Workshop example
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Diff: sensors/LIS3MDL/lis3mdl_class.h
- Revision:
- 18:a15bfe7aaebd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensors/LIS3MDL/lis3mdl_class.h Sun Dec 16 13:53:42 2018 +0000 @@ -0,0 +1,190 @@ +/** + ****************************************************************************** + * @file lis3mdl_class.h + * @author AST / EST + * @version V0.0.1 + * @date 14-April-2015 + * @brief Header file for component LIS3MDL + ****************************************************************************** + * @attention + * + * <h2><center>© 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 "lis3mdl.h" +#include "MagneticSensor.h" +#include <assert.h> + + +/* Classes -------------------------------------------------------------------*/ +/** Class representing a LIS3MDL sensor component + */ +class LIS3MDL : public MagneticSensor { + public: + enum SPI_type_t {SPI3W, SPI4W}; + + LIS3MDL(SPI *spi, PinName cs_pin, PinName int_pin=NC, SPI_type_t spi_type=SPI4W); + + /** Constructor + * @param[in] i2c device I2C to be used for communication + */ + + LIS3MDL(DevI2C *i2c, uint8_t address=LIS3MDL_M_MEMS_ADDRESS_HIGH, PinName int_pin=NC); + + /** Destructor + */ + virtual ~LIS3MDL() {} + + /*** Interface Methods ***/ + virtual int init(void *init_struct) { + return LIS3MDL_Init((MAGNETO_InitTypeDef*)init_struct); + } + + virtual int read_id(uint8_t *m_id) { + return LIS3MDL_Read_M_ID(m_id); + } + + virtual int get_m_axes(int32_t *pData) { + return LIS3MDL_M_GetAxes(pData); + } + + virtual int get_m_axes_raw(int16_t *pData) { + return LIS3MDL_M_GetAxesRaw(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); + MAGNETO_StatusTypeDef LIS3MDL_Set_SpiInterface (void *handle, LIS3MDL_SPIMode_t spimode); + + /** + * @brief Configures LIS3MDL interrupt lines for NUCLEO boards + */ + void LIS3MDL_IO_ITConfig(void) + { + /* To be implemented */ + } + + /** + * @brief Configures LIS3MDL I2C interface + * @return 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 LIS3MDL + * @param[out] pBuffer pointer to the byte-array to read data in to + * @param[in] RegisterAddr specifies internal address register to read from. + * @param[in] NumByteToRead number of bytes to be read. + * @retval MAGNETO_OK if ok, + * @retval MAGNETO_ERROR if an I2C error has occured + */ + MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer, + uint8_t RegisterAddr, uint16_t NumByteToRead) + { + if (_dev_spi) { + /* Write Reg Address */ + _dev_spi->lock(); + _cs_pin = 0; + if (_spi_type == SPI4W) { + _dev_spi->write(RegisterAddr | 0x80); + for (int i=0; i<NumByteToRead; i++) { + *(pBuffer+i) = _dev_spi->write(0x00); + } + } else if (_spi_type == SPI3W){ + /* Write RD Reg Address with RD bit*/ + uint8_t TxByte = RegisterAddr | 0x80; + _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead); + } + _cs_pin = 1; + _dev_spi->unlock(); + return MAGNETO_OK; + } + if (!_dev_i2c) return MAGNETO_ERROR; + int ret = _dev_i2c->i2c_read(pBuffer, + _address, + RegisterAddr, + NumByteToRead); + if(ret != 0) { + return MAGNETO_ERROR; + } + return MAGNETO_OK; + } + + /** + * @brief Utility function to write data to LIS3MDL + * @param[in] pBuffer pointer to the byte-array data to send + * @param[in] RegisterAddr specifies internal address register to read from. + * @param[in] NumByteToWrite number of bytes to write. + * @retval MAGNETO_OK if ok, + * @retval MAGNETO_ERROR if an I2C error has occured + */ + MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer, + uint8_t RegisterAddr, uint16_t NumByteToWrite) + { + + if (_dev_spi) { + _dev_spi->lock(); + _cs_pin = 0; + int data = _dev_spi->write(RegisterAddr); + _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0); + _cs_pin = 1; + _dev_spi->unlock(); + return MAGNETO_OK; + } + + if (!_dev_i2c) return MAGNETO_ERROR; + int ret = _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); + if(ret != 0) { + return MAGNETO_ERROR; + } + return MAGNETO_OK; + } + + /*** Instance Variables ***/ + /* IO Device */ + DevI2C *_dev_i2c; + SPI *_dev_spi; + uint8_t _address; + DigitalOut _cs_pin; + InterruptIn _int_pin; + SPI_type_t _spi_type; +}; + +#endif // __LIS3MDL_CLASS_H