Arkadi Rafalovich / X_NUCLEO_IKS01A1

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Dependents:   STM32_MagneticLight

Fork of X_NUCLEO_IKS01A1 by ST

Components/LIS3MDL/lis3mdl.cpp@2:5f95b745eedb, 2015-04-13 (annotated)

Committer:
Wolfgang Betz
Date:
Mon Apr 13 11:49:53 2015 +0200
Revision:
2:5f95b745eedb
Parent:
1:591d1746019c 
CRLF replaced by LF

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wolfgang Betz 2:5f95b745eedb 1 /**
Wolfgang Betz 2:5f95b745eedb 2 ******************************************************************************
Wolfgang Betz 2:5f95b745eedb 3 * @file x_cube_mems_lis3mdl.h
Wolfgang Betz 2:5f95b745eedb 4 * @author AST / EST
Wolfgang Betz 2:5f95b745eedb 5 * @version V0.0.1
Wolfgang Betz 2:5f95b745eedb 6 * @date 9-December-2014
Wolfgang Betz 2:5f95b745eedb 7 * @brief Implementation file for component LIS3MDL
Wolfgang Betz 2:5f95b745eedb 8 ******************************************************************************
Wolfgang Betz 2:5f95b745eedb 9 * @attention
Wolfgang Betz 2:5f95b745eedb 10 *
Wolfgang Betz 2:5f95b745eedb 11 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Wolfgang Betz 2:5f95b745eedb 12 *
Wolfgang Betz 2:5f95b745eedb 13 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 2:5f95b745eedb 14 * are permitted provided that the following conditions are met:
Wolfgang Betz 2:5f95b745eedb 15 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 2:5f95b745eedb 16 * this list of conditions and the following disclaimer.
Wolfgang Betz 2:5f95b745eedb 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 2:5f95b745eedb 18 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 2:5f95b745eedb 19 * and/or other materials provided with the distribution.
Wolfgang Betz 2:5f95b745eedb 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 2:5f95b745eedb 21 * may be used to endorse or promote products derived from this software
Wolfgang Betz 2:5f95b745eedb 22 * without specific prior written permission.
Wolfgang Betz 2:5f95b745eedb 23 *
Wolfgang Betz 2:5f95b745eedb 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 2:5f95b745eedb 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 2:5f95b745eedb 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 2:5f95b745eedb 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 2:5f95b745eedb 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 2:5f95b745eedb 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 2:5f95b745eedb 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 2:5f95b745eedb 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 2:5f95b745eedb 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 2:5f95b745eedb 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 2:5f95b745eedb 34 *
Wolfgang Betz 2:5f95b745eedb 35 ******************************************************************************
Wolfgang Betz 2:5f95b745eedb 36 */
Wolfgang Betz 2:5f95b745eedb 37
Wolfgang Betz 2:5f95b745eedb 38 /* Includes ------------------------------------------------------------------*/
Wolfgang Betz 2:5f95b745eedb 39 #include "mbed.h"
Wolfgang Betz 2:5f95b745eedb 40 #include "lis3mdl.h"
Wolfgang Betz 2:5f95b745eedb 41 #include "lis3mdl_platform.h"
Wolfgang Betz 2:5f95b745eedb 42 #include <math.h>
Wolfgang Betz 2:5f95b745eedb 43
Wolfgang Betz 2:5f95b745eedb 44 /* Methods -------------------------------------------------------------------*/
Wolfgang Betz 2:5f95b745eedb 45
Wolfgang Betz 2:5f95b745eedb 46 /**
Wolfgang Betz 2:5f95b745eedb 47 * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss.
Wolfgang Betz 2:5f95b745eedb 48 * @param float *pfData
Wolfgang Betz 2:5f95b745eedb 49 * @retval None.
Wolfgang Betz 2:5f95b745eedb 50 */
Wolfgang Betz 2:5f95b745eedb 51 void LIS3MDL::GetAxes(AxesRaw_TypeDef *pData)
Wolfgang Betz 2:5f95b745eedb 52 {
Wolfgang Betz 2:5f95b745eedb 53 uint8_t tempReg = 0x00;
Wolfgang Betz 2:5f95b745eedb 54 int16_t pDataRaw[3];
Wolfgang Betz 2:5f95b745eedb 55 float sensitivity = 0;
Wolfgang Betz 2:5f95b745eedb 56 int ret;
Wolfgang Betz 2:5f95b745eedb 57
Wolfgang Betz 2:5f95b745eedb 58 GetAxesRaw(pDataRaw);
Wolfgang Betz 2:5f95b745eedb 59
Wolfgang Betz 2:5f95b745eedb 60 ret = dev_i2c.i2c_read(&tempReg, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
Wolfgang Betz 2:5f95b745eedb 61
Wolfgang Betz 2:5f95b745eedb 62 tempReg &= LIS3MDL_M_FS_MASK;
Wolfgang Betz 2:5f95b745eedb 63
Wolfgang Betz 2:5f95b745eedb 64 switch(tempReg)
Wolfgang Betz 2:5f95b745eedb 65 {
Wolfgang Betz 2:5f95b745eedb 66 case LIS3MDL_M_FS_4:
Wolfgang Betz 2:5f95b745eedb 67 sensitivity = 0.14;
Wolfgang Betz 2:5f95b745eedb 68 break;
Wolfgang Betz 2:5f95b745eedb 69 case LIS3MDL_M_FS_8:
Wolfgang Betz 2:5f95b745eedb 70 sensitivity = 0.29;
Wolfgang Betz 2:5f95b745eedb 71 break;
Wolfgang Betz 2:5f95b745eedb 72 case LIS3MDL_M_FS_12:
Wolfgang Betz 2:5f95b745eedb 73 sensitivity = 0.43;
Wolfgang Betz 2:5f95b745eedb 74 break;
Wolfgang Betz 2:5f95b745eedb 75 case LIS3MDL_M_FS_16:
Wolfgang Betz 2:5f95b745eedb 76 sensitivity = 0.58;
Wolfgang Betz 2:5f95b745eedb 77 break;
Wolfgang Betz 2:5f95b745eedb 78 }
Wolfgang Betz 2:5f95b745eedb 79
Wolfgang Betz 2:5f95b745eedb 80 pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
Wolfgang Betz 2:5f95b745eedb 81 pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
Wolfgang Betz 2:5f95b745eedb 82 pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
Wolfgang Betz 2:5f95b745eedb 83
Wolfgang Betz 2:5f95b745eedb 84 }
Wolfgang Betz 2:5f95b745eedb 85
Wolfgang Betz 2:5f95b745eedb 86 /**
Wolfgang Betz 2:5f95b745eedb 87 * @brief Read raw data from LIS3MDL Magnetic sensor output register.
Wolfgang Betz 2:5f95b745eedb 88 * @param float *pfData
Wolfgang Betz 2:5f95b745eedb 89 * @retval None.
Wolfgang Betz 2:5f95b745eedb 90 */
Wolfgang Betz 2:5f95b745eedb 91 void LIS3MDL::GetAxesRaw(int16_t *pData)
Wolfgang Betz 2:5f95b745eedb 92 {
Wolfgang Betz 2:5f95b745eedb 93 uint8_t tempReg[2] = {0,0};
Wolfgang Betz 2:5f95b745eedb 94 int ret;
Wolfgang Betz 2:5f95b745eedb 95
Wolfgang Betz 2:5f95b745eedb 96 ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_X_L_M + 0x80, 2);
Wolfgang Betz 2:5f95b745eedb 97
Wolfgang Betz 2:5f95b745eedb 98 pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
Wolfgang Betz 2:5f95b745eedb 99
Wolfgang Betz 2:5f95b745eedb 100 ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Y_L_M + 0x80, 2);
Wolfgang Betz 2:5f95b745eedb 101
Wolfgang Betz 2:5f95b745eedb 102 pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
Wolfgang Betz 2:5f95b745eedb 103
Wolfgang Betz 2:5f95b745eedb 104 ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Z_L_M + 0x80, 2);
Wolfgang Betz 2:5f95b745eedb 105
Wolfgang Betz 2:5f95b745eedb 106 pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
Wolfgang Betz 2:5f95b745eedb 107 }
Wolfgang Betz 2:5f95b745eedb 108
Wolfgang Betz 2:5f95b745eedb 109 /**
Wolfgang Betz 2:5f95b745eedb 110 * @brief Read ID address of HTS221
Wolfgang Betz 2:5f95b745eedb 111 * @param Device ID address
Wolfgang Betz 2:5f95b745eedb 112 * @retval ID name
Wolfgang Betz 2:5f95b745eedb 113 */
Wolfgang Betz 2:5f95b745eedb 114 uint8_t LIS3MDL::ReadID(void)
Wolfgang Betz 2:5f95b745eedb 115 {
Wolfgang Betz 2:5f95b745eedb 116 uint8_t tmp=0x00;
Wolfgang Betz 2:5f95b745eedb 117 int ret;
Wolfgang Betz 2:5f95b745eedb 118
Wolfgang Betz 2:5f95b745eedb 119 /* Read WHO I AM register */
Wolfgang Betz 2:5f95b745eedb 120 ret = dev_i2c.i2c_read(&tmp, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_WHO_AM_I_ADDR, 1);
Wolfgang Betz 2:5f95b745eedb 121
Wolfgang Betz 2:5f95b745eedb 122 /* Return the ID */
Wolfgang Betz 2:5f95b745eedb 123 return (uint8_t)tmp;
Wolfgang Betz 2:5f95b745eedb 124 }
Wolfgang Betz 2:5f95b745eedb 125
Wolfgang Betz 2:5f95b745eedb 126 /**
Wolfgang Betz 2:5f95b745eedb 127 * @brief Set HTS221 Initialization.
Wolfgang Betz 2:5f95b745eedb 128 * @param InitStruct: it contains the configuration setting for the HTS221.
Wolfgang Betz 2:5f95b745eedb 129 * @retval None
Wolfgang Betz 2:5f95b745eedb 130 */
Wolfgang Betz 2:5f95b745eedb 131 void LIS3MDL::Init() {
Wolfgang Betz 2:5f95b745eedb 132
Wolfgang Betz 2:5f95b745eedb 133 uint8_t tmp1 = 0x00;
Wolfgang Betz 2:5f95b745eedb 134 int ret;
Wolfgang Betz 2:5f95b745eedb 135
Wolfgang Betz 2:5f95b745eedb 136 /****** Magnetic sensor *******/
Wolfgang Betz 2:5f95b745eedb 137
Wolfgang Betz 2:5f95b745eedb 138 ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
Wolfgang Betz 2:5f95b745eedb 139
Wolfgang Betz 2:5f95b745eedb 140 /* Conversion mode selection */
Wolfgang Betz 2:5f95b745eedb 141 tmp1 &= ~(LIS3MDL_M_MD_MASK);
Wolfgang Betz 2:5f95b745eedb 142 tmp1 |= LIS3MDL_M_MD_CONTINUOUS;
Wolfgang Betz 2:5f95b745eedb 143
Wolfgang Betz 2:5f95b745eedb 144 ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
Wolfgang Betz 2:5f95b745eedb 145
Wolfgang Betz 2:5f95b745eedb 146 ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
Wolfgang Betz 2:5f95b745eedb 147
Wolfgang Betz 2:5f95b745eedb 148 /* Output data rate selection */
Wolfgang Betz 2:5f95b745eedb 149 tmp1 &= ~(LIS3MDL_M_DO_MASK);
Wolfgang Betz 2:5f95b745eedb 150 tmp1 |= LIS3MDL_M_DO_80;
Wolfgang Betz 2:5f95b745eedb 151
Wolfgang Betz 2:5f95b745eedb 152 /* X and Y axes Operative mode selection */
Wolfgang Betz 2:5f95b745eedb 153 tmp1 &= ~(LIS3MDL_M_OM_MASK);
Wolfgang Betz 2:5f95b745eedb 154 tmp1 |= LIS3MDL_M_OM_HP;
Wolfgang Betz 2:5f95b745eedb 155
Wolfgang Betz 2:5f95b745eedb 156 ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
Wolfgang Betz 2:5f95b745eedb 157
Wolfgang Betz 2:5f95b745eedb 158 ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
Wolfgang Betz 2:5f95b745eedb 159
Wolfgang Betz 2:5f95b745eedb 160 /* Full scale selection */
Wolfgang Betz 2:5f95b745eedb 161 tmp1 &= ~(LIS3MDL_M_FS_MASK);
Wolfgang Betz 2:5f95b745eedb 162 tmp1 |= LIS3MDL_M_FS_4;
Wolfgang Betz 2:5f95b745eedb 163
Wolfgang Betz 2:5f95b745eedb 164 ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
Wolfgang Betz 2:5f95b745eedb 165
Wolfgang Betz 2:5f95b745eedb 166 /******************************/
Wolfgang Betz 2:5f95b745eedb 167
Wolfgang Betz 2:5f95b745eedb 168
Wolfgang Betz 2:5f95b745eedb 169 if(ReadID() == I_AM_LIS3MDL_M)
Wolfgang Betz 2:5f95b745eedb 170 {
Wolfgang Betz 2:5f95b745eedb 171 LIS3MDLInitialized = 1;
Wolfgang Betz 2:5f95b745eedb 172 }
Wolfgang Betz 2:5f95b745eedb 173
Wolfgang Betz 2:5f95b745eedb 174 return;
Wolfgang Betz 2:5f95b745eedb 175 }
Wolfgang Betz 2:5f95b745eedb 176
Wolfgang Betz 2:5f95b745eedb 177