for my students set_m_axes_offset
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
lis3mdl_class.h
- Committer:
- docent
- Date:
- 2020-02-08
- Revision:
- 7:fa19aa1a666d
- Parent:
- 4:00493226e59f
File content as of revision 7:fa19aa1a666d:
/** ****************************************************************************** * @file lis3mdl_class.h * @author AST / EST * @version V0.0.1 * @date 14-April-2015 * @brief Header file for component LIS3MDL ****************************************************************************** * @attention * * <h2><center>© 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: //my enum SPI_type_t {SPI3W, SPI4W}; //my 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); } virtual int set_m_axes_offset(uint8_t axe,int16_t offset) { //my return LIS3MDL_M_SetAxeOffset(axe,offset); } 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); //my MAGNETO_StatusTypeDef LIS3MDL_Set_SpiInterface (void *handle, LIS3MDL_SPIMode_t spimode); MAGNETO_StatusTypeDef LIS3MDL_M_SetAxeOffset(uint8_t axe,int16_t offset);//my /** * @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) { /*my 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; //my SPI *_dev_spi; uint8_t _address; DigitalOut _cs_pin; InterruptIn _int_pin; //my SPI_type_t _spi_type; }; #endif // __LIS3MDL_CLASS_H