Workshop example
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
sensors/LIS3MDL/lis3mdl_class.cpp
- Committer:
- JimCarver
- Date:
- 2019-05-21
- Revision:
- 35:42b3fba640b1
- Parent:
- 18:a15bfe7aaebd
File content as of revision 35:42b3fba640b1:
/** ****************************************************************************** * @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>© 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 "lis3mdl_class.h" #include "lis3mdl.h" /* Methods -------------------------------------------------------------------*/ /* betzw - based on: X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.c: revision #400, X-CUBE-MEMS1/trunk: revision #416 */ LIS3MDL::LIS3MDL(SPI *spi, PinName cs_pin, PinName int_pin, SPI_type_t spi_type) : _dev_spi(spi), _cs_pin(cs_pin), _int_pin(int_pin), _spi_type(spi_type) { assert (spi); if (cs_pin == NC) { printf ("ERROR LIS3MDL CS MUST NOT BE NC\n\r"); _dev_spi = NULL; _dev_i2c=NULL; return; } _cs_pin = 0; _dev_i2c=NULL; if (_spi_type == SPI3W) LIS3MDL_Set_SpiInterface ((void *)this, LIS3MDL_SPI_3_WIRE); else if (_spi_type == SPI4W) LIS3MDL_Set_SpiInterface ((void *)this, LIS3MDL_SPI_4_WIRE); } LIS3MDL::LIS3MDL(DevI2C *i2c, uint8_t address, PinName int_pin) : _dev_i2c(i2c), _address(address), _cs_pin(NC), _int_pin(int_pin) { assert (i2c); _dev_spi = NULL; } MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Set_SpiInterface (void *handle, LIS3MDL_SPIMode_t spimode) { uint8_t tmp=0x03; //deft LIS3MDL_CTRL_REG3 value tmp |= (uint8_t)spimode; if (LIS3MDL_IO_Write(&tmp, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK) return MAGNETO_ERROR; return MAGNETO_OK; } /** * @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; MAGNETO_InitTypeDef *initStructure = LIS3MDL_Init; MAGNETO_InitTypeDef tempInit; if (initStructure == NULL) {// default params tempInit.M_FullScale = LIS3MDL_M_FS_4; tempInit.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS; tempInit.M_XYOperativeMode = LIS3MDL_M_OM_HP; tempInit.M_OutputDataRate = LIS3MDL_M_DO_80; initStructure = &tempInit; } /* 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 |= initStructure->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 |= initStructure->M_OutputDataRate; /* X and Y axes Operative mode selection */ tmp1 &= ~(LIS3MDL_M_OM_MASK); tmp1 |= initStructure->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 |= initStructure->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; } /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/