Diff: sensors/LIS3MDL/lis3mdl_class.h

Revision:

18:a15bfe7aaebd

diff -r fc98adcf835a -r a15bfe7aaebd sensors/LIS3MDL/lis3mdl_class.h
--- /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>&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 "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