Gian Paolo Donnarumma
LIS3MDL I2C Mbed class with compass heading function
Diff: LIS3MDL.h
- Revision:
- 0:4aa6b3804281
- Child:
- 1:fe199024ddfe
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS3MDL.h Tue Apr 13 13:46:21 2021 +0000
@@ -0,0 +1,219 @@
+#ifndef LIS3MDL_h
+#define LIS3MDL_h
+
+#include "mbed.h"
+#include "vector.h"
+
+#define LIS3MDL_PI 3.1415926535897932384626433832795
+#define LIS3MDL_Rad2Degree 57.295779513082320876798154814105
+
+//Registers
+#define LIS3MDL_WHO_AM_I 0x0F
+#define LIS3MDL_CTRL_REG1 0x20
+#define LIS3MDL_CTRL_REG2 0x21
+#define LIS3MDL_CTRL_REG3 0x22
+#define LIS3MDL_CTRL_REG4 0x23
+#define LIS3MDL_CTRL_REG5 0x24
+#define LIS3MDL_STATUS_REG 0x27
+#define LIS3MDL_OUT_X_L 0x28
+#define LIS3MDL_OUT_X_H 0x29
+#define LIS3MDL_OUT_Y_L 0x2A
+#define LIS3MDL_OUT_Y_H 0x2B
+#define LIS3MDL_OUT_Z_L 0x2C
+#define LIS3MDL_OUT_Z_H 0x2D
+#define LIS3MDL_TEMP_OUT_L 0x2E
+#define LIS3MDL_TEMP_OUT_H 0x2F
+#define LIS3MDL_INT_CFG 0x30
+#define LIS3MDL_INT_SRC 0x31
+#define LIS3MDL_INT_THS_L 0x32
+#define LIS3MDL_INT_THS_H 0x33
+
+#define LIS3MDL_ADDRESS 0x3C
+
+//Register Masks
+
+//WHO_AM_I masks
+#define LIS3MDL_I_AM_MASK 0x3D
+
+// CTRL_REG1 masks
+#define LIS3MDL_TEMP_EN_MASK 0xF0
+#define LIS3MDL_OM_MASK 0x06
+#define LIS3MDL_DO_MASK 0x1C
+#define LIS3MDL_ST_MASK 0x01
+
+// CTRL_REG2 masks
+#define LIS3MDL_FS_MASK 0x60
+#define LIS3MDL_REBOOT_MASK 0x08
+#define LIS3MDL_SOFT_RST_MASK 0x04
+
+// CTRL_REG3 masks
+#define LIS3MDL_LP_MASK 0x20
+#define LIS3MDL_SIM_MASK 0x04
+#define LIS3MDL_MD_MASK 0x03
+
+// CTRL_REG4 masks
+#define LIS3MDL_OMZ_MASK 0x0C
+#define LIS3MDL_BLE_MASK 0x02
+
+// CTRL_REG5 masks
+#define LIS3MDL_BDU_MASK 0x40
+
+// STATUS_REG masks
+#define LIS3MDL_ZYXOR_MASK 0x80
+#define LIS3MDL_ZOR_MASK 0x40
+#define LIS3MDL_YOR_MASK 0x20
+#define LIS3MDL_XOR_MASK 0x10
+#define LIS3MDL_ZYXDA_MASK 0x08
+#define LIS3MDL_ZDA_MASK 0x04
+#define LIS3MDL_YDA_MASK 0x02
+#define LIS3MDL_XDA_MASK 0x01
+
+// INT_CFG masks
+#define LIS3MDL_XIEN_MASK 0x80
+#define LIS3MDL_YIEN_MASK 0x40
+#define LIS3MDL_ZIEN_MASK 0x20
+#define LIS3MDL_IEA_MASK 0x04
+#define LIS3MDL_LIR_MASK 0x02
+#define LIS3MDL_IEN_MASK 0x01
+
+// INT_SRC masks
+#define LIS3MDL_PTH_X_MASK 0x80
+#define LIS3MDL_PTH_Y_MASK 0x40
+#define LIS3MDL_PTH_Z_MASK 0x20
+#define LIS3MDL_NTH_X_MASK 0x01
+#define LIS3MDL_NTH_Y_MASK 0x08
+#define LIS3MDL_NTH_Z_MASK 0x04
+#define LIS3MDL_MROI_MASK 0x02
+#define LIS3MDL_INT_MASK 0x01
+
+// INT_THS_L masks
+#define LIS3MDL_THS_L_MASK 0xFF
+
+// INT_THS_H masks
+#define LIS3MDL_THS_H_MASK 0x7F
+
+//typedef enum { false, true } bool;
+
+class LIS3MDL
+{
+ /*
+ public:
+ template <typename T> struct vector
+ {
+ T x, y, z;
+ };
+ */
+ public:
+ /*CONSTRUCTOR:
+ * Create itself the i2c serial line
+ */
+ LIS3MDL(PinName sda, PinName scl);
+ bool init(void);
+
+ int16_t getAxisX(void);
+ int16_t getAxisY(void);
+ int16_t getAxisZ(void);
+
+ float getAxisX_mag();
+ float getAxisY_mag();
+ float getHeading();
+
+ int16_t getTemperature(void);
+ void getMag(int16_t* ax, int16_t* ay, int16_t* az);
+
+ bool whoAmI(void);
+
+ bool getTempEnabled(void);
+ bool setTempEnabled(bool enable);
+ uint8_t getOperativeMode(void);
+ bool setOperativeMode(uint8_t mode);
+ uint8_t getDataRate(void);
+ bool setDataRate(uint8_t rate);
+ bool getSelfTestEnabled(void);
+ bool setSelfTestEnabled(bool enable);
+
+ uint8_t getFullScale(void);
+ bool setFullScale(uint8_t sccale);
+ bool reboot(void);
+ bool softReset(void);
+
+ bool getLowPowerMode(void);
+ bool setLowPowerMode(bool mode);
+ bool getSPIMode(void);
+ bool setSPIMode(bool mode);
+ uint8_t getOperatingMode(void);
+ bool setOperatingMode(uint8_t mode);
+
+ uint8_t getOMZ(void);
+ bool setOMZ(uint8_t mode);
+ bool getEndian(void);
+ bool setEndian(bool selection);
+
+ bool disableDataUpdate(void);
+ bool enableDataUpdate(void);
+ bool getDataUpdateStatus(void);
+
+ bool getXYZOverrun(void);
+ bool getZOverrun(void);
+ bool getYOverrun(void);
+ bool getXOverrun(void);
+
+ bool getXYZDataAvailable(void);
+ bool getZDataAvailable(void);
+ bool getYDataAvailabl(void);
+ bool getXDataAvailable(void);
+
+ bool enableXInterupt(void);
+ bool disableXInterupt(void);
+ bool isXIntEnabled(void);
+ bool enableYInterupt(void);
+ bool disableYInterupt(void);
+ bool isYIntEnabled(void);
+ bool enableZInterupt(void);
+ bool disableZInterupt(void);
+ bool isZIntEnabled(void);
+ bool setIntHigh(void);
+ bool setIntLow(void);
+ bool checkIntConfig(void);
+ bool setInteruptLatch(bool latch);
+ bool checkInteruptLatch(void);
+ bool enableIntInterupt(void);
+ bool disableIntInterupt(void);
+ bool checkIntInterupt(void);
+
+ bool posXThreshold(void);
+ bool posYThreshold(void);
+ bool posZThreshold(void);
+ bool negXThreshold(void);
+ bool negYThreshold(void);
+ bool negZThreshold(void);
+ bool measurementOverflow(void);
+ bool checkInteruptEvent(void);
+
+ void getMotion(int16_t* ax, int16_t* ay, int16_t* az);
+
+ bool setInteruptThreshold(uint16_t threshold);
+ uint16_t getInteruptThreshold(void);
+
+ private:
+ I2C i2c;
+ int i2c_write(uint8_t DeviceAddr, uint8_t RegisterAddr,uint8_t value, uint16_t NumByteToWrite);
+ int i2c_read(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead);
+ bool writeRegister(const uint8_t register_addr, const uint8_t value);
+ bool writeRegisters(const uint8_t msb_register, const uint8_t msb_value, const uint8_t lsb_register, const uint8_t lsb_value);
+ bool writeMaskedRegister(const uint8_t register_addr, const uint8_t mask, const bool value);
+ bool writeMaskedRegister(const int register_addr, const int mask, const int value);
+ uint8_t readRegister(const uint8_t register_addr);
+ uint16_t readRegisters(const uint8_t msb_register, const uint8_t lsb_register);
+ uint8_t readMaskedRegister(const uint8_t register_addr, const uint8_t mask);
+
+ uint8_t _address;
+ uint8_t _whoami;
+};
+
+
+
+#endif
+
+
+