Copied from STs implementation.
lis3mdl.cpp@0:32f3441153b5, 2016-10-06 (annotated)
- Committer:
- bclaus
- Date:
- Thu Oct 06 16:45:48 2016 +0000
- Revision:
- 0:32f3441153b5
- Child:
- 1:898554a35638
initial;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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bclaus | 0:32f3441153b5 | 1 | /** |
bclaus | 0:32f3441153b5 | 2 | ****************************************************************************** |
bclaus | 0:32f3441153b5 | 3 | * @file x_cube_mems_lis3mdl.h |
bclaus | 0:32f3441153b5 | 4 | * @author AST / EST |
bclaus | 0:32f3441153b5 | 5 | * @version V0.0.1 |
bclaus | 0:32f3441153b5 | 6 | * @date 9-December-2014 |
bclaus | 0:32f3441153b5 | 7 | * @brief Implementation file for component LIS3MDL |
bclaus | 0:32f3441153b5 | 8 | ****************************************************************************** |
bclaus | 0:32f3441153b5 | 9 | * @attention |
bclaus | 0:32f3441153b5 | 10 | * |
bclaus | 0:32f3441153b5 | 11 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
bclaus | 0:32f3441153b5 | 12 | * |
bclaus | 0:32f3441153b5 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
bclaus | 0:32f3441153b5 | 14 | * are permitted provided that the following conditions are met: |
bclaus | 0:32f3441153b5 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
bclaus | 0:32f3441153b5 | 16 | * this list of conditions and the following disclaimer. |
bclaus | 0:32f3441153b5 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
bclaus | 0:32f3441153b5 | 18 | * this list of conditions and the following disclaimer in the documentation |
bclaus | 0:32f3441153b5 | 19 | * and/or other materials provided with the distribution. |
bclaus | 0:32f3441153b5 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
bclaus | 0:32f3441153b5 | 21 | * may be used to endorse or promote products derived from this software |
bclaus | 0:32f3441153b5 | 22 | * without specific prior written permission. |
bclaus | 0:32f3441153b5 | 23 | * |
bclaus | 0:32f3441153b5 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
bclaus | 0:32f3441153b5 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
bclaus | 0:32f3441153b5 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
bclaus | 0:32f3441153b5 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
bclaus | 0:32f3441153b5 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
bclaus | 0:32f3441153b5 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
bclaus | 0:32f3441153b5 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
bclaus | 0:32f3441153b5 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
bclaus | 0:32f3441153b5 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
bclaus | 0:32f3441153b5 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
bclaus | 0:32f3441153b5 | 34 | * |
bclaus | 0:32f3441153b5 | 35 | ****************************************************************************** |
bclaus | 0:32f3441153b5 | 36 | */ |
bclaus | 0:32f3441153b5 | 37 | |
bclaus | 0:32f3441153b5 | 38 | /* Includes ------------------------------------------------------------------*/ |
bclaus | 0:32f3441153b5 | 39 | #include "mbed.h" |
bclaus | 0:32f3441153b5 | 40 | #include "lis3mdl.h" |
bclaus | 0:32f3441153b5 | 41 | #include "lis3mdl_platform.h" |
bclaus | 0:32f3441153b5 | 42 | #include <math.h> |
bclaus | 0:32f3441153b5 | 43 | |
bclaus | 0:32f3441153b5 | 44 | /* Methods -------------------------------------------------------------------*/ |
bclaus | 0:32f3441153b5 | 45 | |
bclaus | 0:32f3441153b5 | 46 | LIS3MDL::LIS3MDL (PinName sda, PinName scl) : _i2c(sda, scl) { |
bclaus | 0:32f3441153b5 | 47 | LIS3MDLInitialized = 0; |
bclaus | 0:32f3441153b5 | 48 | Init(); |
bclaus | 0:32f3441153b5 | 49 | } |
bclaus | 0:32f3441153b5 | 50 | /** |
bclaus | 0:32f3441153b5 | 51 | * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss. |
bclaus | 0:32f3441153b5 | 52 | * @param float *pfData |
bclaus | 0:32f3441153b5 | 53 | * @retval None. |
bclaus | 0:32f3441153b5 | 54 | */ |
bclaus | 0:32f3441153b5 | 55 | void LIS3MDL::GetAxes(AxesRaw_TypeDef *pData) |
bclaus | 0:32f3441153b5 | 56 | { |
bclaus | 0:32f3441153b5 | 57 | uint8_t tempReg = 0x00; |
bclaus | 0:32f3441153b5 | 58 | int16_t pDataRaw[3]; |
bclaus | 0:32f3441153b5 | 59 | float sensitivity = 0; |
bclaus | 0:32f3441153b5 | 60 | int ret; |
bclaus | 0:32f3441153b5 | 61 | |
bclaus | 0:32f3441153b5 | 62 | GetAxesRaw(pDataRaw); |
bclaus | 0:32f3441153b5 | 63 | |
bclaus | 0:32f3441153b5 | 64 | ret = _i2c.i2c_read(&tempReg, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1); |
bclaus | 0:32f3441153b5 | 65 | |
bclaus | 0:32f3441153b5 | 66 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 67 | { |
bclaus | 0:32f3441153b5 | 68 | tempReg &= LIS3MDL_M_FS_MASK; |
bclaus | 0:32f3441153b5 | 69 | |
bclaus | 0:32f3441153b5 | 70 | switch(tempReg) |
bclaus | 0:32f3441153b5 | 71 | { |
bclaus | 0:32f3441153b5 | 72 | case LIS3MDL_M_FS_4: |
bclaus | 0:32f3441153b5 | 73 | sensitivity = 0.14; |
bclaus | 0:32f3441153b5 | 74 | break; |
bclaus | 0:32f3441153b5 | 75 | case LIS3MDL_M_FS_8: |
bclaus | 0:32f3441153b5 | 76 | sensitivity = 0.29; |
bclaus | 0:32f3441153b5 | 77 | break; |
bclaus | 0:32f3441153b5 | 78 | case LIS3MDL_M_FS_12: |
bclaus | 0:32f3441153b5 | 79 | sensitivity = 0.43; |
bclaus | 0:32f3441153b5 | 80 | break; |
bclaus | 0:32f3441153b5 | 81 | case LIS3MDL_M_FS_16: |
bclaus | 0:32f3441153b5 | 82 | sensitivity = 0.58; |
bclaus | 0:32f3441153b5 | 83 | break; |
bclaus | 0:32f3441153b5 | 84 | } |
bclaus | 0:32f3441153b5 | 85 | } |
bclaus | 0:32f3441153b5 | 86 | |
bclaus | 0:32f3441153b5 | 87 | pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity); |
bclaus | 0:32f3441153b5 | 88 | pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity); |
bclaus | 0:32f3441153b5 | 89 | pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity); |
bclaus | 0:32f3441153b5 | 90 | |
bclaus | 0:32f3441153b5 | 91 | } |
bclaus | 0:32f3441153b5 | 92 | |
bclaus | 0:32f3441153b5 | 93 | /** |
bclaus | 0:32f3441153b5 | 94 | * @brief Read raw data from LIS3MDL Magnetic sensor output register. |
bclaus | 0:32f3441153b5 | 95 | * @param float *pfData |
bclaus | 0:32f3441153b5 | 96 | * @retval None. |
bclaus | 0:32f3441153b5 | 97 | */ |
bclaus | 0:32f3441153b5 | 98 | void LIS3MDL::GetAxesRaw(int16_t *pData) |
bclaus | 0:32f3441153b5 | 99 | { |
bclaus | 0:32f3441153b5 | 100 | uint8_t tempReg[2] = {0,0}; |
bclaus | 0:32f3441153b5 | 101 | int ret; |
bclaus | 0:32f3441153b5 | 102 | |
bclaus | 0:32f3441153b5 | 103 | pData[0] = pData[1] = pData[2] = 0; |
bclaus | 0:32f3441153b5 | 104 | |
bclaus | 0:32f3441153b5 | 105 | ret = _i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_X_L_M + 0x80, 2); |
bclaus | 0:32f3441153b5 | 106 | |
bclaus | 0:32f3441153b5 | 107 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 108 | { |
bclaus | 0:32f3441153b5 | 109 | pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]); |
bclaus | 0:32f3441153b5 | 110 | ret = _i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Y_L_M + 0x80, 2); |
bclaus | 0:32f3441153b5 | 111 | } |
bclaus | 0:32f3441153b5 | 112 | |
bclaus | 0:32f3441153b5 | 113 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 114 | { |
bclaus | 0:32f3441153b5 | 115 | pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]); |
bclaus | 0:32f3441153b5 | 116 | ret = _i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Z_L_M + 0x80, 2); |
bclaus | 0:32f3441153b5 | 117 | } |
bclaus | 0:32f3441153b5 | 118 | |
bclaus | 0:32f3441153b5 | 119 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 120 | { |
bclaus | 0:32f3441153b5 | 121 | pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]); |
bclaus | 0:32f3441153b5 | 122 | } |
bclaus | 0:32f3441153b5 | 123 | } |
bclaus | 0:32f3441153b5 | 124 | |
bclaus | 0:32f3441153b5 | 125 | /** |
bclaus | 0:32f3441153b5 | 126 | * @brief Read ID address of HTS221 |
bclaus | 0:32f3441153b5 | 127 | * @param Device ID address |
bclaus | 0:32f3441153b5 | 128 | * @retval ID name |
bclaus | 0:32f3441153b5 | 129 | */ |
bclaus | 0:32f3441153b5 | 130 | uint8_t LIS3MDL::ReadID(void) |
bclaus | 0:32f3441153b5 | 131 | { |
bclaus | 0:32f3441153b5 | 132 | uint8_t tmp=0x00; |
bclaus | 0:32f3441153b5 | 133 | int ret; |
bclaus | 0:32f3441153b5 | 134 | |
bclaus | 0:32f3441153b5 | 135 | /* Read WHO I AM register */ |
bclaus | 0:32f3441153b5 | 136 | ret = _i2c.i2c_read(&tmp, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_WHO_AM_I_ADDR, 1); |
bclaus | 0:32f3441153b5 | 137 | |
bclaus | 0:32f3441153b5 | 138 | /* Return the ID */ |
bclaus | 0:32f3441153b5 | 139 | return ((ret == 0) ? (uint8_t)tmp : 0); |
bclaus | 0:32f3441153b5 | 140 | } |
bclaus | 0:32f3441153b5 | 141 | |
bclaus | 0:32f3441153b5 | 142 | /** |
bclaus | 0:32f3441153b5 | 143 | * @brief Set HTS221 Initialization. |
bclaus | 0:32f3441153b5 | 144 | * @param InitStruct: it contains the configuration setting for the HTS221. |
bclaus | 0:32f3441153b5 | 145 | * @retval None |
bclaus | 0:32f3441153b5 | 146 | */ |
bclaus | 0:32f3441153b5 | 147 | void LIS3MDL::Init() { |
bclaus | 0:32f3441153b5 | 148 | |
bclaus | 0:32f3441153b5 | 149 | uint8_t tmp1 = 0x00; |
bclaus | 0:32f3441153b5 | 150 | int ret; |
bclaus | 0:32f3441153b5 | 151 | |
bclaus | 0:32f3441153b5 | 152 | /****** Magnetic sensor *******/ |
bclaus | 0:32f3441153b5 | 153 | |
bclaus | 0:32f3441153b5 | 154 | ret = _i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1); |
bclaus | 0:32f3441153b5 | 155 | |
bclaus | 0:32f3441153b5 | 156 | /* Conversion mode selection */ |
bclaus | 0:32f3441153b5 | 157 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 158 | { |
bclaus | 0:32f3441153b5 | 159 | tmp1 &= ~(LIS3MDL_M_MD_MASK); |
bclaus | 0:32f3441153b5 | 160 | tmp1 |= LIS3MDL_M_MD_CONTINUOUS; |
bclaus | 0:32f3441153b5 | 161 | ret = _i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1); |
bclaus | 0:32f3441153b5 | 162 | } |
bclaus | 0:32f3441153b5 | 163 | |
bclaus | 0:32f3441153b5 | 164 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 165 | { |
bclaus | 0:32f3441153b5 | 166 | ret = _i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1); |
bclaus | 0:32f3441153b5 | 167 | } |
bclaus | 0:32f3441153b5 | 168 | |
bclaus | 0:32f3441153b5 | 169 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 170 | { |
bclaus | 0:32f3441153b5 | 171 | /* Output data rate selection */ |
bclaus | 0:32f3441153b5 | 172 | tmp1 &= ~(LIS3MDL_M_DO_MASK); |
bclaus | 0:32f3441153b5 | 173 | tmp1 |= LIS3MDL_M_DO_80; |
bclaus | 0:32f3441153b5 | 174 | |
bclaus | 0:32f3441153b5 | 175 | /* X and Y axes Operative mode selection */ |
bclaus | 0:32f3441153b5 | 176 | tmp1 &= ~(LIS3MDL_M_OM_MASK); |
bclaus | 0:32f3441153b5 | 177 | tmp1 |= LIS3MDL_M_OM_HP; |
bclaus | 0:32f3441153b5 | 178 | |
bclaus | 0:32f3441153b5 | 179 | ret = _i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1); |
bclaus | 0:32f3441153b5 | 180 | } |
bclaus | 0:32f3441153b5 | 181 | |
bclaus | 0:32f3441153b5 | 182 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 183 | { |
bclaus | 0:32f3441153b5 | 184 | ret = _i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1); |
bclaus | 0:32f3441153b5 | 185 | } |
bclaus | 0:32f3441153b5 | 186 | |
bclaus | 0:32f3441153b5 | 187 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 188 | { |
bclaus | 0:32f3441153b5 | 189 | /* Full scale selection */ |
bclaus | 0:32f3441153b5 | 190 | tmp1 &= ~(LIS3MDL_M_FS_MASK); |
bclaus | 0:32f3441153b5 | 191 | tmp1 |= LIS3MDL_M_FS_4; |
bclaus | 0:32f3441153b5 | 192 | |
bclaus | 0:32f3441153b5 | 193 | ret = _i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1); |
bclaus | 0:32f3441153b5 | 194 | } |
bclaus | 0:32f3441153b5 | 195 | |
bclaus | 0:32f3441153b5 | 196 | /******************************/ |
bclaus | 0:32f3441153b5 | 197 | |
bclaus | 0:32f3441153b5 | 198 | if (ret == 0) |
bclaus | 0:32f3441153b5 | 199 | { |
bclaus | 0:32f3441153b5 | 200 | if(ReadID() == I_AM_LIS3MDL_M) |
bclaus | 0:32f3441153b5 | 201 | { |
bclaus | 0:32f3441153b5 | 202 | LIS3MDLInitialized = 1; |
bclaus | 0:32f3441153b5 | 203 | } |
bclaus | 0:32f3441153b5 | 204 | } |
bclaus | 0:32f3441153b5 | 205 | |
bclaus | 0:32f3441153b5 | 206 | return; |
bclaus | 0:32f3441153b5 | 207 | } |