brian claus
Copied from STs implementation.
Diff: lis3mdl.cpp
- Revision:
- 0:32f3441153b5
- Child:
- 1:898554a35638
diff -r 000000000000 -r 32f3441153b5 lis3mdl.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lis3mdl.cpp Thu Oct 06 16:45:48 2016 +0000
@@ -0,0 +1,207 @@
+/**
+******************************************************************************
+* @file x_cube_mems_lis3mdl.h
+* @author AST / EST
+* @version V0.0.1
+* @date 9-December-2014
+* @brief Implementation file for component LIS3MDL
+******************************************************************************
+* @attention
+*
+* <h2><center>© COPYRIGHT(c) 2014 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 "mbed.h"
+#include "lis3mdl.h"
+#include "lis3mdl_platform.h"
+#include <math.h>
+
+/* Methods -------------------------------------------------------------------*/
+
+LIS3MDL::LIS3MDL (PinName sda, PinName scl) : _i2c(sda, scl) {
+ LIS3MDLInitialized = 0;
+ Init();
+}
+/**
+ * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss.
+ * @param float *pfData
+ * @retval None.
+ */
+void LIS3MDL::GetAxes(AxesRaw_TypeDef *pData)
+{
+ uint8_t tempReg = 0x00;
+ int16_t pDataRaw[3];
+ float sensitivity = 0;
+ int ret;
+
+ GetAxesRaw(pDataRaw);
+
+ ret = _i2c.i2c_read(&tempReg, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
+
+ if (ret == 0)
+ {
+ 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->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
+ pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
+ pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
+
+}
+
+/**
+ * @brief Read raw data from LIS3MDL Magnetic sensor output register.
+ * @param float *pfData
+ * @retval None.
+ */
+void LIS3MDL::GetAxesRaw(int16_t *pData)
+{
+ uint8_t tempReg[2] = {0,0};
+ int ret;
+
+ pData[0] = pData[1] = pData[2] = 0;
+
+ ret = _i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_X_L_M + 0x80, 2);
+
+ if (ret == 0)
+ {
+ pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+ ret = _i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Y_L_M + 0x80, 2);
+ }
+
+ if (ret == 0)
+ {
+ pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+ ret = _i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Z_L_M + 0x80, 2);
+ }
+
+ if (ret == 0)
+ {
+ pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+ }
+}
+
+/**
+ * @brief Read ID address of HTS221
+ * @param Device ID address
+ * @retval ID name
+ */
+uint8_t LIS3MDL::ReadID(void)
+{
+ uint8_t tmp=0x00;
+ int ret;
+
+ /* Read WHO I AM register */
+ ret = _i2c.i2c_read(&tmp, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_WHO_AM_I_ADDR, 1);
+
+ /* Return the ID */
+ return ((ret == 0) ? (uint8_t)tmp : 0);
+}
+
+/**
+ * @brief Set HTS221 Initialization.
+ * @param InitStruct: it contains the configuration setting for the HTS221.
+ * @retval None
+ */
+void LIS3MDL::Init() {
+
+ uint8_t tmp1 = 0x00;
+ int ret;
+
+ /****** Magnetic sensor *******/
+
+ ret = _i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
+
+ /* Conversion mode selection */
+ if (ret == 0)
+ {
+ tmp1 &= ~(LIS3MDL_M_MD_MASK);
+ tmp1 |= LIS3MDL_M_MD_CONTINUOUS;
+ ret = _i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
+ }
+
+ if (ret == 0)
+ {
+ ret = _i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
+ }
+
+ if (ret == 0)
+ {
+ /* Output data rate selection */
+ tmp1 &= ~(LIS3MDL_M_DO_MASK);
+ tmp1 |= LIS3MDL_M_DO_80;
+
+ /* X and Y axes Operative mode selection */
+ tmp1 &= ~(LIS3MDL_M_OM_MASK);
+ tmp1 |= LIS3MDL_M_OM_HP;
+
+ ret = _i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
+ }
+
+ if (ret == 0)
+ {
+ ret = _i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
+ }
+
+ if (ret == 0)
+ {
+ /* Full scale selection */
+ tmp1 &= ~(LIS3MDL_M_FS_MASK);
+ tmp1 |= LIS3MDL_M_FS_4;
+
+ ret = _i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
+ }
+
+ /******************************/
+
+ if (ret == 0)
+ {
+ if(ReadID() == I_AM_LIS3MDL_M)
+ {
+ LIS3MDLInitialized = 1;
+ }
+ }
+
+ return;
+}