Ultra-compact high-performance eCompass module: ultra-low power 3D accelerometer and 3D magnetometer.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: HelloWorld_ST_Sensors MOTENV_Mbed mbed-os-mqtt-client LSM303AGR_JS ... more
Diff: LSM303AGRMagSensor.cpp
- Revision:
- 0:ec6e59cc6f40
- Child:
- 1:86d530a7f949
diff -r 000000000000 -r ec6e59cc6f40 LSM303AGRMagSensor.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM303AGRMagSensor.cpp Mon Sep 04 16:08:24 2017 +0000 @@ -0,0 +1,344 @@ +/** + ****************************************************************************** + * @file LSM303AGRMagSensor.cpp + * @author CLab + * @version V1.0.0 + * @date 5 August 2016 + * @brief Implementation an LSM303AGR magnetometer sensor. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2016 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 "LSM303AGRMagSensor.h" + + +/* Class Implementation ------------------------------------------------------*/ + +/** Constructor + * @param i2c object of an helper class which handles the I2C peripheral + * @param address the address of the component's instance + */ +LSM303AGRMagSensor::LSM303AGRMagSensor(DevI2C &i2c) : _dev_i2c(i2c) +{ + _address = LSM303AGR_MAG_I2C_ADDRESS; +}; + +/** Constructor + * @param i2c object of an helper class which handles the I2C peripheral + * @param address the address of the component's instance + */ +LSM303AGRMagSensor::LSM303AGRMagSensor(DevI2C &i2c, uint8_t address) : _dev_i2c(i2c), _address(address) +{ + +}; + +/** + * @brief Initializing the component. + * @param[in] init pointer to device specific initalization structure. + * @retval "0" in case of success, an error code otherwise. + */ +int LSM303AGRMagSensor::init(void *init) +{ + /* Operating mode selection - power down */ + if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR ) + { + return 1; + } + + /* Enable BDU */ + if ( LSM303AGR_MAG_W_BDU( (void *)this, LSM303AGR_MAG_BDU_ENABLED ) == MEMS_ERROR ) + { + return 1; + } + + if ( set_m_odr( 100.0f ) == 1 ) + { + return 1; + } + + if ( set_m_fs( 50.0f ) == 1 ) + { + return 1; + } + + if ( LSM303AGR_MAG_W_ST( (void *)this, LSM303AGR_MAG_ST_DISABLED ) == MEMS_ERROR ) + { + return 1; + } + + return 0; +} + +/** + * @brief Enable LSM303AGR magnetometer + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::enable(void) +{ + /* Operating mode selection */ + if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_CONTINUOS_MODE ) == MEMS_ERROR ) + { + return 1; + } + + return 0; +} + +/** + * @brief Disable LSM303AGR magnetometer + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::disable(void) +{ + /* Operating mode selection - power down */ + if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR ) + { + return 1; + } + + return 0; +} + +/** + * @brief Read ID of LSM303AGR Magnetometer + * @param p_id the pointer where the ID of the device is stored + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::read_id(uint8_t *id) +{ + if(!id) + { + return 1; + } + + /* Read WHO AM I register */ + if ( LSM303AGR_MAG_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR ) + { + return 1; + } + + return 0; +} + +/** + * @brief Read data from LSM303AGR Magnetometer + * @param pData the pointer where the magnetometer data are stored + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::get_m_axes(int32_t *pData) +{ + int16_t pDataRaw[3]; + float sensitivity = 0; + + /* Read raw data from LSM303AGR output register. */ + if ( get_m_axes_raw( pDataRaw ) == 1 ) + { + return 1; + } + + /* Get LSM303AGR actual sensitivity. */ + if ( get_m_sensitivity( &sensitivity ) == 1 ) + { + return 1; + } + + /* Calculate the data. */ + pData[0] = ( int32_t )( pDataRaw[0] * sensitivity ); + pData[1] = ( int32_t )( pDataRaw[1] * sensitivity ); + pData[2] = ( int32_t )( pDataRaw[2] * sensitivity ); + + return 0; +} + +/** + * @brief Read Magnetometer Sensitivity + * @param pfData the pointer where the magnetometer sensitivity is stored + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::get_m_sensitivity(float *pfData) +{ + *pfData = 1.5f; + + return 0; +} + +/** + * @brief Read raw data from LSM303AGR Magnetometer + * @param pData the pointer where the magnetomer raw data are stored + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::get_m_axes_raw(int16_t *pData) +{ + uint8_t regValue[6] = {0, 0, 0, 0, 0, 0}; + int16_t *regValueInt16; + + /* Read output registers from LSM303AGR_MAG_OUTX_L to LSM303AGR_MAG_OUTZ_H. */ + if ( LSM303AGR_MAG_Get_Raw_Magnetic( (void *)this, regValue ) == MEMS_ERROR ) + { + return 1; + } + + regValueInt16 = (int16_t *)regValue; + + /* Format the data. */ + pData[0] = regValueInt16[0]; + pData[1] = regValueInt16[1]; + pData[2] = regValueInt16[2]; + + return 0; +} + +/** + * @brief Read LSM303AGR Magnetometer output data rate + * @param odr the pointer to the output data rate + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::get_m_odr(float* odr) +{ + LSM303AGR_MAG_ODR_t odr_low_level; + + if ( LSM303AGR_MAG_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR ) + { + return 1; + } + + switch( odr_low_level ) + { + case LSM303AGR_MAG_ODR_10Hz: + *odr = 10.000f; + break; + case LSM303AGR_MAG_ODR_20Hz: + *odr = 20.000f; + break; + case LSM303AGR_MAG_ODR_50Hz: + *odr = 50.000f; + break; + case LSM303AGR_MAG_ODR_100Hz: + *odr = 100.000f; + break; + default: + *odr = -1.000f; + return 1; + } + return 0; +} + +/** + * @brief Set ODR + * @param odr the output data rate to be set + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::set_m_odr(float odr) +{ + LSM303AGR_MAG_ODR_t new_odr; + + new_odr = ( odr <= 10.000f ) ? LSM303AGR_MAG_ODR_10Hz + : ( odr <= 20.000f ) ? LSM303AGR_MAG_ODR_20Hz + : ( odr <= 50.000f ) ? LSM303AGR_MAG_ODR_50Hz + : LSM303AGR_MAG_ODR_100Hz; + + if ( LSM303AGR_MAG_W_ODR( (void *)this, new_odr ) == MEMS_ERROR ) + { + return 1; + } + + return 0; +} + + +/** + * @brief Read LSM303AGR Magnetometer full scale + * @param fullScale the pointer to the output data rate + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::get_m_fs(float* fullScale) +{ + *fullScale = 50.0f; + + return 0; +} + +/** + * @brief Set full scale + * @param fullScale the full scale to be set + * @retval 0 in case of success, an error code otherwise + */ +int LSM303AGRMagSensor::set_m_fs(float fullScale) +{ + return 0; +} + + +/** + * @brief Read magnetometer data from register + * @param reg register address + * @param data register data + * @retval 0 in case of success + * @retval 1 in case of failure + */ +int LSM303AGRMagSensor::read_reg( uint8_t reg, uint8_t *data ) +{ + if ( LSM303AGR_MAG_read_reg( (void *)this, reg, data ) == MEMS_ERROR ) + { + return 1; + } + + return 0; +} + + +/** + * @brief Write magnetometer data to register + * @param reg register address + * @param data register data + * @retval 0 in case of success + * @retval 1 in case of failure + */ +int LSM303AGRMagSensor::write_reg( uint8_t reg, uint8_t data ) +{ + if ( LSM303AGR_MAG_write_reg( (void *)this, reg, data ) == MEMS_ERROR ) + { + return 1; + } + + return 0; +} + +uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ) +{ + return ((LSM303AGRMagSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite); +} + +uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ) +{ + return ((LSM303AGRMagSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead); +}