Revision 5:8bab0f419849, committed 2015-04-15

Comitter:

Wolfgang Betz

Date:

Wed Apr 15 12:10:42 2015 +0200

Parent:

4:566f2c41dc1d

Child:

6:8d2abd695c52

Commit message:

Added component LIS3MDL

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/Imu6Axes.h	Wed Apr 15 12:10:42 2015 +0200
@@ -0,0 +1,64 @@
+/**
+ ******************************************************************************
+ * @file    Imu6Axes.h
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    13-April-2015
+ * @brief   This file contains the abstract class describing in general
+ *          the interfaces of a 6-axes accelerometer and gyroscope
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __IMU_6AXES_CLASS_H
+#define __IMU_6AXES_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "imu_6axes.h"
+
+/* Classes  ------------------------------------------------------------------*/
+/** An abstract class for Imu6Axes components
+ */
+class Imu6Axes
+{
+ public:
+	virtual IMU_6AXES_StatusTypeDef Init(IMU_6AXES_InitTypeDef*) = 0;
+	virtual IMU_6AXES_StatusTypeDef Read_XG_ID(uint8_t*) = 0;
+	virtual IMU_6AXES_StatusTypeDef Get_X_Axes(int32_t*) = 0;
+	virtual IMU_6AXES_StatusTypeDef Get_G_Axes(int32_t*) = 0;
+	virtual IMU_6AXES_StatusTypeDef Get_X_Sensitivity(float*) = 0;
+	virtual IMU_6AXES_StatusTypeDef Get_G_Sensitivity(float*) = 0;
+
+ protected:
+	Imu6Axes(void) {};
+};
+
+#endif /* __IMU_6AXES_CLASS_H */

--- a/Components/Common/Imu6Axis.h	Tue Apr 14 15:32:06 2015 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,64 +0,0 @@
-/**
- ******************************************************************************
- * @file    Imu6Axis.h
- * @author  AST / EST
- * @version V0.0.1
- * @date    13-April-2015
- * @brief   This file contains the abstract class describing in general
- *          the interfaces of a 6-axis accelerometer and gyroscope
- ******************************************************************************
- * @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.
- *
- ******************************************************************************
- */
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-#ifndef __IMU_6AXIS_CLASS_H
-#define __IMU_6AXIS_CLASS_H
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "imu_6axis.h"
-
-/* Classes  ------------------------------------------------------------------*/
-/** An abstract class for Imu6Axis components
- */
-class Imu6Axis
-{
- public:
-	virtual IMU_6AXIS_StatusTypeDef Init(IMU_6AXIS_InitTypeDef*) = 0;
-	virtual IMU_6AXIS_StatusTypeDef Read_XG_ID(uint8_t*) = 0;
-	virtual IMU_6AXIS_StatusTypeDef Get_X_Axes(int32_t*) = 0;
-	virtual IMU_6AXIS_StatusTypeDef Get_G_Axes(int32_t*) = 0;
-	virtual IMU_6AXIS_StatusTypeDef Get_X_Sensitivity(float*) = 0;
-	virtual IMU_6AXIS_StatusTypeDef Get_G_Sensitivity(float*) = 0;
-
- protected:
-	Imu6Axis(void) {};
-};
-
-#endif /* __IMU_6AXIS_CLASS_H */

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/imu_6axes.h	Wed Apr 15 12:10:42 2015 +0200
@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ * @file    imu_6axes.h
+ * @author  MEMS Application Team
+ * @version V1.2.0
+ * @date    28-January-2015
+ * @brief   This header file contains the functions prototypes for the 
+ *          accelerometer and gyroscope driver.
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __IMU_6AXES_H
+#define __IMU_6AXES_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /* Includes ------------------------------------------------------------------*/
+#include <stdint.h> 
+
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup Components
+  * @{
+  */
+    
+/** @addtogroup IMU_6AXES
+  * @{
+  */
+
+/** @defgroup IMU_6AXES_Exported_Types
+  * @{
+  */
+    
+/**
+ * @brief  IMU_6AXES init structure definition
+ */
+typedef struct
+{
+    uint8_t G_OutputDataRate;
+    uint8_t G_FullScale;
+    uint8_t G_X_Axis;
+    uint8_t G_Y_Axis;
+    uint8_t G_Z_Axis;
+    uint8_t X_OutputDataRate;
+    uint8_t X_FullScale;
+    uint8_t X_X_Axis;
+    uint8_t X_Y_Axis;
+    uint8_t X_Z_Axis;
+}IMU_6AXES_InitTypeDef;
+
+/**
+ * @brief  IMU_6AXES status enumerator definition
+ */
+typedef enum {
+    IMU_6AXES_OK = 0,
+    IMU_6AXES_ERROR = 1,
+    IMU_6AXES_TIMEOUT = 2,
+    IMU_6AXES_NOT_IMPLEMENTED = 3
+} IMU_6AXES_StatusTypeDef;
+
+/**
+ * @brief  IMU_6AXES component id enumerator definition
+ */
+typedef enum {
+    IMU_6AXES_NONE_COMPONENT = 0,
+    IMU_6AXES_LSM6DS0_COMPONENT = 1,
+    IMU_6AXES_LSM6DS3_DIL24_COMPONENT = 2
+} IMU_6AXES_ComponentTypeDef;
+
+/**
+ * @brief  IMU_6AXES driver extended structure definition
+ */
+typedef struct {
+    IMU_6AXES_ComponentTypeDef id; /* This id must be unique for each component belonging to this class that wants to extend common class */
+    void *pData; /* This pointer is specific for each component */
+}IMU_6AXES_DrvExtTypeDef;
+
+/**
+ * @brief  IMU_6AXES driver structure definition
+ */
+typedef struct {
+    IMU_6AXES_StatusTypeDef                  (*Init)(IMU_6AXES_InitTypeDef *);
+    IMU_6AXES_StatusTypeDef                  (*Read_XG_ID)(uint8_t *);
+    IMU_6AXES_StatusTypeDef                  (*Get_X_Axes)(int32_t *);
+    IMU_6AXES_StatusTypeDef                  (*Get_G_Axes)(int32_t *);
+    IMU_6AXES_StatusTypeDef                  (*Get_X_Sensitivity) (float *);
+    IMU_6AXES_StatusTypeDef                  (*Get_G_Sensitivity) (float *);
+    IMU_6AXES_DrvExtTypeDef                  *extData;
+}IMU_6AXES_DrvTypeDef;
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __IMU_6AXES_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- a/Components/Common/imu_6axis.h	Tue Apr 14 15:32:06 2015 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,146 +0,0 @@
-/**
- ******************************************************************************
- * @file    imu_6axis.h
- * @author  MEMS Application Team
- * @version V1.2.0
- * @date    28-January-2015
- * @brief   This header file contains the functions prototypes for the 
- *          accelerometer and gyroscope driver.
- ******************************************************************************
- * @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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __IMU_6AXIS_H
-#define __IMU_6AXIS_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-    /* Includes ------------------------------------------------------------------*/
-#include <stdint.h> 
-
-/** @addtogroup BSP
-  * @{
-  */
-
-/** @addtogroup Components
-  * @{
-  */
-    
-/** @addtogroup IMU_6AXIS
-  * @{
-  */
-
-/** @defgroup IMU_6AXIS_Exported_Types
-  * @{
-  */
-    
-/**
- * @brief  IMU_6AXIS init structure definition
- */
-typedef struct
-{
-    uint8_t G_OutputDataRate;
-    uint8_t G_FullScale;
-    uint8_t G_X_Axis;
-    uint8_t G_Y_Axis;
-    uint8_t G_Z_Axis;
-    uint8_t X_OutputDataRate;
-    uint8_t X_FullScale;
-    uint8_t X_X_Axis;
-    uint8_t X_Y_Axis;
-    uint8_t X_Z_Axis;
-}IMU_6AXIS_InitTypeDef;
-
-/**
- * @brief  IMU_6AXIS status enumerator definition
- */
-typedef enum {
-    IMU_6AXIS_OK = 0,
-    IMU_6AXIS_ERROR = 1,
-    IMU_6AXIS_TIMEOUT = 2,
-    IMU_6AXIS_NOT_IMPLEMENTED = 3
-} IMU_6AXIS_StatusTypeDef;
-
-/**
- * @brief  IMU_6AXIS component id enumerator definition
- */
-typedef enum {
-    IMU_6AXIS_NONE_COMPONENT = 0,
-    IMU_6AXIS_LSM6DS0_COMPONENT = 1,
-    IMU_6AXIS_LSM6DS3_DIL24_COMPONENT = 2
-} IMU_6AXIS_ComponentTypeDef;
-
-/**
- * @brief  IMU_6AXIS driver extended structure definition
- */
-typedef struct {
-    IMU_6AXIS_ComponentTypeDef id; /* This id must be unique for each component belonging to this class that wants to extend common class */
-    void *pData; /* This pointer is specific for each component */
-}IMU_6AXIS_DrvExtTypeDef;
-
-/**
- * @brief  IMU_6AXIS driver structure definition
- */
-typedef struct {
-    IMU_6AXIS_StatusTypeDef                  (*Init)(IMU_6AXIS_InitTypeDef *);
-    IMU_6AXIS_StatusTypeDef                  (*Read_XG_ID)(uint8_t *);
-    IMU_6AXIS_StatusTypeDef                  (*Get_X_Axes)(int32_t *);
-    IMU_6AXIS_StatusTypeDef                  (*Get_G_Axes)(int32_t *);
-    IMU_6AXIS_StatusTypeDef                  (*Get_X_Sensitivity) (float *);
-    IMU_6AXIS_StatusTypeDef                  (*Get_G_Sensitivity) (float *);
-    IMU_6AXIS_DrvExtTypeDef                  *extData;
-}IMU_6AXIS_DrvTypeDef;
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __IMU_6AXIS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/readme.txt	Wed Apr 15 12:10:42 2015 +0200
@@ -0,0 +1,15 @@
+hum_temp.h corresponds to:
+- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/hum_temp.h: revision #184,
+- X-CUBE-MEMS1/trunk: revision #293
+
+imu_6axes.h corresponds to:
+- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/imu_6axes.h: revision #184,
+- X-CUBE-MEMS1/trunk: revision #293
+
+magneto.h corresponds to:
+- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/magneto.h: revision #184,
+- X-CUBE-MEMS1/trunk: revision #293
+
+pressure.h corresponds to:
+- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/pressure.h: revision #184,
+- X-CUBE-MEMS1/trunk: revision #293

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lis3mdl/lis3mdl.h	Wed Apr 15 12:10:42 2015 +0200
@@ -0,0 +1,453 @@
+/**
+ ******************************************************************************
+ * @file    lis3mdl.h
+ * @author  MEMS Application Team
+ * @version V1.2.0
+ * @date    28-January-2015
+ * @brief   This file contains definitions for the lis3mdl.c 
+ *          firmware driver.
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __LIS3MDL_H
+#define __LIS3MDL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "../Common/magneto.h"
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */ 
+ 
+/** @addtogroup LIS3MDL
+ * @{
+ */
+
+/** @defgroup LIS3MDL_Exported_Defines LIS3MDL_Exported_Defines
+ * @{
+ */
+#ifndef NULL
+  #define NULL      (void *) 0
+#endif
+
+
+/******************************************************************************/
+/***************** START MAGNETIC SENSOR REGISTER MAPPING  ********************/
+/******************************************************************************/
+
+/**
+  * @brief Device identifier register.
+  * \code
+  * Read
+  * Default value:
+  * 7:0 This read-only register contains the device identifier
+  * \endcode
+*/
+#define LIS3MDL_M_WHO_AM_I_ADDR                             0x0F
+
+
+/**
+ * @brief Magnetic sensor Control Register 1
+ * \code
+ * Read/write
+ * Default value: 0x10
+ * [7] TEMP_COMP: Temperature compensation enable
+ * [6:5] OM1-0: X and Y axes operative mode selection
+ * [4:2] DO2-0: Output data rate selection
+ * [1] This bit must be set to �0� for the correct operation of the device
+ * [0] ST: Self-test enable
+ * \endcode
+ */
+#define LIS3MDL_M_CTRL_REG1_M                               0x20
+
+
+/**
+ * @brief Magnetic sensor Control Register 2
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] These bits must be set to �0� for the correct operation of the device
+ * [6:5] FS1-0: Full-scale configuration
+ * [4] These bits must be set to �0� for the correct operation of the device
+ * [3] REBOOT: Reboot memory content
+ * [2] SOFT_RST: Configuration registers and user register reset function
+ * [1:0] These bits must be set to �0� for the correct operation of the device
+ * \endcode
+ */
+#define LIS3MDL_M_CTRL_REG2_M                               0x21
+
+
+/**
+ * @brief Magnetic sensor Control Register 3
+ * \code
+ * Read/write
+ * Default value: 0x03
+ * [7] I2C_DISABLE: Disable I2C interface
+ * [6] These bits must be set to �0� for the correct operation of the device
+ * [5] LP: Low-power mode configuration
+ * [4:3] These bits must be set to �0� for the correct operation of the device
+ * [2] SIM: SPI Serial Interface mode selection
+ * [1:0] MD1-0: Operating mode selection
+ * \endcode
+ */
+#define LIS3MDL_M_CTRL_REG3_M                               0x22
+
+
+/**
+ * @brief Magnetic sensor data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_X_L_M                                 0x28
+
+
+/**
+ * @brief Magnetic sensor data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_X_H_M                                  0x29
+
+
+/**
+ * @brief Magnetic sensor data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_Y_L_M                                  0x2A
+
+
+/**
+ * @brief Magnetic sensor data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_Y_H_M                                  0x2B
+
+
+/**
+ * @brief Magnetic sensor data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_Z_L_M                                  0x2C
+
+
+/**
+ * @brief Magnetic sensor data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_Z_H_M                                  0x2D
+
+
+/**
+ * @brief Magnetic sensor Interrupt config register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] XIEN: Enable interrupt generation on X axis
+ * [6] YIEN: Enable interrupt generation on Y axis
+ * [5] ZIEN: Enable interrupt generation on Z axis
+ * [4:3] Must be 0
+ * [2] IEA: Interrupt active configuration on INT
+ * [1] LIR: Latch interrupt request
+ * [0] IEN: Interrupt enable on INT pin
+ * \endcode
+ */
+#define LIS3MDL_M_INT_CFG                                   0x30
+
+
+/**
+ * @brief Magnetic sensor Interrupt source register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] PTH_X: Value on X-axis exceeds the threshold on the positive side
+ * [6] PTH_Y: Value on Y-axis exceeds the threshold on the positive side
+ * [5] PTH_Z: Value on Z-axis exceeds the threshold on the positive side
+ * [4] NTH_X: Value on X-axis exceeds the threshold on the negative side
+ * [3] NTH_Y: Value on Y-axis exceeds the threshold on the negative side
+ * [2] NTH_Z: Value on Z-axis exceeds the threshold on the negative side
+ * [1] MROI: Internal measurement range overflow on magnetic value
+ * [0] INT: This bit signals when interrupt event occours
+ * \endcode
+ */
+#define LIS3MDL_M_INT_SRC                                   0x31
+
+
+/**
+ * @brief Magnetic sensor Interrupt threshold register low
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:0] THS7-0: Least 8 significant bits of interrupt threshold
+ * \endcode
+ */
+#define LIS3MDL_M_INT_THS_L_M                               0x32
+
+
+/**
+ * @brief Magnetic sensor Interrupt threshold register high
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] Must be 0
+ * [6:0] THS14-8: Most 7 significant bits of interrupt threshold
+ * \endcode
+ */
+#define LIS3MDL_M_INT_THS_H_M                               0x33
+
+/******************************************************************************/
+/******************* END MAGNETIC SENSOR REGISTER MAPPING  ********************/
+/******************************************************************************/
+
+/**
+ * @brief Multiple Byte. Mask for enabling multiple byte read/write command.
+ */   
+#define LIS3MDL_I2C_MULTIPLEBYTE_CMD                      ((uint8_t)0x80)
+
+/**
+ * @brief Device Address
+ */
+
+#define LIS3MDL_M_MEMS_ADDRESS                              0x3C    // SAD[1] = 1
+  
+/**
+ * @brief Device Identifier. Default value of the WHO_AM_I register.
+ */
+#define I_AM_LIS3MDL_M                                  ((uint8_t)0x3D)
+
+
+/*********************************** MAGNETIC SENSOR REGISTERS VALUE ****************************************/
+
+/** @defgroup LIS3MDL_M_Temperature_Compensation_Enable_Selection_CTRL_REG1_M LIS3MDL_M_Temperature_Compensation_Enable_Selection_CTRL_REG1_M
+ * @{
+ */
+#define LIS3MDL_M_TEMP_COMP_DISABLE                     ((uint8_t)0x00) /*!< Temperature compensation: disable */
+#define LIS3MDL_M_TEMP_COMP_ENABLE                      ((uint8_t)0x80) /*!< Temperature compensation: enable */
+
+#define LIS3MDL_M_TEMP_COMP_MASK                        ((uint8_t)0x80)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_X_And_Y_Axes_Operative_Mode_Selection_CTRL_REG1_M LIS3MDL_M_X_And_Y_Axes_Operative_Mode_Selection_CTRL_REG1_M
+ * @{
+ */
+#define LIS3MDL_M_OM_LP                                 ((uint8_t)0x00) /*!< X and Y axes operative mode: Low-power mode */
+#define LIS3MDL_M_OM_MP                                 ((uint8_t)0x20) /*!< X and Y axes operative mode: Medium-performance mode */
+#define LIS3MDL_M_OM_HP                                 ((uint8_t)0x40) /*!< X and Y axes operative mode: High-performance mode */
+#define LIS3MDL_M_OM_UHP                                ((uint8_t)0x60) /*!< X and Y axes operative mode: Ultra-high performance mode */
+
+#define LIS3MDL_M_OM_MASK                               ((uint8_t)0x60)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_Output_Data_Rate_Selection_CTRL_REG1_M LIS3MDL_M_Output_Data_Rate_Selection_CTRL_REG1_M
+ * @{
+ */
+#define LIS3MDL_M_DO_0_625                              ((uint8_t)0x00) /*!< Output data rate selection: 0.625 */
+#define LIS3MDL_M_DO_1_25                               ((uint8_t)0x04) /*!< Output data rate selection: 1.25 */
+#define LIS3MDL_M_DO_2_5                                ((uint8_t)0x08) /*!< Output data rate selection: 2.5 */
+#define LIS3MDL_M_DO_5                                  ((uint8_t)0x0C) /*!< Output data rate selection: 5 */
+#define LIS3MDL_M_DO_10                                 ((uint8_t)0x10) /*!< Output data rate selection: 10 */
+#define LIS3MDL_M_DO_20                                 ((uint8_t)0x14) /*!< Output data rate selection: 20 */
+#define LIS3MDL_M_DO_40                                 ((uint8_t)0x18) /*!< Output data rate selection: 40 */
+#define LIS3MDL_M_DO_80                                 ((uint8_t)0x1C) /*!< Output data rate selection: 80 */
+
+#define LIS3MDL_M_DO_MASK                               ((uint8_t)0x1C)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_Self_Test_Enable_Selection_CTRL_REG1_M LIS3MDL_M_Self_Test_Enable_Selection_CTRL_REG1_M
+ * @{
+ */
+#define LIS3MDL_M_ST_DISABLE                            ((uint8_t)0x00) /*!< Self-test: disable */
+#define LIS3MDL_M_ST_ENABLE                             ((uint8_t)0x01) /*!< Self-test: enable */
+
+#define LIS3MDL_M_ST_MASK                               ((uint8_t)0x01)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_Full_Scale_Selection_CTRL_REG2_M LIS3MDL_M_Full_Scale_Selection_CTRL_REG2_M
+ * @{
+ */
+#define LIS3MDL_M_FS_4                                  ((uint8_t)0x00) /*!< Full scale: +-4 guass */
+#define LIS3MDL_M_FS_8                                  ((uint8_t)0x20) /*!< Full scale: +-8 gauss */
+#define LIS3MDL_M_FS_12                                 ((uint8_t)0x40) /*!< Full scale: +-12 gauss */
+#define LIS3MDL_M_FS_16                                 ((uint8_t)0x60) /*!< Full scale: +-16 gauss */
+
+#define LIS3MDL_M_FS_MASK                               ((uint8_t)0x60)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_Reboot_Memory_Selection_CTRL_REG2_M LIS3MDL_M_Reboot_Memory_Selection_CTRL_REG2_M
+ * @{
+ */
+#define LIS3MDL_M_REBOOT_NORMAL                         ((uint8_t)0x00) /*!< Reboot mode: normal mode */
+#define LIS3MDL_M_REBOOT_MEM_CONTENT                    ((uint8_t)0x08) /*!< Reboot mode: reboot memory content */
+
+#define LIS3MDL_M_REBOOT_MASK                           ((uint8_t)0x08)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_Configuration_Registers_And_User_Register_Reset_CTRL_REG2_M LIS3MDL_M_Configuration_Registers_And_User_Register_Reset_CTRL_REG2_M
+ * @{
+ */
+#define LIS3MDL_M_SOFT_RST_DEFAULT                      ((uint8_t)0x00) /*!< Reset function: default value */
+#define LIS3MDL_M_SOFT_RST_RESET                        ((uint8_t)0x04) /*!< Reset function: reset operation */
+
+#define LIS3MDL_M_SOFT_RST_MASK                         ((uint8_t)0x04)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_Disable_I2C_Interface_Selection_CTRL_REG3_M LIS3MDL_M_Disable_I2C_Interface_Selection_CTRL_REG3_M
+ * @{
+ */
+#define LIS3MDL_M_I2C_ENABLE                            ((uint8_t)0x00) /*!< I2C interface: enable */
+#define LIS3MDL_M_I2C_DISABLE                           ((uint8_t)0x80) /*!< I2C interface: disable */
+
+#define LIS3MDL_M_I2C_MASK                              ((uint8_t)0x80)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_Low_Power_Mode_Selection_CTRL_REG3_M LIS3MDL_M_Low_Power_Mode_Selection_CTRL_REG3_M
+ * @{
+ */
+#define LIS3MDL_M_LP_ENABLE                            ((uint8_t)0x00) /*!< Low-power mode: magnetic data rate is configured by
+                                                                                            the DO bits in the CTRL_REG1_M */
+#define LIS3MDL_M_LP_DISABLE                           ((uint8_t)0x20) /*!< Low-power mode: the DO bits is set to 0.625 Hz and the system performs,
+                                                                                            for each channel, the minimum number of averages */
+
+#define LIS3MDL_M_LP_MASK                              ((uint8_t)0x20)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_SPI_Serial_Interface_Mode_Selection_CTRL_REG3_M LIS3MDL_M_SPI_Serial_Interface_Mode_Selection_CTRL_REG3_M
+ * @{
+ */
+#define LIS3MDL_M_SPI_R_ENABLE                          ((uint8_t)0x00) /*!< SPI Serial Interface mode: only write operations enabled */
+#define LIS3MDL_M_SPI_R_DISABLE                         ((uint8_t)0x40) /*!< SPI Serial Interface mode: read and write operations enable */
+
+#define LIS3MDL_M_SPI_R_MASK                            ((uint8_t)0x40)
+/**
+  * @}
+  */
+
+/** @defgroup LIS3MDL_M_Operating_Mode_Selection_CTRL_REG3_M LIS3MDL_M_Operating_Mode_Selection_CTRL_REG3_M
+ * @{
+ */
+#define LIS3MDL_M_MD_CONTINUOUS                         ((uint8_t)0x00) /*!< Operating mode: Continuous-conversion mode */
+#define LIS3MDL_M_MD_SINGLE                             ((uint8_t)0x01) /*!< Operating mode: Single-conversion mode has to be used with sampling frequency from 0.625 Hz to 80 Hz. */
+#define LIS3MDL_M_MD_PD                                 ((uint8_t)0x02) /*!< Operating mode: Power-down mode */
+
+#define LIS3MDL_M_MD_MASK                               ((uint8_t)0x03)
+/**
+ * @}
+ */
+
+/**
+  * @}
+  */
+    
+/** @defgroup LIS3MDL_Imported_Functions LIS3MDL_Imported_Functions
+ * @{
+ */
+
+/* Magneto sensor IO functions */
+extern MAGNETO_StatusTypeDef LIS3MDL_IO_Init(void);
+extern MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, uint16_t NumByteToWrite);
+extern MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, uint16_t NumByteToRead);
+extern void LIS3MDL_IO_ITConfig( void );
+
+/**
+ * @}
+ */
+
+/* ------------------------------------------------------- */ 
+/* Here you should declare the internal struct of          */
+/* extended features of LSM6DS0. See the example of        */
+/* LSM6DS3 in lsm6ds3.h                                    */
+/* ------------------------------------------------------- */
+
+/** @addtogroup LIS3MDL_Exported_Variables LIS3MDL_Exported_Variables
+ * @{
+ */
+/* Magneto sensor driver structure */
+extern MAGNETO_DrvTypeDef LIS3MDLDrv;
+extern MAGNETO_DrvExtTypeDef LIS3MDLDrv_ext;
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+ 
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __LIS3MDL_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- /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;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lis3mdl/lis3mdl_class.h	Wed Apr 15 12:10:42 2015 +0200
@@ -0,0 +1,145 @@
+/**
+ ******************************************************************************
+ * @file    lis3mdl_class.h
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    14-April-2015
+ * @brief   Header file for component LIS3MDL
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __LIS3MDL_CLASS_H
+#define __LIS3MDL_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevI2C.h"
+#include "../Common/Magneto.h"
+#include "lis3mdl.h"
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a LIS3MDL sensor component
+ */
+class LIS3MDL : public Magneto {
+ public:
+	/** Constructor
+	 * @param i2c device I2C to be used for communication
+	 */
+        LIS3MDL(DevI2C &i2c) : Magneto(), dev_i2c(i2c) {
+	}
+	
+	/*** Interface Methods ***/
+	virtual MAGNETO_StatusTypeDef Init(MAGNETO_InitTypeDef *init_struct) {
+		return LIS3MDL_Init(init_struct);
+	}
+
+	virtual MAGNETO_StatusTypeDef Read_M_ID(uint8_t *m_id) {
+		return LIS3MDL_Read_M_ID(m_id);
+	}
+
+	virtual MAGNETO_StatusTypeDef Get_M_Axes(int32_t *pData) {
+		return LIS3MDL_M_GetAxes(pData);
+	}
+
+ protected:
+	/*** Methods ***/
+	MAGNETO_StatusTypeDef LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init);
+	MAGNETO_StatusTypeDef LIS3MDL_Read_M_ID(uint8_t *m_id);
+	MAGNETO_StatusTypeDef LIS3MDL_M_GetAxes(int32_t *pData);
+	MAGNETO_StatusTypeDef LIS3MDL_M_GetAxesRaw(int16_t *pData);
+
+	/**
+	 * @brief  Configures LIS3MDL interrupt lines for NUCLEO boards
+	 * @param  None
+	 * @retval None
+	 */
+	void LIS3MDL_IO_ITConfig(void)
+	{
+		/* To be implemented */
+	}
+
+	/**
+	 * @brief  Configures LIS3MDL I2C interface
+	 * @param  None
+	 * @retval MAGNETO_OK in case of success, an error code otherwise
+	 */
+	MAGNETO_StatusTypeDef LIS3MDL_IO_Init(void)
+	{
+		return MAGNETO_OK; /* done in constructor */
+	}
+
+	/**
+	 * @brief utility function to read data from STC3115
+	 * @param  pBuffer: pointer to data to be read.
+	 * @param  RegisterAddr: specifies internal address register to read from.
+	 * @param  NumByteToRead: number of bytes to be read.
+	 * @retval MAGNETO_OK if ok, MAGNETO_ERROR if an I2C error has occured
+	 */
+	MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer, 
+					      uint8_t RegisterAddr, uint16_t NumByteToRead)
+	{
+		int ret = dev_i2c.i2c_read(pBuffer,
+					   LIS3MDL_M_MEMS_ADDRESS,
+					   RegisterAddr,
+					   NumByteToRead);
+		if(ret != 0) {
+			return MAGNETO_ERROR;
+		}
+		return MAGNETO_OK;
+	}
+	
+	/**
+	 * @brief utility function to write data to STC3115
+	 * @param  pBuffer: pointer to buffer to be filled.
+	 * @param  RegisterAddr: specifies internal address register to read from.
+	 * @param  NumByteToWrite: number of bytes to write.
+	 * @retval 0 if ok, -1 if an I2C error has occured
+	 */
+	MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer, 
+					       uint8_t RegisterAddr, uint16_t NumByteToWrite)
+	{
+		int ret = dev_i2c.i2c_write(pBuffer,
+					    LIS3MDL_M_MEMS_ADDRESS,
+					    RegisterAddr,
+					    NumByteToWrite);
+		if(ret != 0) {
+			return MAGNETO_ERROR;
+		}
+		return MAGNETO_OK;
+	}
+	
+	/*** Instance Variables ***/
+	/* IO Device */
+	DevI2C &dev_i2c;
+
+	/* TODO */
+};
+
+#endif // __LIS3MDL_CLASS_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lis3mdl/readme.txt	Wed Apr 15 12:10:42 2015 +0200
@@ -0,0 +1,3 @@
+lis3mdl.h corresponds to:
+- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.h: revision #165,
+- X-CUBE-MEMS1/trunk: revision #293

--- a/x_nucleo_iks01a1.cpp	Tue Apr 14 15:32:06 2015 +0200
+++ b/x_nucleo_iks01a1.cpp	Wed Apr 15 12:10:42 2015 +0200
@@ -39,6 +39,7 @@
 #include "mbed.h"
 #include "x_nucleo_iks01a1.h"
 #include "hts221/hts221_class.h"
+#include "lis3mdl/lis3mdl_class.h"
 
 /* Static variables ----------------------------------------------------------*/
 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::_instance = NULL;
@@ -49,10 +50,10 @@
  * @brief  Constructor
  */
 X_NUCLEO_IKS01A1::X_NUCLEO_IKS01A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c),
-	ht_sensor(*(new HTS221(*dev_i2c)))
+	ht_sensor(*(new HTS221(*dev_i2c))),
+	magnetometer(*(new LIS3MDL(*dev_i2c)))
 #if 0 // betzw: TODO
 	lps25h(*dev_i2c),
-	lis3mdl(*dev_i2c),
 	lsm6ds0(*dev_i2c)
 #endif // 0
 { 

--- a/x_nucleo_iks01a1.h	Tue Apr 14 15:32:06 2015 +0200
+++ b/x_nucleo_iks01a1.h	Wed Apr 15 12:10:42 2015 +0200
@@ -45,9 +45,9 @@
 #include "x_nucleo_iks01a1_targets.h"
 #include "DevI2C.h"
 #include "Common/HumTemp.h"
+#include "Common/Magneto.h"
 #if 0 // betzw: TODO
 #include "Common/Pressure.h"
-#include "Common/Magneto.h"
 #include "Common/Imu6Axis.h"
 #endif 
 
@@ -81,9 +81,9 @@
 	DevI2C *dev_i2c;
 
 	HumTemp &ht_sensor;
+	Magneto &magnetometer;
 #if 0 // betzw: TODO
 	Pressure &pressure_sensor;
-	Magneto &magnetometer;
 	Imu6Axis &gyroscope;
 #endif // 0
 

--- a/x_nucleo_iks01a1_i2c.h	Tue Apr 14 15:32:06 2015 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,138 +0,0 @@
-/**
-******************************************************************************
-* @file    x_cube_mems_i2c.h
-* @author  AST / EST
-* @version V0.0.1
-* @date    28-November-2014
-* @brief   Header file for a special I2C class DevI2C which provides some
-*          helper function for on-board communication
-******************************************************************************
-* @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.
-*
-******************************************************************************
-*/
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-#ifndef __X_CUBE_MEMS_I2C_H
-#define __X_CUBE_MEMS_I2C_H
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-
-/* betzw - TODO: find a better place! */
-typedef struct {
-    int32_t AXIS_X;
-    int32_t AXIS_Y;
-    int32_t AXIS_Z;
-} AxesRaw_TypeDef;
-
-/* Classes -------------------------------------------------------------------*/
-/** Helper class DevI2C providing some common functionality useful for on-board
- *  communication.
- */
-class DevI2C : public I2C
-{
- public:
-  /** Create a DevI2C Master interface, connected to the specified pins
-   *
-   *  @param sda I2C data line pin
-   *  @param scl I2C clock line pin
-   */
- DevI2C(PinName sda, PinName scl) : I2C(sda, scl) {};
-
-  /**
-   * @brief  Writes a buffer from the I2C peripheral device.
-   * @param  pBuffer pointer to data to be read.
-   * @param  DeviceAddr specifies the peripheral device slave address
-   *         (correctly masked).
-   * @param  RegisterAddr specifies internal address register to read from.
-   * @param  NumByteToWrite number of bytes to be written.
-   * @retval 0 if ok, -1 if an I2C error has occured
-   * @note   on some devices if NumByteToWrite is greater
-   *         than one, the DeviceAddr must be masked correctly
-   */
-  int i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, 
-		uint16_t NumByteToWrite)
-  {
-    int ret;
-    uint8_t tmp[32];
-	
-    //Acquire mbed mutex/semaphore/lock?
-    
-    /* First, send device address. Then, send data and STOP condition */
-    tmp[0] = RegisterAddr;
-    memcpy(tmp+1, pBuffer, NumByteToWrite);
-
-    ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+1, 0);
-    
-    //Release mbed mutex/semaphore/lock?
-    
-    if(ret) {
-      error("%s: dev = %d, reg = %d, num = %d\n",
-	    __func__, DeviceAddr, RegisterAddr, NumByteToWrite);
-      return -1;
-    }
-    return 0;
-  }
-
-  /**
-   * @brief  Reads a buffer from the I2C peripheral device.
-   * @param  pBuffer pointer to data to be read.
-   * @param  DaviceAddr specifies the peripheral device slave address
-   *         (correctly masked)..
-   * @param  RegisterAddr specifies internal address register to read from.
-   * @param  NumByteToRead number of bytes to be read.
-   * @retval 0 if ok, -1 if an I2C error has occured
-   * @note   on some devices if NumByteToRead is greater
-   *         than one, the DeviceAddr must be masked correctly
-   */
-  int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, 
-	       uint16_t NumByteToRead)
-  {
-    int ret;
-    
-    //Acquire mbed mutex/semaphore/lock?
-    
-    /* Send device address, with no STOP condition */
-    ret = write(DeviceAddr, (const char*)&RegisterAddr, 1, 1);
-    if(!ret) {
-      /* Read data, with STOP condition  */
-      ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, 0);
-    }
-    
-    //Release mbed mutex/semaphore/lock?
-    
-    if(ret) {
-      error("%s: dev = %d, reg = %d, num = %d\n",
-	    __func__, DeviceAddr, RegisterAddr, NumByteToRead);
-      return -1;
-    }
-    return 0;
-  }
-};
-
-#endif /* __X_CUBE_MEMS_I2C_H */