Diff: Components/lis3mdl/lis3mdl.cpp

Revision:

3:088aa5839e0d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lis3mdl/lis3mdl.cpp	Mon Apr 13 14:44:02 2015 +0200
@@ -0,0 +1,177 @@
+/**
+******************************************************************************
+* @file    x_cube_mems_lis3mdl.h
+* @author  AST / EST
+* @version V0.0.1
+* @date    9-December-2014
+* @brief   Implementation file for component LIS3MDL
+******************************************************************************
+* @attention
+*
+* <h2><center>&copy; COPYRIGHT(c) 2014 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 "mbed.h"
+#include "lis3mdl.h"
+#include "lis3mdl_platform.h"
+#include <math.h>
+
+/* Methods -------------------------------------------------------------------*/
+
+/**
+ * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss.
+ * @param float *pfData
+ * @retval None.
+ */
+void LIS3MDL::GetAxes(AxesRaw_TypeDef *pData)
+{
+    uint8_t tempReg = 0x00;
+    int16_t pDataRaw[3];
+    float sensitivity = 0;
+    int ret;
+
+    GetAxesRaw(pDataRaw);
+
+    ret = dev_i2c.i2c_read(&tempReg, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
+
+    tempReg &= LIS3MDL_M_FS_MASK;
+
+    switch(tempReg)
+    {
+      case LIS3MDL_M_FS_4:
+        sensitivity = 0.14;
+        break;
+      case LIS3MDL_M_FS_8:
+        sensitivity = 0.29;
+        break;
+      case LIS3MDL_M_FS_12:
+        sensitivity = 0.43;
+        break;
+      case LIS3MDL_M_FS_16:
+        sensitivity = 0.58;
+        break;
+    }
+
+    pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
+    pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
+    pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
+  
+}
+
+/**
+ * @brief Read raw data from LIS3MDL Magnetic sensor output register.
+ * @param float *pfData
+ * @retval None.
+ */
+void LIS3MDL::GetAxesRaw(int16_t *pData)
+{
+    uint8_t tempReg[2] = {0,0};
+    int ret;
+
+    ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_X_L_M + 0x80, 2);
+
+    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Y_L_M + 0x80, 2);
+    
+    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    ret = dev_i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Z_L_M + 0x80, 2);
+
+    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+}
+
+/**
+ * @brief  Read ID address of HTS221
+ * @param  Device ID address
+ * @retval ID name
+ */
+uint8_t LIS3MDL::ReadID(void)
+{
+    uint8_t tmp=0x00;
+    int ret;
+    
+    /* Read WHO I AM register */
+    ret = dev_i2c.i2c_read(&tmp, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_WHO_AM_I_ADDR, 1);
+
+    /* Return the ID */
+    return (uint8_t)tmp;
+}
+
+/**
+ * @brief  Set HTS221 Initialization.
+ * @param  InitStruct: it contains the configuration setting for the HTS221.
+ * @retval None
+ */
+void LIS3MDL::Init() {
+    
+    uint8_t tmp1 = 0x00;
+    int ret;
+    
+    /****** Magnetic sensor *******/
+
+    ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
+
+    /* Conversion mode selection */
+    tmp1 &= ~(LIS3MDL_M_MD_MASK);
+    tmp1 |= LIS3MDL_M_MD_CONTINUOUS;
+
+    ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
+
+    ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
+    
+    /* Output data rate selection */
+    tmp1 &= ~(LIS3MDL_M_DO_MASK);
+    tmp1 |= LIS3MDL_M_DO_80;
+
+    /* X and Y axes Operative mode selection */
+    tmp1 &= ~(LIS3MDL_M_OM_MASK);
+    tmp1 |= LIS3MDL_M_OM_HP;
+
+    ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
+
+    ret = dev_i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
+    
+    /* Full scale selection */
+    tmp1 &= ~(LIS3MDL_M_FS_MASK);
+    tmp1 |= LIS3MDL_M_FS_4;
+
+    ret = dev_i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
+
+    /******************************/
+    
+        
+    if(ReadID() == I_AM_LIS3MDL_M)
+    {
+        LIS3MDLInitialized = 1;
+    }
+    
+    return;
+}
+
+