Oleg Goncharovskiy / LIS3MDL_my

for my students set_m_axes_offset

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   Exam_TK Exam_TK

lis3mdl_class.h@4:00493226e59f, 2017-10-06 (annotated)

Committer:
mapellil
Date:
Fri Oct 06 11:48:36 2017 +0000
Revision:
4:00493226e59f
Parent:
3:a35a16f3da39
Child:
7:fa19aa1a666d
Added SPI3/4W interface

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nikapov 0:7376fbeb1d4a 1 /**
nikapov 0:7376fbeb1d4a 2 ******************************************************************************
nikapov 0:7376fbeb1d4a 3 * @file lis3mdl_class.h
nikapov 0:7376fbeb1d4a 4 * @author AST / EST
nikapov 0:7376fbeb1d4a 5 * @version V0.0.1
nikapov 0:7376fbeb1d4a 6 * @date 14-April-2015
nikapov 0:7376fbeb1d4a 7 * @brief Header file for component LIS3MDL
nikapov 0:7376fbeb1d4a 8 ******************************************************************************
nikapov 0:7376fbeb1d4a 9 * @attention
nikapov 0:7376fbeb1d4a 10 *
nikapov 0:7376fbeb1d4a 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
nikapov 0:7376fbeb1d4a 12 *
nikapov 0:7376fbeb1d4a 13 * Redistribution and use in source and binary forms, with or without modification,
nikapov 0:7376fbeb1d4a 14 * are permitted provided that the following conditions are met:
nikapov 0:7376fbeb1d4a 15 * 1. Redistributions of source code must retain the above copyright notice,
nikapov 0:7376fbeb1d4a 16 * this list of conditions and the following disclaimer.
nikapov 0:7376fbeb1d4a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov 0:7376fbeb1d4a 18 * this list of conditions and the following disclaimer in the documentation
nikapov 0:7376fbeb1d4a 19 * and/or other materials provided with the distribution.
nikapov 0:7376fbeb1d4a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov 0:7376fbeb1d4a 21 * may be used to endorse or promote products derived from this software
nikapov 0:7376fbeb1d4a 22 * without specific prior written permission.
nikapov 0:7376fbeb1d4a 23 *
nikapov 0:7376fbeb1d4a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov 0:7376fbeb1d4a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov 0:7376fbeb1d4a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov 0:7376fbeb1d4a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov 0:7376fbeb1d4a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov 0:7376fbeb1d4a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov 0:7376fbeb1d4a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov 0:7376fbeb1d4a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov 0:7376fbeb1d4a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov 0:7376fbeb1d4a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov 0:7376fbeb1d4a 34 *
nikapov 0:7376fbeb1d4a 35 ******************************************************************************
nikapov 0:7376fbeb1d4a 36 */
nikapov 0:7376fbeb1d4a 37
nikapov 0:7376fbeb1d4a 38 #ifndef __LIS3MDL_CLASS_H
nikapov 0:7376fbeb1d4a 39 #define __LIS3MDL_CLASS_H
nikapov 0:7376fbeb1d4a 40
nikapov 0:7376fbeb1d4a 41 /* Includes ------------------------------------------------------------------*/
nikapov 0:7376fbeb1d4a 42 #include "mbed.h"
nikapov 0:7376fbeb1d4a 43 #include "DevI2C.h"
nikapov 0:7376fbeb1d4a 44 #include "lis3mdl.h"
nikapov 0:7376fbeb1d4a 45 #include "MagneticSensor.h"
mapellil 3:a35a16f3da39 46 #include <assert.h>
nikapov 0:7376fbeb1d4a 47
mapellil 4:00493226e59f 48
nikapov 0:7376fbeb1d4a 49 /* Classes -------------------------------------------------------------------*/
nikapov 0:7376fbeb1d4a 50 /** Class representing a LIS3MDL sensor component
nikapov 0:7376fbeb1d4a 51 */
nikapov 0:7376fbeb1d4a 52 class LIS3MDL : public MagneticSensor {
nikapov 0:7376fbeb1d4a 53 public:
mapellil 4:00493226e59f 54 enum SPI_type_t {SPI3W, SPI4W};
mapellil 4:00493226e59f 55
mapellil 4:00493226e59f 56 LIS3MDL(SPI *spi, PinName cs_pin, PinName int_pin=NC, SPI_type_t spi_type=SPI4W);
mapellil 4:00493226e59f 57
nikapov 0:7376fbeb1d4a 58 /** Constructor
nikapov 0:7376fbeb1d4a 59 * @param[in] i2c device I2C to be used for communication
mapellil 4:00493226e59f 60 */
mapellil 4:00493226e59f 61
mapellil 4:00493226e59f 62 LIS3MDL(DevI2C *i2c, uint8_t address=LIS3MDL_M_MEMS_ADDRESS_HIGH, PinName int_pin=NC);
nikapov 0:7376fbeb1d4a 63
nikapov 0:7376fbeb1d4a 64 /** Destructor
nikapov 0:7376fbeb1d4a 65 */
nikapov 0:7376fbeb1d4a 66 virtual ~LIS3MDL() {}
nikapov 0:7376fbeb1d4a 67
nikapov 0:7376fbeb1d4a 68 /*** Interface Methods ***/
nikapov 0:7376fbeb1d4a 69 virtual int init(void *init_struct) {
nikapov 0:7376fbeb1d4a 70 return LIS3MDL_Init((MAGNETO_InitTypeDef*)init_struct);
nikapov 0:7376fbeb1d4a 71 }
nikapov 0:7376fbeb1d4a 72
nikapov 0:7376fbeb1d4a 73 virtual int read_id(uint8_t *m_id) {
nikapov 0:7376fbeb1d4a 74 return LIS3MDL_Read_M_ID(m_id);
nikapov 0:7376fbeb1d4a 75 }
nikapov 0:7376fbeb1d4a 76
nikapov 0:7376fbeb1d4a 77 virtual int get_m_axes(int32_t *pData) {
nikapov 0:7376fbeb1d4a 78 return LIS3MDL_M_GetAxes(pData);
nikapov 0:7376fbeb1d4a 79 }
nikapov 0:7376fbeb1d4a 80
nikapov 0:7376fbeb1d4a 81 virtual int get_m_axes_raw(int16_t *pData) {
nikapov 0:7376fbeb1d4a 82 return LIS3MDL_M_GetAxesRaw(pData);
nikapov 0:7376fbeb1d4a 83 }
nikapov 0:7376fbeb1d4a 84
nikapov 0:7376fbeb1d4a 85 protected:
nikapov 0:7376fbeb1d4a 86 /*** Methods ***/
nikapov 0:7376fbeb1d4a 87 MAGNETO_StatusTypeDef LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init);
nikapov 0:7376fbeb1d4a 88 MAGNETO_StatusTypeDef LIS3MDL_Read_M_ID(uint8_t *m_id);
nikapov 0:7376fbeb1d4a 89 MAGNETO_StatusTypeDef LIS3MDL_M_GetAxes(int32_t *pData);
nikapov 0:7376fbeb1d4a 90 MAGNETO_StatusTypeDef LIS3MDL_M_GetAxesRaw(int16_t *pData);
mapellil 4:00493226e59f 91 MAGNETO_StatusTypeDef LIS3MDL_Set_SpiInterface (void *handle, LIS3MDL_SPIMode_t spimode);
nikapov 0:7376fbeb1d4a 92
nikapov 0:7376fbeb1d4a 93 /**
nikapov 0:7376fbeb1d4a 94 * @brief Configures LIS3MDL interrupt lines for NUCLEO boards
nikapov 0:7376fbeb1d4a 95 */
nikapov 0:7376fbeb1d4a 96 void LIS3MDL_IO_ITConfig(void)
nikapov 0:7376fbeb1d4a 97 {
nikapov 0:7376fbeb1d4a 98 /* To be implemented */
nikapov 0:7376fbeb1d4a 99 }
nikapov 0:7376fbeb1d4a 100
nikapov 0:7376fbeb1d4a 101 /**
nikapov 0:7376fbeb1d4a 102 * @brief Configures LIS3MDL I2C interface
nikapov 0:7376fbeb1d4a 103 * @return MAGNETO_OK in case of success, an error code otherwise
nikapov 0:7376fbeb1d4a 104 */
nikapov 0:7376fbeb1d4a 105 MAGNETO_StatusTypeDef LIS3MDL_IO_Init(void)
nikapov 0:7376fbeb1d4a 106 {
nikapov 0:7376fbeb1d4a 107 return MAGNETO_OK; /* done in constructor */
nikapov 0:7376fbeb1d4a 108 }
nikapov 0:7376fbeb1d4a 109
nikapov 0:7376fbeb1d4a 110 /**
nikapov 0:7376fbeb1d4a 111 * @brief Utility function to read data from LIS3MDL
nikapov 0:7376fbeb1d4a 112 * @param[out] pBuffer pointer to the byte-array to read data in to
nikapov 0:7376fbeb1d4a 113 * @param[in] RegisterAddr specifies internal address register to read from.
nikapov 0:7376fbeb1d4a 114 * @param[in] NumByteToRead number of bytes to be read.
nikapov 0:7376fbeb1d4a 115 * @retval MAGNETO_OK if ok,
nikapov 0:7376fbeb1d4a 116 * @retval MAGNETO_ERROR if an I2C error has occured
nikapov 0:7376fbeb1d4a 117 */
nikapov 0:7376fbeb1d4a 118 MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer,
nikapov 0:7376fbeb1d4a 119 uint8_t RegisterAddr, uint16_t NumByteToRead)
nikapov 0:7376fbeb1d4a 120 {
mapellil 4:00493226e59f 121 if (_dev_spi) {
mapellil 4:00493226e59f 122 /* Write Reg Address */
mapellil 4:00493226e59f 123 _dev_spi->lock();
mapellil 4:00493226e59f 124 _cs_pin = 0;
mapellil 4:00493226e59f 125 if (_spi_type == SPI4W) {
mapellil 4:00493226e59f 126 _dev_spi->write(RegisterAddr | 0x80);
mapellil 4:00493226e59f 127 for (int i=0; i<NumByteToRead; i++) {
mapellil 4:00493226e59f 128 *(pBuffer+i) = _dev_spi->write(0x00);
mapellil 4:00493226e59f 129 }
mapellil 4:00493226e59f 130 } else if (_spi_type == SPI3W){
mapellil 4:00493226e59f 131 /* Write RD Reg Address with RD bit*/
mapellil 4:00493226e59f 132 uint8_t TxByte = RegisterAddr | 0x80;
mapellil 4:00493226e59f 133 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
mapellil 4:00493226e59f 134 }
mapellil 4:00493226e59f 135 _cs_pin = 1;
mapellil 4:00493226e59f 136 _dev_spi->unlock();
mapellil 4:00493226e59f 137 return MAGNETO_OK;
mapellil 4:00493226e59f 138 }
mapellil 4:00493226e59f 139 if (!_dev_i2c) return MAGNETO_ERROR;
mapellil 4:00493226e59f 140 int ret = _dev_i2c->i2c_read(pBuffer,
mapellil 4:00493226e59f 141 _address,
nikapov 0:7376fbeb1d4a 142 RegisterAddr,
nikapov 0:7376fbeb1d4a 143 NumByteToRead);
nikapov 0:7376fbeb1d4a 144 if(ret != 0) {
nikapov 0:7376fbeb1d4a 145 return MAGNETO_ERROR;
nikapov 0:7376fbeb1d4a 146 }
nikapov 0:7376fbeb1d4a 147 return MAGNETO_OK;
nikapov 0:7376fbeb1d4a 148 }
nikapov 0:7376fbeb1d4a 149
nikapov 0:7376fbeb1d4a 150 /**
nikapov 0:7376fbeb1d4a 151 * @brief Utility function to write data to LIS3MDL
nikapov 0:7376fbeb1d4a 152 * @param[in] pBuffer pointer to the byte-array data to send
nikapov 0:7376fbeb1d4a 153 * @param[in] RegisterAddr specifies internal address register to read from.
nikapov 0:7376fbeb1d4a 154 * @param[in] NumByteToWrite number of bytes to write.
nikapov 0:7376fbeb1d4a 155 * @retval MAGNETO_OK if ok,
nikapov 0:7376fbeb1d4a 156 * @retval MAGNETO_ERROR if an I2C error has occured
nikapov 0:7376fbeb1d4a 157 */
nikapov 0:7376fbeb1d4a 158 MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer,
nikapov 0:7376fbeb1d4a 159 uint8_t RegisterAddr, uint16_t NumByteToWrite)
nikapov 0:7376fbeb1d4a 160 {
mapellil 4:00493226e59f 161
mapellil 4:00493226e59f 162 if (_dev_spi) {
mapellil 4:00493226e59f 163 _dev_spi->lock();
mapellil 4:00493226e59f 164 _cs_pin = 0;
mapellil 4:00493226e59f 165 int data = _dev_spi->write(RegisterAddr);
mapellil 4:00493226e59f 166 _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);
mapellil 4:00493226e59f 167 _cs_pin = 1;
mapellil 4:00493226e59f 168 _dev_spi->unlock();
mapellil 4:00493226e59f 169 return MAGNETO_OK;
mapellil 4:00493226e59f 170 }
mapellil 4:00493226e59f 171
mapellil 4:00493226e59f 172 if (!_dev_i2c) return MAGNETO_ERROR;
mapellil 4:00493226e59f 173 int ret = _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
nikapov 0:7376fbeb1d4a 174 if(ret != 0) {
nikapov 0:7376fbeb1d4a 175 return MAGNETO_ERROR;
nikapov 0:7376fbeb1d4a 176 }
nikapov 0:7376fbeb1d4a 177 return MAGNETO_OK;
nikapov 0:7376fbeb1d4a 178 }
nikapov 0:7376fbeb1d4a 179
nikapov 0:7376fbeb1d4a 180 /*** Instance Variables ***/
nikapov 0:7376fbeb1d4a 181 /* IO Device */
mapellil 4:00493226e59f 182 DevI2C *_dev_i2c;
mapellil 4:00493226e59f 183 SPI *_dev_spi;
mapellil 4:00493226e59f 184 uint8_t _address;
mapellil 4:00493226e59f 185 DigitalOut _cs_pin;
mapellil 4:00493226e59f 186 InterruptIn _int_pin;
mapellil 4:00493226e59f 187 SPI_type_t _spi_type;
nikapov 0:7376fbeb1d4a 188 };
nikapov 0:7376fbeb1d4a 189
nikapov 0:7376fbeb1d4a 190 #endif // __LIS3MDL_CLASS_H