Arkadi Rafalovich / X_NUCLEO_IKS01A1

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Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Dependents:   STM32_MagneticLight

Fork of X_NUCLEO_IKS01A1 by ST

Components/lis3mdl/lis3mdl.cpp@3:088aa5839e0d, 2015-04-13 (annotated)

Committer:
Wolfgang Betz
Date:
Mon Apr 13 14:44:02 2015 +0200
Revision:
3:088aa5839e0d
Provide first skeleton for abstract classes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wolfgang Betz 3:088aa5839e0d 1 /**
Wolfgang Betz 3:088aa5839e0d 2 ******************************************************************************
Wolfgang Betz 3:088aa5839e0d 3 * @file x_cube_mems_lis3mdl.h
Wolfgang Betz 3:088aa5839e0d 4 * @author AST / EST
Wolfgang Betz 3:088aa5839e0d 5 * @version V0.0.1
Wolfgang Betz 3:088aa5839e0d 6 * @date 9-December-2014
Wolfgang Betz 3:088aa5839e0d 7 * @brief Implementation file for component LIS3MDL
Wolfgang Betz 3:088aa5839e0d 8 ******************************************************************************
Wolfgang Betz 3:088aa5839e0d 9 * @attention
Wolfgang Betz 3:088aa5839e0d 10 *
Wolfgang Betz 3:088aa5839e0d 11 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Wolfgang Betz 3:088aa5839e0d 12 *
Wolfgang Betz 3:088aa5839e0d 13 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 3:088aa5839e0d 14 * are permitted provided that the following conditions are met:
Wolfgang Betz 3:088aa5839e0d 15 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 3:088aa5839e0d 16 * this list of conditions and the following disclaimer.
Wolfgang Betz 3:088aa5839e0d 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 3:088aa5839e0d 18 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 3:088aa5839e0d 19 * and/or other materials provided with the distribution.
Wolfgang Betz 3:088aa5839e0d 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 3:088aa5839e0d 21 * may be used to endorse or promote products derived from this software
Wolfgang Betz 3:088aa5839e0d 22 * without specific prior written permission.
Wolfgang Betz 3:088aa5839e0d 23 *
Wolfgang Betz 3:088aa5839e0d 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 3:088aa5839e0d 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 3:088aa5839e0d 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 3:088aa5839e0d 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 3:088aa5839e0d 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 3:088aa5839e0d 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 3:088aa5839e0d 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 3:088aa5839e0d 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 3:088aa5839e0d 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 3:088aa5839e0d 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 3:088aa5839e0d 34 *
Wolfgang Betz 3:088aa5839e0d 35 ******************************************************************************
Wolfgang Betz 3:088aa5839e0d 36 */
Wolfgang Betz 3:088aa5839e0d 37
Wolfgang Betz 3:088aa5839e0d 38 /* Includes ------------------------------------------------------------------*/
Wolfgang Betz 3:088aa5839e0d 39 #include "mbed.h"
Wolfgang Betz 3:088aa5839e0d 40 #include "lis3mdl.h"
Wolfgang Betz 3:088aa5839e0d 41 #include "lis3mdl_platform.h"
Wolfgang Betz 3:088aa5839e0d 42 #include <math.h>
Wolfgang Betz 3:088aa5839e0d 43
Wolfgang Betz 3:088aa5839e0d 44 /* Methods -------------------------------------------------------------------*/
Wolfgang Betz 3:088aa5839e0d 45
Wolfgang Betz 3:088aa5839e0d 46 /**
Wolfgang Betz 3:088aa5839e0d 47 * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss.
Wolfgang Betz 3:088aa5839e0d 48 * @param float *pfData
Wolfgang Betz 3:088aa5839e0d 49 * @retval None.
Wolfgang Betz 3:088aa5839e0d 50 */
Wolfgang Betz 3:088aa5839e0d 51 void LIS3MDL::GetAxes(AxesRaw_TypeDef *pData)
Wolfgang Betz 3:088aa5839e0d 52 {
Wolfgang Betz 3:088aa5839e0d 53 uint8_t tempReg = 0x00;
Wolfgang Betz 3:088aa5839e0d 54 int16_t pDataRaw[3];
Wolfgang Betz 3:088aa5839e0d 55 float sensitivity = 0;
Wolfgang Betz 3:088aa5839e0d 56 int ret;
Wolfgang Betz 3:088aa5839e0d 57
Wolfgang Betz 3:088aa5839e0d 58 GetAxesRaw(pDataRaw);
Wolfgang Betz 3:088aa5839e0d 59
Wolfgang Betz 3:088aa5839e0d 60 ret = dev_i2c.i2c_read(&tempReg, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
Wolfgang Betz 3:088aa5839e0d 61
Wolfgang Betz 3:088aa5839e0d 62 tempReg &= LIS3MDL_M_FS_MASK;
Wolfgang Betz 3:088aa5839e0d 63
Wolfgang Betz 3:088aa5839e0d 64 switch(tempReg)
Wolfgang Betz 3:088aa5839e0d 65 {
Wolfgang Betz 3:088aa5839e0d 66 case LIS3MDL_M_FS_4:
Wolfgang Betz 3:088aa5839e0d 67 sensitivity = 0.14;
Wolfgang Betz 3:088aa5839e0d 68 break;
Wolfgang Betz 3:088aa5839e0d 69 case LIS3MDL_M_FS_8:
Wolfgang Betz 3:088aa5839e0d 70 sensitivity = 0.29;
Wolfgang Betz 3:088aa5839e0d 71 break;
Wolfgang Betz 3:088aa5839e0d 72 case LIS3MDL_M_FS_12:
Wolfgang Betz 3:088aa5839e0d 73 sensitivity = 0.43;
Wolfgang Betz 3:088aa5839e0d 74 break;
Wolfgang Betz 3:088aa5839e0d 75 case LIS3MDL_M_FS_16:
Wolfgang Betz 3:088aa5839e0d 76 sensitivity = 0.58;
Wolfgang Betz 3:088aa5839e0d 77 break;
Wolfgang Betz 3:088aa5839e0d 78 }
Wolfgang Betz 3:088aa5839e0d 79
Wolfgang Betz 3:088aa5839e0d 80 pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
Wolfgang Betz 3:088aa5839e0d 81 pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
Wolfgang Betz 3:088aa5839e0d 82 pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
Wolfgang Betz 3:088aa5839e0d 83
Wolfgang Betz 3:088aa5839e0d 84 }
Wolfgang Betz 3:088aa5839e0d 85
Wolfgang Betz 3:088aa5839e0d 86 /**
Wolfgang Betz 3:088aa5839e0d 87 * @brief Read raw data from LIS3MDL Magnetic sensor output register.
Wolfgang Betz 3:088aa5839e0d 88 * @param float *pfData
Wolfgang Betz 3:088aa5839e0d 89 * @retval None.
Wolfgang Betz 3:088aa5839e0d 90 */
Wolfgang Betz 3:088aa5839e0d 91 void LIS3MDL::GetAxesRaw(int16_t *pData)
Wolfgang Betz 3:088aa5839e0d 92 {
Wolfgang Betz 3:088aa5839e0d 93 uint8_t tempReg[2] = {0,0};
Wolfgang Betz 3:088aa5839e0d 94 int ret;
Wolfgang Betz 3:088aa5839e0d 95
Wolfgang Betz 3:088aa5839e0d 96 ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_X_L_M + 0x80, 2);
Wolfgang Betz 3:088aa5839e0d 97
Wolfgang Betz 3:088aa5839e0d 98 pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
Wolfgang Betz 3:088aa5839e0d 99
Wolfgang Betz 3:088aa5839e0d 100 ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Y_L_M + 0x80, 2);
Wolfgang Betz 3:088aa5839e0d 101
Wolfgang Betz 3:088aa5839e0d 102 pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
Wolfgang Betz 3:088aa5839e0d 103
Wolfgang Betz 3:088aa5839e0d 104 ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Z_L_M + 0x80, 2);
Wolfgang Betz 3:088aa5839e0d 105
Wolfgang Betz 3:088aa5839e0d 106 pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
Wolfgang Betz 3:088aa5839e0d 107 }
Wolfgang Betz 3:088aa5839e0d 108
Wolfgang Betz 3:088aa5839e0d 109 /**
Wolfgang Betz 3:088aa5839e0d 110 * @brief Read ID address of HTS221
Wolfgang Betz 3:088aa5839e0d 111 * @param Device ID address
Wolfgang Betz 3:088aa5839e0d 112 * @retval ID name
Wolfgang Betz 3:088aa5839e0d 113 */
Wolfgang Betz 3:088aa5839e0d 114 uint8_t LIS3MDL::ReadID(void)
Wolfgang Betz 3:088aa5839e0d 115 {
Wolfgang Betz 3:088aa5839e0d 116 uint8_t tmp=0x00;
Wolfgang Betz 3:088aa5839e0d 117 int ret;
Wolfgang Betz 3:088aa5839e0d 118
Wolfgang Betz 3:088aa5839e0d 119 /* Read WHO I AM register */
Wolfgang Betz 3:088aa5839e0d 120 ret = dev_i2c.i2c_read(&tmp, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_WHO_AM_I_ADDR, 1);
Wolfgang Betz 3:088aa5839e0d 121
Wolfgang Betz 3:088aa5839e0d 122 /* Return the ID */
Wolfgang Betz 3:088aa5839e0d 123 return (uint8_t)tmp;
Wolfgang Betz 3:088aa5839e0d 124 }
Wolfgang Betz 3:088aa5839e0d 125
Wolfgang Betz 3:088aa5839e0d 126 /**
Wolfgang Betz 3:088aa5839e0d 127 * @brief Set HTS221 Initialization.
Wolfgang Betz 3:088aa5839e0d 128 * @param InitStruct: it contains the configuration setting for the HTS221.
Wolfgang Betz 3:088aa5839e0d 129 * @retval None
Wolfgang Betz 3:088aa5839e0d 130 */
Wolfgang Betz 3:088aa5839e0d 131 void LIS3MDL::Init() {
Wolfgang Betz 3:088aa5839e0d 132
Wolfgang Betz 3:088aa5839e0d 133 uint8_t tmp1 = 0x00;
Wolfgang Betz 3:088aa5839e0d 134 int ret;
Wolfgang Betz 3:088aa5839e0d 135
Wolfgang Betz 3:088aa5839e0d 136 /****** Magnetic sensor *******/
Wolfgang Betz 3:088aa5839e0d 137
Wolfgang Betz 3:088aa5839e0d 138 ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
Wolfgang Betz 3:088aa5839e0d 139
Wolfgang Betz 3:088aa5839e0d 140 /* Conversion mode selection */
Wolfgang Betz 3:088aa5839e0d 141 tmp1 &= ~(LIS3MDL_M_MD_MASK);
Wolfgang Betz 3:088aa5839e0d 142 tmp1 |= LIS3MDL_M_MD_CONTINUOUS;
Wolfgang Betz 3:088aa5839e0d 143
Wolfgang Betz 3:088aa5839e0d 144 ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
Wolfgang Betz 3:088aa5839e0d 145
Wolfgang Betz 3:088aa5839e0d 146 ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
Wolfgang Betz 3:088aa5839e0d 147
Wolfgang Betz 3:088aa5839e0d 148 /* Output data rate selection */
Wolfgang Betz 3:088aa5839e0d 149 tmp1 &= ~(LIS3MDL_M_DO_MASK);
Wolfgang Betz 3:088aa5839e0d 150 tmp1 |= LIS3MDL_M_DO_80;
Wolfgang Betz 3:088aa5839e0d 151
Wolfgang Betz 3:088aa5839e0d 152 /* X and Y axes Operative mode selection */
Wolfgang Betz 3:088aa5839e0d 153 tmp1 &= ~(LIS3MDL_M_OM_MASK);
Wolfgang Betz 3:088aa5839e0d 154 tmp1 |= LIS3MDL_M_OM_HP;
Wolfgang Betz 3:088aa5839e0d 155
Wolfgang Betz 3:088aa5839e0d 156 ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
Wolfgang Betz 3:088aa5839e0d 157
Wolfgang Betz 3:088aa5839e0d 158 ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
Wolfgang Betz 3:088aa5839e0d 159
Wolfgang Betz 3:088aa5839e0d 160 /* Full scale selection */
Wolfgang Betz 3:088aa5839e0d 161 tmp1 &= ~(LIS3MDL_M_FS_MASK);
Wolfgang Betz 3:088aa5839e0d 162 tmp1 |= LIS3MDL_M_FS_4;
Wolfgang Betz 3:088aa5839e0d 163
Wolfgang Betz 3:088aa5839e0d 164 ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
Wolfgang Betz 3:088aa5839e0d 165
Wolfgang Betz 3:088aa5839e0d 166 /******************************/
Wolfgang Betz 3:088aa5839e0d 167
Wolfgang Betz 3:088aa5839e0d 168
Wolfgang Betz 3:088aa5839e0d 169 if(ReadID() == I_AM_LIS3MDL_M)
Wolfgang Betz 3:088aa5839e0d 170 {
Wolfgang Betz 3:088aa5839e0d 171 LIS3MDLInitialized = 1;
Wolfgang Betz 3:088aa5839e0d 172 }
Wolfgang Betz 3:088aa5839e0d 173
Wolfgang Betz 3:088aa5839e0d 174 return;
Wolfgang Betz 3:088aa5839e0d 175 }
Wolfgang Betz 3:088aa5839e0d 176
Wolfgang Betz 3:088aa5839e0d 177