Ahmad Kobeissi / X_NUCLEO_IKS01A1

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Components/lis3mdl/lis3mdl_class.cpp@94:f5e284d9d4d3, 2017-11-13 (annotated)

Committer:
ahmad47
Date:
Mon Nov 13 12:54:03 2017 +0000
Revision:
94:f5e284d9d4d3
Parent:
57:04563dd74269 
new

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UserRevisionLine numberNew contents of line
Wolfgang Betz 5:8bab0f419849 1 /**
Wolfgang Betz 5:8bab0f419849 2 ******************************************************************************
Wolfgang Betz 5:8bab0f419849 3 * @file lis3mdl_class.cpp
Wolfgang Betz 5:8bab0f419849 4 * @author AST / EST
Wolfgang Betz 5:8bab0f419849 5 * @version V0.0.1
Wolfgang Betz 5:8bab0f419849 6 * @date 14-April-2015
Wolfgang Betz 5:8bab0f419849 7 * @brief Implementation file for the LIS3MDL driver class
Wolfgang Betz 5:8bab0f419849 8 ******************************************************************************
Wolfgang Betz 5:8bab0f419849 9 * @attention
Wolfgang Betz 5:8bab0f419849 10 *
Wolfgang Betz 5:8bab0f419849 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Wolfgang Betz 5:8bab0f419849 12 *
Wolfgang Betz 5:8bab0f419849 13 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 5:8bab0f419849 14 * are permitted provided that the following conditions are met:
Wolfgang Betz 5:8bab0f419849 15 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 5:8bab0f419849 16 * this list of conditions and the following disclaimer.
Wolfgang Betz 5:8bab0f419849 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 5:8bab0f419849 18 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 5:8bab0f419849 19 * and/or other materials provided with the distribution.
Wolfgang Betz 5:8bab0f419849 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 5:8bab0f419849 21 * may be used to endorse or promote products derived from this software
Wolfgang Betz 5:8bab0f419849 22 * without specific prior written permission.
Wolfgang Betz 5:8bab0f419849 23 *
Wolfgang Betz 5:8bab0f419849 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 5:8bab0f419849 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 5:8bab0f419849 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 5:8bab0f419849 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 5:8bab0f419849 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 5:8bab0f419849 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 5:8bab0f419849 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 5:8bab0f419849 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 5:8bab0f419849 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 5:8bab0f419849 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 5:8bab0f419849 34 *
Wolfgang Betz 5:8bab0f419849 35 ******************************************************************************
Wolfgang Betz 5:8bab0f419849 36 */
Wolfgang Betz 5:8bab0f419849 37
Wolfgang Betz 5:8bab0f419849 38 /* Includes ------------------------------------------------------------------*/
Wolfgang Betz 5:8bab0f419849 39 #include "lis3mdl_class.h"
Wolfgang Betz 5:8bab0f419849 40 #include "lis3mdl.h"
Wolfgang Betz 5:8bab0f419849 41
Wolfgang Betz 5:8bab0f419849 42 /* Methods -------------------------------------------------------------------*/
Wolfgang Betz 5:8bab0f419849 43 /* betzw - based on:
Wolfgang Betz 24:92cc9c6e4b2b 44 X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.c: revision #400,
Wolfgang Betz 57:04563dd74269 45 X-CUBE-MEMS1/trunk: revision #416
Wolfgang Betz 5:8bab0f419849 46 */
Wolfgang Betz 57:04563dd74269 47
Wolfgang Betz 5:8bab0f419849 48 /**
Wolfgang Betz 5:8bab0f419849 49 * @brief Set LIS3MDL Initialization
Wolfgang Betz 5:8bab0f419849 50 * @param LIS3MDL_Init the configuration setting for the LIS3MDL
Wolfgang Betz 5:8bab0f419849 51 * @retval MAGNETO_OK in case of success, an error code otherwise
Wolfgang Betz 5:8bab0f419849 52 */
Wolfgang Betz 5:8bab0f419849 53 MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init)
Wolfgang Betz 5:8bab0f419849 54 {
Wolfgang Betz 24:92cc9c6e4b2b 55 uint8_t tmp1 = 0x00;
Wolfgang Betz 24:92cc9c6e4b2b 56
Wolfgang Betz 24:92cc9c6e4b2b 57 /* Configure the low level interface ---------------------------------------*/
Wolfgang Betz 24:92cc9c6e4b2b 58 if(LIS3MDL_IO_Init() != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 59 {
Wolfgang Betz 24:92cc9c6e4b2b 60 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 61 }
Wolfgang Betz 24:92cc9c6e4b2b 62
Wolfgang Betz 24:92cc9c6e4b2b 63 /****** Magnetic sensor *******/
Wolfgang Betz 24:92cc9c6e4b2b 64
Wolfgang Betz 24:92cc9c6e4b2b 65 if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 66 {
Wolfgang Betz 24:92cc9c6e4b2b 67 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 68 }
Wolfgang Betz 24:92cc9c6e4b2b 69
Wolfgang Betz 24:92cc9c6e4b2b 70 /* Conversion mode selection */
Wolfgang Betz 24:92cc9c6e4b2b 71 tmp1 &= ~(LIS3MDL_M_MD_MASK);
Wolfgang Betz 24:92cc9c6e4b2b 72 tmp1 |= LIS3MDL_Init->M_OperatingMode;
Wolfgang Betz 24:92cc9c6e4b2b 73
Wolfgang Betz 24:92cc9c6e4b2b 74 if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 75 {
Wolfgang Betz 24:92cc9c6e4b2b 76 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 77 }
Wolfgang Betz 24:92cc9c6e4b2b 78
Wolfgang Betz 24:92cc9c6e4b2b 79 if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 80 {
Wolfgang Betz 24:92cc9c6e4b2b 81 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 82 }
Wolfgang Betz 24:92cc9c6e4b2b 83
Wolfgang Betz 24:92cc9c6e4b2b 84 /* Output data rate selection */
Wolfgang Betz 24:92cc9c6e4b2b 85 tmp1 &= ~(LIS3MDL_M_DO_MASK);
Wolfgang Betz 24:92cc9c6e4b2b 86 tmp1 |= LIS3MDL_Init->M_OutputDataRate;
Wolfgang Betz 24:92cc9c6e4b2b 87
Wolfgang Betz 24:92cc9c6e4b2b 88 /* X and Y axes Operative mode selection */
Wolfgang Betz 24:92cc9c6e4b2b 89 tmp1 &= ~(LIS3MDL_M_OM_MASK);
Wolfgang Betz 24:92cc9c6e4b2b 90 tmp1 |= LIS3MDL_Init->M_XYOperativeMode;
Wolfgang Betz 24:92cc9c6e4b2b 91
Wolfgang Betz 24:92cc9c6e4b2b 92 if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 93 {
Wolfgang Betz 24:92cc9c6e4b2b 94 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 95 }
Wolfgang Betz 24:92cc9c6e4b2b 96
Wolfgang Betz 24:92cc9c6e4b2b 97 if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 98 {
Wolfgang Betz 24:92cc9c6e4b2b 99 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 100 }
Wolfgang Betz 24:92cc9c6e4b2b 101
Wolfgang Betz 24:92cc9c6e4b2b 102 /* Full scale selection */
Wolfgang Betz 24:92cc9c6e4b2b 103 tmp1 &= ~(LIS3MDL_M_FS_MASK);
Wolfgang Betz 24:92cc9c6e4b2b 104 tmp1 |= LIS3MDL_Init->M_FullScale;
Wolfgang Betz 24:92cc9c6e4b2b 105
Wolfgang Betz 24:92cc9c6e4b2b 106 if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 107 {
Wolfgang Betz 24:92cc9c6e4b2b 108 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 109 }
Wolfgang Betz 24:92cc9c6e4b2b 110
Wolfgang Betz 24:92cc9c6e4b2b 111 /* Configure interrupt lines */
Wolfgang Betz 24:92cc9c6e4b2b 112 LIS3MDL_IO_ITConfig();
Wolfgang Betz 24:92cc9c6e4b2b 113
Wolfgang Betz 24:92cc9c6e4b2b 114 return MAGNETO_OK;
Wolfgang Betz 24:92cc9c6e4b2b 115
Wolfgang Betz 24:92cc9c6e4b2b 116 /******************************/
Wolfgang Betz 5:8bab0f419849 117 }
Wolfgang Betz 5:8bab0f419849 118
Wolfgang Betz 5:8bab0f419849 119
Wolfgang Betz 5:8bab0f419849 120 /**
Wolfgang Betz 5:8bab0f419849 121 * @brief Read ID of LIS3MDL Magnetic sensor
Wolfgang Betz 5:8bab0f419849 122 * @param m_id the pointer where the ID of the device is stored
Wolfgang Betz 5:8bab0f419849 123 * @retval MAGNETO_OK in case of success, an error code otherwise
Wolfgang Betz 5:8bab0f419849 124 */
Wolfgang Betz 5:8bab0f419849 125 MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Read_M_ID(uint8_t *m_id)
Wolfgang Betz 5:8bab0f419849 126 {
Wolfgang Betz 24:92cc9c6e4b2b 127 if(!m_id)
Wolfgang Betz 24:92cc9c6e4b2b 128 {
Wolfgang Betz 24:92cc9c6e4b2b 129 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 130 }
Wolfgang Betz 24:92cc9c6e4b2b 131
Wolfgang Betz 24:92cc9c6e4b2b 132 return LIS3MDL_IO_Read(m_id, LIS3MDL_M_WHO_AM_I_ADDR, 1);
Wolfgang Betz 5:8bab0f419849 133 }
Wolfgang Betz 5:8bab0f419849 134
Wolfgang Betz 5:8bab0f419849 135
Wolfgang Betz 5:8bab0f419849 136 /**
Wolfgang Betz 5:8bab0f419849 137 * @brief Read raw data from LIS3MDL Magnetic sensor output register
Wolfgang Betz 5:8bab0f419849 138 * @param pData the pointer where the magnetometer raw data are stored
Wolfgang Betz 5:8bab0f419849 139 * @retval MAGNETO_OK in case of success, an error code otherwise
Wolfgang Betz 5:8bab0f419849 140 */
Wolfgang Betz 5:8bab0f419849 141 MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxesRaw(int16_t *pData)
Wolfgang Betz 5:8bab0f419849 142 {
Wolfgang Betz 24:92cc9c6e4b2b 143 uint8_t tempReg[2] = {0, 0};
Wolfgang Betz 24:92cc9c6e4b2b 144
Wolfgang Betz 24:92cc9c6e4b2b 145 if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_X_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD),
Wolfgang Betz 24:92cc9c6e4b2b 146 2) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 147 {
Wolfgang Betz 24:92cc9c6e4b2b 148 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 149 }
Wolfgang Betz 24:92cc9c6e4b2b 150
Wolfgang Betz 24:92cc9c6e4b2b 151 pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
Wolfgang Betz 24:92cc9c6e4b2b 152
Wolfgang Betz 24:92cc9c6e4b2b 153 if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Y_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD),
Wolfgang Betz 24:92cc9c6e4b2b 154 2) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 155 {
Wolfgang Betz 24:92cc9c6e4b2b 156 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 157 }
Wolfgang Betz 24:92cc9c6e4b2b 158
Wolfgang Betz 24:92cc9c6e4b2b 159 pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
Wolfgang Betz 24:92cc9c6e4b2b 160
Wolfgang Betz 24:92cc9c6e4b2b 161 if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Z_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD),
Wolfgang Betz 24:92cc9c6e4b2b 162 2) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 163 {
Wolfgang Betz 24:92cc9c6e4b2b 164 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 165 }
Wolfgang Betz 24:92cc9c6e4b2b 166
Wolfgang Betz 24:92cc9c6e4b2b 167 pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
Wolfgang Betz 24:92cc9c6e4b2b 168
Wolfgang Betz 24:92cc9c6e4b2b 169 return MAGNETO_OK;
Wolfgang Betz 5:8bab0f419849 170 }
Wolfgang Betz 5:8bab0f419849 171
Wolfgang Betz 5:8bab0f419849 172
Wolfgang Betz 5:8bab0f419849 173 /**
Wolfgang Betz 5:8bab0f419849 174 * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss
Wolfgang Betz 5:8bab0f419849 175 * @param pData the pointer where the magnetometer data are stored
Wolfgang Betz 5:8bab0f419849 176 * @retval MAGNETO_OK in case of success, an error code otherwise
Wolfgang Betz 5:8bab0f419849 177 */
Wolfgang Betz 5:8bab0f419849 178 MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxes(int32_t *pData)
Wolfgang Betz 5:8bab0f419849 179 {
Wolfgang Betz 24:92cc9c6e4b2b 180 uint8_t tempReg = 0x00;
Wolfgang Betz 24:92cc9c6e4b2b 181 int16_t pDataRaw[3];
Wolfgang Betz 24:92cc9c6e4b2b 182 float sensitivity = 0;
Wolfgang Betz 24:92cc9c6e4b2b 183
Wolfgang Betz 24:92cc9c6e4b2b 184 if(LIS3MDL_M_GetAxesRaw(pDataRaw) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 185 {
Wolfgang Betz 24:92cc9c6e4b2b 186 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 187 }
Wolfgang Betz 24:92cc9c6e4b2b 188
Wolfgang Betz 24:92cc9c6e4b2b 189 if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK)
Wolfgang Betz 24:92cc9c6e4b2b 190 {
Wolfgang Betz 24:92cc9c6e4b2b 191 return MAGNETO_ERROR;
Wolfgang Betz 24:92cc9c6e4b2b 192 }
Wolfgang Betz 24:92cc9c6e4b2b 193
Wolfgang Betz 24:92cc9c6e4b2b 194 tempReg &= LIS3MDL_M_FS_MASK;
Wolfgang Betz 24:92cc9c6e4b2b 195
Wolfgang Betz 24:92cc9c6e4b2b 196 switch(tempReg)
Wolfgang Betz 24:92cc9c6e4b2b 197 {
Wolfgang Betz 24:92cc9c6e4b2b 198 case LIS3MDL_M_FS_4:
Wolfgang Betz 24:92cc9c6e4b2b 199 sensitivity = 0.14;
Wolfgang Betz 24:92cc9c6e4b2b 200 break;
Wolfgang Betz 24:92cc9c6e4b2b 201 case LIS3MDL_M_FS_8:
Wolfgang Betz 24:92cc9c6e4b2b 202 sensitivity = 0.29;
Wolfgang Betz 24:92cc9c6e4b2b 203 break;
Wolfgang Betz 24:92cc9c6e4b2b 204 case LIS3MDL_M_FS_12:
Wolfgang Betz 24:92cc9c6e4b2b 205 sensitivity = 0.43;
Wolfgang Betz 24:92cc9c6e4b2b 206 break;
Wolfgang Betz 24:92cc9c6e4b2b 207 case LIS3MDL_M_FS_16:
Wolfgang Betz 24:92cc9c6e4b2b 208 sensitivity = 0.58;
Wolfgang Betz 24:92cc9c6e4b2b 209 break;
Wolfgang Betz 24:92cc9c6e4b2b 210 }
Wolfgang Betz 24:92cc9c6e4b2b 211
Wolfgang Betz 24:92cc9c6e4b2b 212 pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
Wolfgang Betz 24:92cc9c6e4b2b 213 pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
Wolfgang Betz 24:92cc9c6e4b2b 214 pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
Wolfgang Betz 24:92cc9c6e4b2b 215
Wolfgang Betz 24:92cc9c6e4b2b 216 return MAGNETO_OK;
Wolfgang Betz 24:92cc9c6e4b2b 217 }
Wolfgang Betz 5:8bab0f419849 218
Wolfgang Betz 24:92cc9c6e4b2b 219 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/