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Dependencies: X_NUCLEO_COMMON ST_INTERFACES
lis3mdl_class.cpp@6:308889c4d074, 2017-10-18 (annotated)
- Committer:
- mapellil
- Date:
- Wed Oct 18 11:14:26 2017 +0200
- Revision:
- 6:308889c4d074
- Parent:
- 4:00493226e59f
Fixed sensor initialization
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nikapov | 0:7376fbeb1d4a | 1 | /** |
nikapov | 0:7376fbeb1d4a | 2 | ****************************************************************************** |
nikapov | 0:7376fbeb1d4a | 3 | * @file lis3mdl_class.cpp |
nikapov | 0:7376fbeb1d4a | 4 | * @author AST / EST |
nikapov | 0:7376fbeb1d4a | 5 | * @version V0.0.1 |
nikapov | 0:7376fbeb1d4a | 6 | * @date 14-April-2015 |
nikapov | 0:7376fbeb1d4a | 7 | * @brief Implementation file for the LIS3MDL driver class |
nikapov | 0:7376fbeb1d4a | 8 | ****************************************************************************** |
nikapov | 0:7376fbeb1d4a | 9 | * @attention |
nikapov | 0:7376fbeb1d4a | 10 | * |
nikapov | 0:7376fbeb1d4a | 11 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
nikapov | 0:7376fbeb1d4a | 12 | * |
nikapov | 0:7376fbeb1d4a | 13 | * Redistribution and use in source and binary forms, with or without modification, |
nikapov | 0:7376fbeb1d4a | 14 | * are permitted provided that the following conditions are met: |
nikapov | 0:7376fbeb1d4a | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
nikapov | 0:7376fbeb1d4a | 16 | * this list of conditions and the following disclaimer. |
nikapov | 0:7376fbeb1d4a | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
nikapov | 0:7376fbeb1d4a | 18 | * this list of conditions and the following disclaimer in the documentation |
nikapov | 0:7376fbeb1d4a | 19 | * and/or other materials provided with the distribution. |
nikapov | 0:7376fbeb1d4a | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
nikapov | 0:7376fbeb1d4a | 21 | * may be used to endorse or promote products derived from this software |
nikapov | 0:7376fbeb1d4a | 22 | * without specific prior written permission. |
nikapov | 0:7376fbeb1d4a | 23 | * |
nikapov | 0:7376fbeb1d4a | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
nikapov | 0:7376fbeb1d4a | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
nikapov | 0:7376fbeb1d4a | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
nikapov | 0:7376fbeb1d4a | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
nikapov | 0:7376fbeb1d4a | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
nikapov | 0:7376fbeb1d4a | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
nikapov | 0:7376fbeb1d4a | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
nikapov | 0:7376fbeb1d4a | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
nikapov | 0:7376fbeb1d4a | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
nikapov | 0:7376fbeb1d4a | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
nikapov | 0:7376fbeb1d4a | 34 | * |
nikapov | 0:7376fbeb1d4a | 35 | ****************************************************************************** |
nikapov | 0:7376fbeb1d4a | 36 | */ |
nikapov | 0:7376fbeb1d4a | 37 | |
nikapov | 0:7376fbeb1d4a | 38 | /* Includes ------------------------------------------------------------------*/ |
nikapov | 0:7376fbeb1d4a | 39 | #include "lis3mdl_class.h" |
nikapov | 0:7376fbeb1d4a | 40 | #include "lis3mdl.h" |
nikapov | 0:7376fbeb1d4a | 41 | |
nikapov | 0:7376fbeb1d4a | 42 | /* Methods -------------------------------------------------------------------*/ |
nikapov | 0:7376fbeb1d4a | 43 | /* betzw - based on: |
nikapov | 0:7376fbeb1d4a | 44 | X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.c: revision #400, |
nikapov | 0:7376fbeb1d4a | 45 | X-CUBE-MEMS1/trunk: revision #416 |
nikapov | 0:7376fbeb1d4a | 46 | */ |
nikapov | 0:7376fbeb1d4a | 47 | |
mapellil | 4:00493226e59f | 48 | LIS3MDL::LIS3MDL(SPI *spi, PinName cs_pin, PinName int_pin, SPI_type_t spi_type) : |
mapellil | 4:00493226e59f | 49 | _dev_spi(spi), _cs_pin(cs_pin), _int_pin(int_pin), _spi_type(spi_type) |
mapellil | 4:00493226e59f | 50 | { |
mapellil | 4:00493226e59f | 51 | assert (spi); |
mapellil | 4:00493226e59f | 52 | if (cs_pin == NC) |
mapellil | 4:00493226e59f | 53 | { |
mapellil | 4:00493226e59f | 54 | printf ("ERROR LIS3MDL CS MUST NOT BE NC\n\r"); |
mapellil | 4:00493226e59f | 55 | _dev_spi = NULL; |
mapellil | 4:00493226e59f | 56 | _dev_i2c=NULL; |
mapellil | 4:00493226e59f | 57 | return; |
mapellil | 4:00493226e59f | 58 | } |
mapellil | 4:00493226e59f | 59 | |
mapellil | 4:00493226e59f | 60 | _cs_pin = 0; |
mapellil | 4:00493226e59f | 61 | _dev_i2c=NULL; |
mapellil | 4:00493226e59f | 62 | |
mapellil | 4:00493226e59f | 63 | if (_spi_type == SPI3W) LIS3MDL_Set_SpiInterface ((void *)this, LIS3MDL_SPI_3_WIRE); |
mapellil | 4:00493226e59f | 64 | else if (_spi_type == SPI4W) LIS3MDL_Set_SpiInterface ((void *)this, LIS3MDL_SPI_4_WIRE); |
mapellil | 4:00493226e59f | 65 | } |
mapellil | 4:00493226e59f | 66 | |
mapellil | 4:00493226e59f | 67 | LIS3MDL::LIS3MDL(DevI2C *i2c, uint8_t address, PinName int_pin) : |
mapellil | 4:00493226e59f | 68 | _dev_i2c(i2c), _address(address), _cs_pin(NC), _int_pin(int_pin) |
mapellil | 4:00493226e59f | 69 | { |
mapellil | 4:00493226e59f | 70 | assert (i2c); |
mapellil | 4:00493226e59f | 71 | _dev_spi = NULL; |
mapellil | 4:00493226e59f | 72 | } |
mapellil | 4:00493226e59f | 73 | |
mapellil | 4:00493226e59f | 74 | |
mapellil | 4:00493226e59f | 75 | MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Set_SpiInterface (void *handle, LIS3MDL_SPIMode_t spimode) |
mapellil | 4:00493226e59f | 76 | { |
mapellil | 4:00493226e59f | 77 | uint8_t tmp=0x03; //deft LIS3MDL_CTRL_REG3 value |
mapellil | 4:00493226e59f | 78 | |
mapellil | 4:00493226e59f | 79 | tmp |= (uint8_t)spimode; |
mapellil | 4:00493226e59f | 80 | if (LIS3MDL_IO_Write(&tmp, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK) return MAGNETO_ERROR; |
mapellil | 4:00493226e59f | 81 | return MAGNETO_OK; |
mapellil | 4:00493226e59f | 82 | } |
mapellil | 4:00493226e59f | 83 | |
nikapov | 0:7376fbeb1d4a | 84 | /** |
nikapov | 0:7376fbeb1d4a | 85 | * @brief Set LIS3MDL Initialization |
nikapov | 0:7376fbeb1d4a | 86 | * @param LIS3MDL_Init the configuration setting for the LIS3MDL |
nikapov | 0:7376fbeb1d4a | 87 | * @retval MAGNETO_OK in case of success, an error code otherwise |
nikapov | 0:7376fbeb1d4a | 88 | */ |
nikapov | 0:7376fbeb1d4a | 89 | MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init) |
nikapov | 0:7376fbeb1d4a | 90 | { |
nikapov | 0:7376fbeb1d4a | 91 | uint8_t tmp1 = 0x00; |
nikapov | 1:d85092ab306e | 92 | MAGNETO_InitTypeDef *initStructure = LIS3MDL_Init; |
mapellil | 6:308889c4d074 | 93 | MAGNETO_InitTypeDef tempInit; |
nikapov | 1:d85092ab306e | 94 | |
nikapov | 1:d85092ab306e | 95 | if (initStructure == NULL) {// default params |
nikapov | 1:d85092ab306e | 96 | tempInit.M_FullScale = LIS3MDL_M_FS_4; |
nikapov | 1:d85092ab306e | 97 | tempInit.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS; |
nikapov | 1:d85092ab306e | 98 | tempInit.M_XYOperativeMode = LIS3MDL_M_OM_HP; |
nikapov | 1:d85092ab306e | 99 | tempInit.M_OutputDataRate = LIS3MDL_M_DO_80; |
nikapov | 1:d85092ab306e | 100 | initStructure = &tempInit; |
nikapov | 1:d85092ab306e | 101 | } |
nikapov | 1:d85092ab306e | 102 | |
nikapov | 0:7376fbeb1d4a | 103 | |
nikapov | 0:7376fbeb1d4a | 104 | /* Configure the low level interface ---------------------------------------*/ |
nikapov | 0:7376fbeb1d4a | 105 | if(LIS3MDL_IO_Init() != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 106 | { |
nikapov | 0:7376fbeb1d4a | 107 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 108 | } |
nikapov | 0:7376fbeb1d4a | 109 | |
nikapov | 0:7376fbeb1d4a | 110 | /****** Magnetic sensor *******/ |
nikapov | 0:7376fbeb1d4a | 111 | |
nikapov | 0:7376fbeb1d4a | 112 | if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 113 | { |
nikapov | 0:7376fbeb1d4a | 114 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 115 | } |
nikapov | 0:7376fbeb1d4a | 116 | |
nikapov | 0:7376fbeb1d4a | 117 | /* Conversion mode selection */ |
nikapov | 0:7376fbeb1d4a | 118 | tmp1 &= ~(LIS3MDL_M_MD_MASK); |
nikapov | 1:d85092ab306e | 119 | tmp1 |= initStructure->M_OperatingMode; |
nikapov | 0:7376fbeb1d4a | 120 | |
nikapov | 0:7376fbeb1d4a | 121 | if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 122 | { |
nikapov | 0:7376fbeb1d4a | 123 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 124 | } |
nikapov | 0:7376fbeb1d4a | 125 | |
nikapov | 0:7376fbeb1d4a | 126 | if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 127 | { |
nikapov | 0:7376fbeb1d4a | 128 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 129 | } |
nikapov | 0:7376fbeb1d4a | 130 | |
nikapov | 0:7376fbeb1d4a | 131 | /* Output data rate selection */ |
nikapov | 0:7376fbeb1d4a | 132 | tmp1 &= ~(LIS3MDL_M_DO_MASK); |
nikapov | 1:d85092ab306e | 133 | tmp1 |= initStructure->M_OutputDataRate; |
nikapov | 0:7376fbeb1d4a | 134 | |
nikapov | 0:7376fbeb1d4a | 135 | /* X and Y axes Operative mode selection */ |
nikapov | 0:7376fbeb1d4a | 136 | tmp1 &= ~(LIS3MDL_M_OM_MASK); |
nikapov | 1:d85092ab306e | 137 | tmp1 |= initStructure->M_XYOperativeMode; |
nikapov | 0:7376fbeb1d4a | 138 | |
nikapov | 0:7376fbeb1d4a | 139 | if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 140 | { |
nikapov | 0:7376fbeb1d4a | 141 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 142 | } |
nikapov | 0:7376fbeb1d4a | 143 | |
nikapov | 0:7376fbeb1d4a | 144 | if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 145 | { |
nikapov | 0:7376fbeb1d4a | 146 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 147 | } |
nikapov | 0:7376fbeb1d4a | 148 | |
nikapov | 0:7376fbeb1d4a | 149 | /* Full scale selection */ |
nikapov | 0:7376fbeb1d4a | 150 | tmp1 &= ~(LIS3MDL_M_FS_MASK); |
nikapov | 1:d85092ab306e | 151 | tmp1 |= initStructure->M_FullScale; |
nikapov | 0:7376fbeb1d4a | 152 | |
nikapov | 0:7376fbeb1d4a | 153 | if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 154 | { |
nikapov | 0:7376fbeb1d4a | 155 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 156 | } |
nikapov | 0:7376fbeb1d4a | 157 | |
nikapov | 0:7376fbeb1d4a | 158 | /* Configure interrupt lines */ |
nikapov | 0:7376fbeb1d4a | 159 | LIS3MDL_IO_ITConfig(); |
nikapov | 0:7376fbeb1d4a | 160 | |
nikapov | 0:7376fbeb1d4a | 161 | return MAGNETO_OK; |
nikapov | 0:7376fbeb1d4a | 162 | |
nikapov | 0:7376fbeb1d4a | 163 | /******************************/ |
nikapov | 0:7376fbeb1d4a | 164 | } |
nikapov | 0:7376fbeb1d4a | 165 | |
nikapov | 0:7376fbeb1d4a | 166 | |
nikapov | 0:7376fbeb1d4a | 167 | /** |
nikapov | 0:7376fbeb1d4a | 168 | * @brief Read ID of LIS3MDL Magnetic sensor |
nikapov | 0:7376fbeb1d4a | 169 | * @param m_id the pointer where the ID of the device is stored |
nikapov | 0:7376fbeb1d4a | 170 | * @retval MAGNETO_OK in case of success, an error code otherwise |
nikapov | 0:7376fbeb1d4a | 171 | */ |
nikapov | 0:7376fbeb1d4a | 172 | MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Read_M_ID(uint8_t *m_id) |
nikapov | 0:7376fbeb1d4a | 173 | { |
nikapov | 0:7376fbeb1d4a | 174 | if(!m_id) |
nikapov | 0:7376fbeb1d4a | 175 | { |
nikapov | 0:7376fbeb1d4a | 176 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 177 | } |
nikapov | 0:7376fbeb1d4a | 178 | |
nikapov | 0:7376fbeb1d4a | 179 | return LIS3MDL_IO_Read(m_id, LIS3MDL_M_WHO_AM_I_ADDR, 1); |
nikapov | 0:7376fbeb1d4a | 180 | } |
nikapov | 0:7376fbeb1d4a | 181 | |
nikapov | 0:7376fbeb1d4a | 182 | |
nikapov | 0:7376fbeb1d4a | 183 | /** |
nikapov | 0:7376fbeb1d4a | 184 | * @brief Read raw data from LIS3MDL Magnetic sensor output register |
nikapov | 0:7376fbeb1d4a | 185 | * @param pData the pointer where the magnetometer raw data are stored |
nikapov | 0:7376fbeb1d4a | 186 | * @retval MAGNETO_OK in case of success, an error code otherwise |
nikapov | 0:7376fbeb1d4a | 187 | */ |
nikapov | 0:7376fbeb1d4a | 188 | MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxesRaw(int16_t *pData) |
nikapov | 0:7376fbeb1d4a | 189 | { |
nikapov | 0:7376fbeb1d4a | 190 | uint8_t tempReg[2] = {0, 0}; |
nikapov | 0:7376fbeb1d4a | 191 | |
nikapov | 0:7376fbeb1d4a | 192 | if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_X_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD), |
nikapov | 0:7376fbeb1d4a | 193 | 2) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 194 | { |
nikapov | 0:7376fbeb1d4a | 195 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 196 | } |
nikapov | 0:7376fbeb1d4a | 197 | |
nikapov | 0:7376fbeb1d4a | 198 | pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]); |
nikapov | 0:7376fbeb1d4a | 199 | |
nikapov | 0:7376fbeb1d4a | 200 | if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Y_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD), |
nikapov | 0:7376fbeb1d4a | 201 | 2) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 202 | { |
nikapov | 0:7376fbeb1d4a | 203 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 204 | } |
nikapov | 0:7376fbeb1d4a | 205 | |
nikapov | 0:7376fbeb1d4a | 206 | pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]); |
nikapov | 0:7376fbeb1d4a | 207 | |
nikapov | 0:7376fbeb1d4a | 208 | if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Z_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD), |
nikapov | 0:7376fbeb1d4a | 209 | 2) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 210 | { |
nikapov | 0:7376fbeb1d4a | 211 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 212 | } |
nikapov | 0:7376fbeb1d4a | 213 | |
nikapov | 0:7376fbeb1d4a | 214 | pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]); |
nikapov | 0:7376fbeb1d4a | 215 | |
nikapov | 0:7376fbeb1d4a | 216 | return MAGNETO_OK; |
nikapov | 0:7376fbeb1d4a | 217 | } |
nikapov | 0:7376fbeb1d4a | 218 | |
nikapov | 0:7376fbeb1d4a | 219 | |
nikapov | 0:7376fbeb1d4a | 220 | /** |
nikapov | 0:7376fbeb1d4a | 221 | * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss |
nikapov | 0:7376fbeb1d4a | 222 | * @param pData the pointer where the magnetometer data are stored |
nikapov | 0:7376fbeb1d4a | 223 | * @retval MAGNETO_OK in case of success, an error code otherwise |
nikapov | 0:7376fbeb1d4a | 224 | */ |
nikapov | 0:7376fbeb1d4a | 225 | MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxes(int32_t *pData) |
nikapov | 0:7376fbeb1d4a | 226 | { |
nikapov | 0:7376fbeb1d4a | 227 | uint8_t tempReg = 0x00; |
nikapov | 0:7376fbeb1d4a | 228 | int16_t pDataRaw[3]; |
nikapov | 0:7376fbeb1d4a | 229 | float sensitivity = 0; |
nikapov | 0:7376fbeb1d4a | 230 | |
nikapov | 0:7376fbeb1d4a | 231 | if(LIS3MDL_M_GetAxesRaw(pDataRaw) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 232 | { |
nikapov | 0:7376fbeb1d4a | 233 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 234 | } |
nikapov | 0:7376fbeb1d4a | 235 | |
nikapov | 0:7376fbeb1d4a | 236 | if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) |
nikapov | 0:7376fbeb1d4a | 237 | { |
nikapov | 0:7376fbeb1d4a | 238 | return MAGNETO_ERROR; |
nikapov | 0:7376fbeb1d4a | 239 | } |
nikapov | 0:7376fbeb1d4a | 240 | |
nikapov | 0:7376fbeb1d4a | 241 | tempReg &= LIS3MDL_M_FS_MASK; |
nikapov | 0:7376fbeb1d4a | 242 | |
nikapov | 0:7376fbeb1d4a | 243 | switch(tempReg) |
nikapov | 0:7376fbeb1d4a | 244 | { |
nikapov | 0:7376fbeb1d4a | 245 | case LIS3MDL_M_FS_4: |
nikapov | 0:7376fbeb1d4a | 246 | sensitivity = 0.14; |
nikapov | 0:7376fbeb1d4a | 247 | break; |
nikapov | 0:7376fbeb1d4a | 248 | case LIS3MDL_M_FS_8: |
nikapov | 0:7376fbeb1d4a | 249 | sensitivity = 0.29; |
nikapov | 0:7376fbeb1d4a | 250 | break; |
nikapov | 0:7376fbeb1d4a | 251 | case LIS3MDL_M_FS_12: |
nikapov | 0:7376fbeb1d4a | 252 | sensitivity = 0.43; |
nikapov | 0:7376fbeb1d4a | 253 | break; |
nikapov | 0:7376fbeb1d4a | 254 | case LIS3MDL_M_FS_16: |
nikapov | 0:7376fbeb1d4a | 255 | sensitivity = 0.58; |
nikapov | 0:7376fbeb1d4a | 256 | break; |
nikapov | 0:7376fbeb1d4a | 257 | } |
nikapov | 0:7376fbeb1d4a | 258 | |
nikapov | 0:7376fbeb1d4a | 259 | pData[0] = (int32_t)(pDataRaw[0] * sensitivity); |
nikapov | 0:7376fbeb1d4a | 260 | pData[1] = (int32_t)(pDataRaw[1] * sensitivity); |
nikapov | 0:7376fbeb1d4a | 261 | pData[2] = (int32_t)(pDataRaw[2] * sensitivity); |
nikapov | 0:7376fbeb1d4a | 262 | |
nikapov | 0:7376fbeb1d4a | 263 | return MAGNETO_OK; |
nikapov | 0:7376fbeb1d4a | 264 | } |
nikapov | 0:7376fbeb1d4a | 265 | |
nikapov | 0:7376fbeb1d4a | 266 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |