lis3mdl_class.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    lis3mdl_class.cpp
00004  * @author  AST / EST
00005  * @version V0.0.1
00006  * @date    14-April-2015
00007  * @brief   Implementation file for the LIS3MDL driver class
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00012  *
00013  * Redistribution and use in source and binary forms, with or without modification,
00014  * are permitted provided that the following conditions are met:
00015  *   1. Redistributions of source code must retain the above copyright notice,
00016  *      this list of conditions and the following disclaimer.
00017  *   2. Redistributions in binary form must reproduce the above copyright notice,
00018  *      this list of conditions and the following disclaimer in the documentation
00019  *      and/or other materials provided with the distribution.
00020  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021  *      may be used to endorse or promote products derived from this software
00022  *      without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  ******************************************************************************
00036 */
00037 
00038 /* Includes ------------------------------------------------------------------*/
00039 #include "lis3mdl_class.h"
00040 #include "lis3mdl.h"
00041 
00042 /* Methods -------------------------------------------------------------------*/
00043 /* betzw - based on:
00044            X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.c: revision #400,
00045            X-CUBE-MEMS1/trunk: revision #416
00046 */
00047 
00048 /**
00049  * @brief  Set LIS3MDL Initialization
00050  * @param  LIS3MDL_Init the configuration setting for the LIS3MDL
00051  * @retval MAGNETO_OK in case of success, an error code otherwise
00052  */
00053 MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init)
00054 {
00055   uint8_t tmp1 = 0x00;
00056   
00057   /* Configure the low level interface ---------------------------------------*/
00058   if(LIS3MDL_IO_Init() != MAGNETO_OK)
00059   {
00060     return MAGNETO_ERROR;
00061   }
00062   
00063   /****** Magnetic sensor *******/
00064   
00065   if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK)
00066   {
00067     return MAGNETO_ERROR;
00068   }
00069   
00070   /* Conversion mode selection */
00071   tmp1 &= ~(LIS3MDL_M_MD_MASK);
00072   tmp1 |= LIS3MDL_Init->M_OperatingMode;
00073   
00074   if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK)
00075   {
00076     return MAGNETO_ERROR;
00077   }
00078   
00079   if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK)
00080   {
00081     return MAGNETO_ERROR;
00082   }
00083   
00084   /* Output data rate selection */
00085   tmp1 &= ~(LIS3MDL_M_DO_MASK);
00086   tmp1 |= LIS3MDL_Init->M_OutputDataRate;
00087   
00088   /* X and Y axes Operative mode selection */
00089   tmp1 &= ~(LIS3MDL_M_OM_MASK);
00090   tmp1 |= LIS3MDL_Init->M_XYOperativeMode;
00091   
00092   if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK)
00093   {
00094     return MAGNETO_ERROR;
00095   }
00096   
00097   if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK)
00098   {
00099     return MAGNETO_ERROR;
00100   }
00101   
00102   /* Full scale selection */
00103   tmp1 &= ~(LIS3MDL_M_FS_MASK);
00104   tmp1 |= LIS3MDL_Init->M_FullScale;
00105   
00106   if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK)
00107   {
00108     return MAGNETO_ERROR;
00109   }
00110   
00111   /* Configure interrupt lines */
00112   LIS3MDL_IO_ITConfig();
00113   
00114   return MAGNETO_OK;
00115   
00116   /******************************/
00117 }
00118 
00119 
00120 /**
00121  * @brief  Read ID of LIS3MDL Magnetic sensor
00122  * @param  m_id the pointer where the ID of the device is stored
00123  * @retval MAGNETO_OK in case of success, an error code otherwise
00124  */
00125 MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Read_M_ID(uint8_t *m_id)
00126 {
00127   if(!m_id)
00128   {
00129     return MAGNETO_ERROR;
00130   }
00131   
00132   return LIS3MDL_IO_Read(m_id, LIS3MDL_M_WHO_AM_I_ADDR, 1);
00133 }
00134 
00135 
00136 /**
00137  * @brief  Read raw data from LIS3MDL Magnetic sensor output register
00138  * @param  pData the pointer where the magnetometer raw data are stored
00139  * @retval MAGNETO_OK in case of success, an error code otherwise
00140  */
00141 MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxesRaw(int16_t *pData)
00142 {
00143   uint8_t tempReg[2] = {0, 0};
00144   
00145   if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_X_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD),
00146                      2) != MAGNETO_OK)
00147   {
00148     return MAGNETO_ERROR;
00149   }
00150   
00151   pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
00152   
00153   if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Y_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD),
00154                      2) != MAGNETO_OK)
00155   {
00156     return MAGNETO_ERROR;
00157   }
00158   
00159   pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
00160   
00161   if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Z_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD),
00162                      2) != MAGNETO_OK)
00163   {
00164     return MAGNETO_ERROR;
00165   }
00166   
00167   pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
00168   
00169   return MAGNETO_OK;
00170 }
00171 
00172 
00173 /**
00174  * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss
00175  * @param pData the pointer where the magnetometer data are stored
00176  * @retval MAGNETO_OK in case of success, an error code otherwise
00177  */
00178 MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxes(int32_t *pData)
00179 {
00180   uint8_t tempReg = 0x00;
00181   int16_t pDataRaw[3];
00182   float sensitivity = 0;
00183   
00184   if(LIS3MDL_M_GetAxesRaw(pDataRaw) != MAGNETO_OK)
00185   {
00186     return MAGNETO_ERROR;
00187   }
00188   
00189   if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK)
00190   {
00191     return MAGNETO_ERROR;
00192   }
00193   
00194   tempReg &= LIS3MDL_M_FS_MASK;
00195   
00196   switch(tempReg)
00197   {
00198     case LIS3MDL_M_FS_4:
00199       sensitivity = 0.14;
00200       break;
00201     case LIS3MDL_M_FS_8:
00202       sensitivity = 0.29;
00203       break;
00204     case LIS3MDL_M_FS_12:
00205       sensitivity = 0.43;
00206       break;
00207     case LIS3MDL_M_FS_16:
00208       sensitivity = 0.58;
00209       break;
00210   }
00211   
00212   pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
00213   pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
00214   pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
00215   
00216   return MAGNETO_OK;
00217 }
00218 
00219 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/