Diff: Components/lis3mdl/lis3mdl_class.cpp

Revision:

5:8bab0f419849

Child:

24:92cc9c6e4b2b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lis3mdl/lis3mdl_class.cpp	Wed Apr 15 12:10:42 2015 +0200
@@ -0,0 +1,215 @@
+/**
+ ******************************************************************************
+ * @file    lis3mdl_class.cpp
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    14-April-2015
+ * @brief   Implementation file for the LIS3MDL driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 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_class.h"
+#include "lis3mdl.h"
+#include "../../x_nucleo_iks01a1_targets.h"
+
+/* Methods -------------------------------------------------------------------*/
+/* betzw - based on:
+           X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.c: revision #184,
+           X-CUBE-MEMS1/trunk: revision #293
+*/
+/**
+ * @brief  Set LIS3MDL Initialization
+ * @param  LIS3MDL_Init the configuration setting for the LIS3MDL
+ * @retval MAGNETO_OK in case of success, an error code otherwise
+ */
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init)
+{
+    uint8_t tmp1 = 0x00;
+
+    /* Configure the low level interface ---------------------------------------*/
+    if(LIS3MDL_IO_Init() != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    /****** Magnetic sensor *******/
+
+    if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    /* Conversion mode selection */
+    tmp1 &= ~(LIS3MDL_M_MD_MASK);
+    tmp1 |= LIS3MDL_Init->M_OperatingMode;
+
+    if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    /* Output data rate selection */
+    tmp1 &= ~(LIS3MDL_M_DO_MASK);
+    tmp1 |= LIS3MDL_Init->M_OutputDataRate;
+
+    /* X and Y axes Operative mode selection */
+    tmp1 &= ~(LIS3MDL_M_OM_MASK);
+    tmp1 |= LIS3MDL_Init->M_XYOperativeMode;
+
+    if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    /* Full scale selection */
+    tmp1 &= ~(LIS3MDL_M_FS_MASK);
+    tmp1 |= LIS3MDL_Init->M_FullScale;
+
+    if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+    
+    /* Configure interrupt lines */
+    LIS3MDL_IO_ITConfig();
+    
+    return MAGNETO_OK;
+
+    /******************************/
+}
+
+
+/**
+ * @brief  Read ID of LIS3MDL Magnetic sensor
+ * @param  m_id the pointer where the ID of the device is stored
+ * @retval MAGNETO_OK in case of success, an error code otherwise
+ */
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Read_M_ID(uint8_t *m_id)
+{
+    if(!m_id)
+    { 
+      return MAGNETO_ERROR; 
+    }
+
+    return LIS3MDL_IO_Read(m_id, LIS3MDL_M_WHO_AM_I_ADDR, 1);
+}
+
+
+/**
+ * @brief  Read raw data from LIS3MDL Magnetic sensor output register
+ * @param  pData the pointer where the magnetometer raw data are stored
+ * @retval MAGNETO_OK in case of success, an error code otherwise
+ */
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxesRaw(int16_t *pData)
+{
+    uint8_t tempReg[2] = {0,0};
+
+    if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_X_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD), 2) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Y_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD), 2) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Z_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD), 2) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+    
+    return MAGNETO_OK;
+}
+
+
+/**
+ * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss
+ * @param pData the pointer where the magnetometer data are stored
+ * @retval MAGNETO_OK in case of success, an error code otherwise
+ */
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxes(int32_t *pData)
+{
+    uint8_t tempReg = 0x00;
+    int16_t pDataRaw[3];
+    float sensitivity = 0;
+
+    if(LIS3MDL_M_GetAxesRaw(pDataRaw) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK)
+    {
+      return MAGNETO_ERROR;
+    }
+
+    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[0] = (int32_t)(pDataRaw[0] * sensitivity);
+    pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+    pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+    
+    return MAGNETO_OK;
+}