LSM303AGRMagSensor.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    LSM303AGRMagSensor.cpp
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    5 August 2016
00007  * @brief   Implementation an LSM303AGR magnetometer sensor.
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00012  *
00013  * Redistribution and use in source and binary forms, with or without modification,
00014  * are permitted provided that the following conditions are met:
00015  *   1. Redistributions of source code must retain the above copyright notice,
00016  *      this list of conditions and the following disclaimer.
00017  *   2. Redistributions in binary form must reproduce the above copyright notice,
00018  *      this list of conditions and the following disclaimer in the documentation
00019  *      and/or other materials provided with the distribution.
00020  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021  *      may be used to endorse or promote products derived from this software
00022  *      without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  ******************************************************************************
00036  */
00037 
00038 
00039 /* Includes ------------------------------------------------------------------*/
00040 
00041 #include "LSM303AGRMagSensor.h"
00042 
00043 
00044 /* Class Implementation ------------------------------------------------------*/
00045 LSM303AGRMagSensor::LSM303AGRMagSensor(SPI *spi, PinName cs_pin, PinName intmag_pin) :
00046                                       _dev_spi(spi), _cs_pin(cs_pin), _intmag_pin(intmag_pin) // SPI3W ONLY
00047 {
00048     assert (spi);
00049     if (cs_pin == NC) 
00050     {
00051         printf ("ERROR LSM303AGRMagSensor CS MUST NOT BE NC\n\r");        
00052         _dev_spi = NULL;
00053         _dev_i2c=NULL;
00054         return;
00055     }       
00056     _cs_pin = 0;     // enable SPI3W disable I2C
00057     _dev_i2c=NULL;    
00058 
00059     LSM303AGR_ACC_W_SPI_mode((void *)this, LSM303AGR_ACC_SIM_3_WIRES);    
00060 }
00061 /** Constructor
00062  * @param i2c object of an helper class which handles the I2C peripheral
00063  * @param address the address of the component's instance
00064  */
00065 LSM303AGRMagSensor::LSM303AGRMagSensor(DevI2C *i2c, uint8_t address, PinName intmag_pin) : 
00066                                        _dev_i2c(i2c), _address(address), _cs_pin(NC), _intmag_pin(intmag_pin)
00067 {
00068     assert (i2c);
00069     _dev_spi = NULL;      
00070 }
00071 
00072 /**
00073  * @brief     Initializing the component.
00074  * @param[in] init pointer to device specific initalization structure.
00075  * @retval    "0" in case of success, an error code otherwise.
00076  */
00077 int LSM303AGRMagSensor::init(void *init)
00078 {
00079   /* Operating mode selection - power down */
00080   if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
00081   {
00082     return 1;
00083   }
00084   
00085   /* Enable BDU */
00086   if ( LSM303AGR_MAG_W_BDU( (void *)this, LSM303AGR_MAG_BDU_ENABLED ) == MEMS_ERROR )
00087   {
00088     return 1;
00089   }
00090   
00091   if ( set_m_odr( 100.0f ) == 1 )
00092   {
00093     return 1;
00094   }
00095   
00096   if ( set_m_fs( 50.0f ) == 1 )
00097   {
00098     return 1;
00099   }
00100 
00101   if ( LSM303AGR_MAG_W_ST( (void *)this, LSM303AGR_MAG_ST_DISABLED ) == MEMS_ERROR )
00102   {
00103     return 1;
00104   }
00105   
00106   return 0;
00107 }
00108 
00109 /**
00110  * @brief  Enable LSM303AGR magnetometer
00111  * @retval 0 in case of success, an error code otherwise
00112  */
00113 int LSM303AGRMagSensor::enable(void)
00114 {
00115   /* Operating mode selection */
00116   if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_CONTINUOS_MODE ) == MEMS_ERROR )
00117   {
00118     return 1;
00119   }
00120   
00121   return 0;
00122 }
00123 
00124 /**
00125  * @brief  Disable LSM303AGR magnetometer
00126  * @retval 0 in case of success, an error code otherwise
00127  */
00128 int LSM303AGRMagSensor::disable(void)
00129 {
00130   /* Operating mode selection - power down */
00131   if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
00132   {
00133     return 1;
00134   }
00135   
00136   return 0;
00137 }
00138 
00139 /**
00140  * @brief  Read ID of LSM303AGR Magnetometer
00141  * @param  p_id the pointer where the ID of the device is stored
00142  * @retval 0 in case of success, an error code otherwise
00143  */
00144 int LSM303AGRMagSensor::read_id(uint8_t *id)
00145 {
00146   if(!id)
00147   { 
00148     return 1; 
00149   }
00150  
00151   /* Read WHO AM I register */
00152   if ( LSM303AGR_MAG_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
00153   {
00154     return 1;
00155   }
00156   
00157   return 0;
00158 }
00159 
00160 /**
00161  * @brief  Read data from LSM303AGR Magnetometer
00162  * @param  pData the pointer where the magnetometer data are stored
00163  * @retval 0 in case of success, an error code otherwise
00164  */
00165 int LSM303AGRMagSensor::get_m_axes(int32_t *pData)
00166 {
00167   int16_t pDataRaw[3];
00168   float sensitivity = 0;
00169   
00170   /* Read raw data from LSM303AGR output register. */
00171   if ( get_m_axes_raw( pDataRaw ) == 1 )
00172   {
00173     return 1;
00174   }
00175   
00176   /* Get LSM303AGR actual sensitivity. */
00177   if ( get_m_sensitivity( &sensitivity ) == 1 )
00178   {
00179     return 1;
00180   }
00181   
00182   /* Calculate the data. */
00183   pData[0] = ( int32_t )( pDataRaw[0] * sensitivity );
00184   pData[1] = ( int32_t )( pDataRaw[1] * sensitivity );
00185   pData[2] = ( int32_t )( pDataRaw[2] * sensitivity );
00186   
00187   return 0;
00188 }
00189 
00190 /**
00191  * @brief  Read Magnetometer Sensitivity
00192  * @param  pfData the pointer where the magnetometer sensitivity is stored
00193  * @retval 0 in case of success, an error code otherwise
00194  */
00195 int LSM303AGRMagSensor::get_m_sensitivity(float *pfData)
00196 {
00197   *pfData = 1.5f;
00198   
00199   return 0;
00200 }
00201 
00202 /**
00203  * @brief  Read raw data from LSM303AGR Magnetometer
00204  * @param  pData the pointer where the magnetomer raw data are stored
00205  * @retval 0 in case of success, an error code otherwise
00206  */
00207 int LSM303AGRMagSensor::get_m_axes_raw(int16_t *pData)
00208 {
00209   uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
00210   int16_t *regValueInt16;
00211   
00212   /* Read output registers from LSM303AGR_MAG_OUTX_L to LSM303AGR_MAG_OUTZ_H. */
00213   if ( LSM303AGR_MAG_Get_Raw_Magnetic( (void *)this, regValue ) == MEMS_ERROR )
00214   {
00215     return 1;
00216   }
00217   
00218   regValueInt16 = (int16_t *)regValue;
00219   
00220   /* Format the data. */
00221   pData[0] = regValueInt16[0];
00222   pData[1] = regValueInt16[1];
00223   pData[2] = regValueInt16[2];
00224   
00225   return 0;
00226 }
00227 
00228 /**
00229  * @brief  Read LSM303AGR Magnetometer output data rate
00230  * @param  odr the pointer to the output data rate
00231  * @retval 0 in case of success, an error code otherwise
00232  */
00233 int LSM303AGRMagSensor::get_m_odr(float* odr)
00234 {
00235   LSM303AGR_MAG_ODR_t odr_low_level;
00236   
00237   if ( LSM303AGR_MAG_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
00238   {
00239     return 1;
00240   }
00241   
00242   switch( odr_low_level )
00243   {
00244     case LSM303AGR_MAG_ODR_10Hz:
00245       *odr = 10.000f;
00246       break;
00247     case LSM303AGR_MAG_ODR_20Hz:
00248       *odr = 20.000f;
00249       break;
00250     case LSM303AGR_MAG_ODR_50Hz:
00251       *odr = 50.000f;
00252       break;
00253     case LSM303AGR_MAG_ODR_100Hz:
00254       *odr = 100.000f;
00255       break;
00256     default:
00257       *odr = -1.000f;
00258       return 1;
00259   }  
00260   return 0;
00261 }
00262 
00263 /**
00264  * @brief  Set ODR
00265  * @param  odr the output data rate to be set
00266  * @retval 0 in case of success, an error code otherwise
00267  */
00268 int LSM303AGRMagSensor::set_m_odr(float odr)
00269 {
00270   LSM303AGR_MAG_ODR_t new_odr;
00271   
00272   new_odr = ( odr <= 10.000f ) ? LSM303AGR_MAG_ODR_10Hz
00273           : ( odr <= 20.000f ) ? LSM303AGR_MAG_ODR_20Hz
00274           : ( odr <= 50.000f ) ? LSM303AGR_MAG_ODR_50Hz
00275           :                      LSM303AGR_MAG_ODR_100Hz;
00276             
00277   if ( LSM303AGR_MAG_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
00278   {
00279     return 1;
00280   }
00281   
00282   return 0;
00283 }
00284 
00285 
00286 /**
00287  * @brief  Read LSM303AGR Magnetometer full scale
00288  * @param  fullScale the pointer to the output data rate
00289  * @retval 0 in case of success, an error code otherwise
00290  */
00291 int LSM303AGRMagSensor::get_m_fs(float* fullScale)
00292 {
00293   *fullScale = 50.0f;
00294   
00295   return 0;
00296 }
00297 
00298 /**
00299  * @brief  Set full scale
00300  * @param  fullScale the full scale to be set
00301  * @retval 0 in case of success, an error code otherwise
00302  */
00303 int LSM303AGRMagSensor::set_m_fs(float fullScale)
00304 {
00305   return 0;
00306 }
00307 
00308 
00309 /**
00310  * @brief Read magnetometer data from register
00311  * @param reg register address
00312  * @param data register data
00313  * @retval 0 in case of success
00314  * @retval 1 in case of failure
00315  */
00316 int LSM303AGRMagSensor::read_reg( uint8_t reg, uint8_t *data )
00317 {
00318   if ( LSM303AGR_MAG_read_reg( (void *)this, reg, data ) == MEMS_ERROR )
00319   {
00320     return 1;
00321   }
00322 
00323   return 0;
00324 }
00325 
00326 
00327 /**
00328  * @brief Write magnetometer data to register
00329  * @param reg register address
00330  * @param data register data
00331  * @retval 0 in case of success
00332  * @retval 1 in case of failure
00333  */
00334 int LSM303AGRMagSensor::write_reg( uint8_t reg, uint8_t data )
00335 {
00336   if ( LSM303AGR_MAG_write_reg( (void *)this, reg, data ) == MEMS_ERROR )
00337   {
00338     return 1;
00339   }
00340 
00341   return 0;
00342 }
00343 
00344 uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
00345 {
00346   return ((LSM303AGRMagSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
00347 }
00348 
00349 uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
00350 {
00351   return ((LSM303AGRMagSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
00352 }