_ctx_t *ctx, uint8_t *val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ *val = reg.int_on_pin;
+
+ return ret;
+}
+
+/**
+ * @brief Interrupt generator configuration register.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val registers INT_CRTL_REG.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_int_gen_conf_set(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_crtl_reg_t *val)
+{
+ int32_t ret;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_INT_CRTL_REG, (uint8_t*) val, 1);
+ return ret;
+}
+
+/**
+ * @brief Interrupt generator configuration register.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val registers INT_CRTL_REG.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_int_gen_conf_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_crtl_reg_t *val)
+{
+ int32_t ret;
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_INT_CRTL_REG, (uint8_t*) val, 1);
+ return ret;
+}
+
+/**
+ * @brief Interrupt generator source register.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val registers INT_SOURCE_REG.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_int_gen_source_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_source_reg_t *val)
+{
+ int32_t ret;
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_INT_SOURCE_REG, (uint8_t*) val, 1);
+ return ret;
+}
+
+/**
+ * @brief User-defined threshold value for xl interrupt event on generator.
+ * Data format is the same of output data raw: two’s complement with
+ * 1LSb = 1.5mG.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param buff that contains data to write
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_int_gen_treshold_set(lis2mdl_ctx_t *ctx, uint8_t *buff)
+{
+ int32_t ret;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_INT_THS_L_REG, buff, 2);
+ return ret;
+}
+
+/**
+ * @brief User-defined threshold value for xl interrupt event on generator.
+ * Data format is the same of output data raw: two’s complement with
+ * 1LSb = 1.5mG.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param buff that stores data read
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_int_gen_treshold_get(lis2mdl_ctx_t *ctx, uint8_t *buff)
+{
+ int32_t ret;
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_INT_THS_L_REG, buff, 2);
+ return ret;
+}
+
+/**
+ * @}
+ *
+ */
+
+/**
+ * @defgroup LIS2MDL_serial_interface
+ * @brief This section group all the functions concerning serial
+ * interface management
+ * @{
+ *
+ */
+
+/**
+ * @brief Enable/Disable I2C interface.[set]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val change the values of i2c_dis in reg CFG_REG_C
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_i2c_interface_set(lis2mdl_ctx_t *ctx, lis2mdl_i2c_dis_t val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+
+ if(ret == 0){
+ reg.i2c_dis = (uint8_t)val;
+ ret = lis2mdl_write_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Enable/Disable I2C interface.[get]
+ *
+ * @param ctx read / write interface definitions.(ptr)
+ * @param val Get the values of i2c_dis in reg CFG_REG_C.(ptr)
+ * @retval interface status.(MANDATORY: return 0 -> no Error)
+ *
+ */
+int32_t lis2mdl_i2c_interface_get(lis2mdl_ctx_t *ctx, lis2mdl_i2c_dis_t *val)
+{
+ lis2mdl_cfg_reg_c_t reg;
+ int32_t ret;
+
+ ret = lis2mdl_read_reg(ctx, LIS2MDL_CFG_REG_C, (uint8_t*)®, 1);
+ switch (reg.i2c_dis){
+ case LIS2MDL_I2C_ENABLE:
+ *val = LIS2MDL_I2C_ENABLE;
+ break;
+ case LIS2MDL_I2C_DISABLE:
+ *val = LIS2MDL_I2C_DISABLE;
+ break;
+ default:
+ *val = LIS2MDL_I2C_ENABLE;
+ break;
+ }
+ return ret;
+}
+
+/**
+ * @}
+ *
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lis2mdl_reg.h Tue Mar 05 18:06:37 2019 +0000
@@ -0,0 +1,416 @@
+/*
+ ******************************************************************************
+ * @file lis2mdl_reg.h
+ * @author Sensors Software Solution Team
+ * @brief This file contains all the functions prototypes for the
+ * lis2mdl_reg.c driver.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2018 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.
+ *
+ */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef LIS2MDL_REGS_H
+#define LIS2MDL_REGS_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+#include <math.h>
+
+
+#ifndef float_t
+#define float_t float
+#endif
+
+/** @addtogroup LIS2MDL
+ * @{
+ *
+ */
+
+/** @defgroup LIS2MDL_sensors_common_types
+ * @{
+ *
+ */
+
+#ifndef MEMS_SHARED_TYPES
+#define MEMS_SHARED_TYPES
+
+/**
+ * @defgroup axisXbitXX_t
+ * @brief These unions are useful to represent different sensors data type.
+ * These unions are not need by the driver.
+ *
+ * REMOVING the unions you are compliant with:
+ * MISRA-C 2012 [Rule 19.2] -> " Union are not allowed "
+ *
+ * @{
+ *
+ */
+
+typedef union{
+ int16_t i16bit[3];
+ uint8_t u8bit[6];
+} axis3bit16_t;
+
+typedef union{
+ int16_t i16bit;
+ uint8_t u8bit[2];
+} axis1bit16_t;
+
+typedef union{
+ int32_t i32bit[3];
+ uint8_t u8bit[12];
+} axis3bit32_t;
+
+typedef union{
+ int32_t i32bit;
+ uint8_t u8bit[4];
+} axis1bit32_t;
+
+/**
+ * @}
+ *
+ */
+
+typedef struct{
+ uint8_t bit0 : 1;
+ uint8_t bit1 : 1;
+ uint8_t bit2 : 1;
+ uint8_t bit3 : 1;
+ uint8_t bit4 : 1;
+ uint8_t bit5 : 1;
+ uint8_t bit6 : 1;
+ uint8_t bit7 : 1;
+} bitwise_t;
+
+#define PROPERTY_DISABLE (0U)
+#define PROPERTY_ENABLE (1U)
+
+#endif /* MEMS_SHARED_TYPES */
+
+/**
+ * @}
+ *
+ */
+
+ /** @addtogroup LIS2MDL_Interfaces_Functions
+ * @brief This section provide a set of functions used to read and
+ * write a generic register of the device.
+ * MANDATORY: return 0 -> no Error.
+ * @{
+ *
+ */
+
+typedef int32_t (*lis2mdl_write_ptr)(void *, uint8_t, uint8_t*, uint16_t);
+typedef int32_t (*lis2mdl_read_ptr) (void *, uint8_t, uint8_t*, uint16_t);
+
+typedef struct {
+ /** Component mandatory fields **/
+ lis2mdl_write_ptr write_reg;
+ lis2mdl_read_ptr read_reg;
+ /** Customizable optional pointer **/
+ void *handle;
+} lis2mdl_ctx_t;
+
+/**
+ * @}
+ *
+ */
+
+/** @defgroup LSM9DS1_Infos
+ * @{
+ *
+ */
+
+ /** I2C Device Address 8 bit format **/
+#define LIS2MDL_I2C_ADD 0x3DU
+
+/** Device Identification (Who am I) **/
+#define LIS2MDL_ID 0x40U
+
+/**
+ * @}
+ *
+ */
+
+#define LIS2MDL_OFFSET_X_REG_L 0x45U
+#define LIS2MDL_OFFSET_X_REG_H 0x46U
+#define LIS2MDL_OFFSET_Y_REG_L 0x47U
+#define LIS2MDL_OFFSET_Y_REG_H 0x48U
+#define LIS2MDL_OFFSET_Z_REG_L 0x49U
+#define LIS2MDL_OFFSET_Z_REG_H 0x4AU
+#define LIS2MDL_WHO_AM_I 0x4FU
+#define LIS2MDL_CFG_REG_A 0x60U
+typedef struct {
+ uint8_t md : 2;
+ uint8_t odr : 2;
+ uint8_t lp : 1;
+ uint8_t soft_rst : 1;
+ uint8_t reboot : 1;
+ uint8_t comp_temp_en : 1;
+} lis2mdl_cfg_reg_a_t;
+
+#define LIS2MDL_CFG_REG_B 0x61U
+typedef struct {
+ uint8_t lpf : 1;
+ uint8_t set_rst : 2; /* OFF_CANC + Set_FREQ */
+ uint8_t int_on_dataoff : 1;
+ uint8_t off_canc_one_shot : 1;
+ uint8_t not_used_01 : 3;
+} lis2mdl_cfg_reg_b_t;
+
+#define LIS2MDL_CFG_REG_C 0x62U
+typedef struct {
+ uint8_t drdy_on_pin : 1;
+ uint8_t self_test : 1;
+ uint8_t not_used_01 : 1;
+ uint8_t ble : 1;
+ uint8_t bdu : 1;
+ uint8_t i2c_dis : 1;
+ uint8_t int_on_pin : 1;
+ uint8_t not_used_02 : 1;
+} lis2mdl_cfg_reg_c_t;
+
+#define LIS2MDL_INT_CRTL_REG 0x63U
+typedef struct {
+ uint8_t ien : 1;
+ uint8_t iel : 1;
+ uint8_t iea : 1;
+ uint8_t not_used_01 : 2;
+ uint8_t zien : 1;
+ uint8_t yien : 1;
+ uint8_t xien : 1;
+} lis2mdl_int_crtl_reg_t;
+
+#define LIS2MDL_INT_SOURCE_REG 0x64U
+typedef struct {
+ uint8_t _int : 1;
+ uint8_t mroi : 1;
+ uint8_t n_th_s_z : 1;
+ uint8_t n_th_s_y : 1;
+ uint8_t n_th_s_x : 1;
+ uint8_t p_th_s_z : 1;
+ uint8_t p_th_s_y : 1;
+ uint8_t p_th_s_x : 1;
+} lis2mdl_int_source_reg_t;
+
+#define LIS2MDL_INT_THS_L_REG 0x65U
+#define LIS2MDL_INT_THS_H_REG 0x66U
+#define LIS2MDL_STATUS_REG 0x67U
+typedef struct {
+ uint8_t xda : 1;
+ uint8_t yda : 1;
+ uint8_t zda : 1;
+ uint8_t zyxda : 1;
+ uint8_t xior : 1; //changed as xor is a reserved word in c++
+ uint8_t yor : 1;
+ uint8_t zor : 1;
+ uint8_t zyxor : 1;
+} lis2mdl_status_reg_t;
+
+#define LIS2MDL_OUTX_L_REG 0x68U
+#define LIS2MDL_OUTX_H_REG 0x69U
+#define LIS2MDL_OUTY_L_REG 0x6AU
+#define LIS2MDL_OUTY_H_REG 0x6BU
+#define LIS2MDL_OUTZ_L_REG 0x6CU
+#define LIS2MDL_OUTZ_H_REG 0x6DU
+#define LIS2MDL_TEMP_OUT_L_REG 0x6EU
+#define LIS2MDL_TEMP_OUT_H_REG 0x6FU
+
+/**
+ * @defgroup LIS2MDL_Register_Union
+ * @brief This union group all the registers that has a bit-field
+ * description.
+ * This union is useful but not need by the driver.
+ *
+ * REMOVING this union you are compliant with:
+ * MISRA-C 2012 [Rule 19.2] -> " Union are not allowed "
+ *
+ * @{
+ *
+ */
+typedef union{
+ lis2mdl_cfg_reg_a_t cfg_reg_a;
+ lis2mdl_cfg_reg_b_t cfg_reg_b;
+ lis2mdl_cfg_reg_c_t cfg_reg_c;
+ lis2mdl_int_crtl_reg_t int_crtl_reg;
+ lis2mdl_int_source_reg_t int_source_reg;
+ lis2mdl_status_reg_t status_reg;
+ bitwise_t bitwise;
+ uint8_t byte;
+} lis2mdl_reg_t;
+
+/**
+ * @}
+ *
+ */
+
+int32_t lis2mdl_read_reg(lis2mdl_ctx_t *ctx, uint8_t reg, uint8_t* data,
+ uint16_t len);
+int32_t lis2mdl_write_reg(lis2mdl_ctx_t *ctx, uint8_t reg, uint8_t* data,
+ uint16_t len);
+
+extern float_t lis2mdl_from_lsb_to_mgauss(int16_t lsb);
+extern float_t lis2mdl_from_lsb_to_celsius(int16_t lsb);
+
+int32_t lis2mdl_mag_user_offset_set(lis2mdl_ctx_t *ctx, uint8_t *buff);
+int32_t lis2mdl_mag_user_offset_get(lis2mdl_ctx_t *ctx, uint8_t *buff);
+
+typedef enum {
+ LIS2MDL_CONTINUOUS_MODE = 0,
+ LIS2MDL_SINGLE_TRIGGER = 1,
+ LIS2MDL_POWER_DOWN = 2,
+} lis2mdl_md_t;
+int32_t lis2mdl_operating_mode_set(lis2mdl_ctx_t *ctx, lis2mdl_md_t val);
+int32_t lis2mdl_operating_mode_get(lis2mdl_ctx_t *ctx, lis2mdl_md_t *val);
+
+typedef enum {
+ LIS2MDL_ODR_10Hz = 0,
+ LIS2MDL_ODR_20Hz = 1,
+ LIS2MDL_ODR_50Hz = 2,
+ LIS2MDL_ODR_100Hz = 3,
+} lis2mdl_odr_t;
+int32_t lis2mdl_data_rate_set(lis2mdl_ctx_t *ctx, lis2mdl_odr_t val);
+int32_t lis2mdl_data_rate_get(lis2mdl_ctx_t *ctx, lis2mdl_odr_t *val);
+
+typedef enum {
+ LIS2MDL_HIGH_RESOLUTION = 0,
+ LIS2MDL_LOW_POWER = 1,
+} lis2mdl_lp_t;
+int32_t lis2mdl_power_mode_set(lis2mdl_ctx_t *ctx, lis2mdl_lp_t val);
+int32_t lis2mdl_power_mode_get(lis2mdl_ctx_t *ctx, lis2mdl_lp_t *val);
+
+int32_t lis2mdl_offset_temp_comp_set(lis2mdl_ctx_t *ctx, uint8_t val);
+int32_t lis2mdl_offset_temp_comp_get(lis2mdl_ctx_t *ctx, uint8_t *val);
+
+typedef enum {
+ LIS2MDL_ODR_DIV_2 = 0,
+ LIS2MDL_ODR_DIV_4 = 1,
+} lis2mdl_lpf_t;
+int32_t lis2mdl_low_pass_bandwidth_set(lis2mdl_ctx_t *ctx,
+ lis2mdl_lpf_t val);
+int32_t lis2mdl_low_pass_bandwidth_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_lpf_t *val);
+
+typedef enum {
+ LIS2MDL_SET_SENS_ODR_DIV_63 = 0,
+ LIS2MDL_SENS_OFF_CANC_EVERY_ODR = 1,
+ LIS2MDL_SET_SENS_ONLY_AT_POWER_ON = 2,
+} lis2mdl_set_rst_t;
+int32_t lis2mdl_set_rst_mode_set(lis2mdl_ctx_t *ctx,
+ lis2mdl_set_rst_t val);
+int32_t lis2mdl_set_rst_mode_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_set_rst_t *val);
+
+int32_t lis2mdl_set_rst_sensor_single_set(lis2mdl_ctx_t *ctx,
+ uint8_t val);
+int32_t lis2mdl_set_rst_sensor_single_get(lis2mdl_ctx_t *ctx,
+ uint8_t *val);
+
+int32_t lis2mdl_block_data_update_set(lis2mdl_ctx_t *ctx, uint8_t val);
+int32_t lis2mdl_block_data_update_get(lis2mdl_ctx_t *ctx, uint8_t *val);
+
+int32_t lis2mdl_mag_data_ready_get(lis2mdl_ctx_t *ctx, uint8_t *val);
+
+int32_t lis2mdl_mag_data_ovr_get(lis2mdl_ctx_t *ctx, uint8_t *val);
+
+int32_t lis2mdl_magnetic_raw_get(lis2mdl_ctx_t *ctx, uint8_t *buff);
+
+int32_t lis2mdl_temperature_raw_get(lis2mdl_ctx_t *ctx, uint8_t *buff);
+
+int32_t lis2mdl_device_id_get(lis2mdl_ctx_t *ctx, uint8_t *buff);
+
+int32_t lis2mdl_reset_set(lis2mdl_ctx_t *ctx, uint8_t val);
+int32_t lis2mdl_reset_get(lis2mdl_ctx_t *ctx, uint8_t *val);
+
+int32_t lis2mdl_boot_set(lis2mdl_ctx_t *ctx, uint8_t val);
+int32_t lis2mdl_boot_get(lis2mdl_ctx_t *ctx, uint8_t *val);
+
+int32_t lis2mdl_self_test_set(lis2mdl_ctx_t *ctx, uint8_t val);
+int32_t lis2mdl_self_test_get(lis2mdl_ctx_t *ctx, uint8_t *val);
+
+typedef enum {
+ LIS2MDL_LSB_AT_LOW_ADD = 0,
+ LIS2MDL_MSB_AT_LOW_ADD = 1,
+} lis2mdl_ble_t;
+int32_t lis2mdl_data_format_set(lis2mdl_ctx_t *ctx, lis2mdl_ble_t val);
+int32_t lis2mdl_data_format_get(lis2mdl_ctx_t *ctx, lis2mdl_ble_t *val);
+
+int32_t lis2mdl_status_get(lis2mdl_ctx_t *ctx, lis2mdl_status_reg_t *val);
+
+typedef enum {
+ LIS2MDL_CHECK_BEFORE = 0,
+ LIS2MDL_CHECK_AFTER = 1,
+} lis2mdl_int_on_dataoff_t;
+int32_t lis2mdl_offset_int_conf_set(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_on_dataoff_t val);
+int32_t lis2mdl_offset_int_conf_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_on_dataoff_t *val);
+
+int32_t lis2mdl_drdy_on_pin_set(lis2mdl_ctx_t *ctx, uint8_t val);
+int32_t lis2mdl_drdy_on_pin_get(lis2mdl_ctx_t *ctx, uint8_t *val);
+
+int32_t lis2mdl_int_on_pin_set(lis2mdl_ctx_t *ctx, uint8_t val);
+int32_t lis2mdl_int_on_pin_get(lis2mdl_ctx_t *ctx, uint8_t *val);
+
+int32_t lis2mdl_int_gen_conf_set(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_crtl_reg_t *val);
+int32_t lis2mdl_int_gen_conf_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_crtl_reg_t *val);
+
+int32_t lis2mdl_int_gen_source_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_int_source_reg_t *val);
+
+int32_t lis2mdl_int_gen_treshold_set(lis2mdl_ctx_t *ctx, uint8_t *buff);
+int32_t lis2mdl_int_gen_treshold_get(lis2mdl_ctx_t *ctx, uint8_t *buff);
+
+typedef enum {
+ LIS2MDL_I2C_ENABLE = 0,
+ LIS2MDL_I2C_DISABLE = 1,
+} lis2mdl_i2c_dis_t;
+int32_t lis2mdl_i2c_interface_set(lis2mdl_ctx_t *ctx,
+ lis2mdl_i2c_dis_t val);
+int32_t lis2mdl_i2c_interface_get(lis2mdl_ctx_t *ctx,
+ lis2mdl_i2c_dis_t *val);
+
+/**
+ *@}
+ *
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* LIS2MDL_REGS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/