Gian Paolo Donnarumma
LIS3MDL I2C Mbed class with compass heading function
Diff: LIS3MDL.cpp
- Revision:
- 1:fe199024ddfe
- Parent:
- 0:4aa6b3804281
--- a/LIS3MDL.cpp Tue Apr 13 13:46:21 2021 +0000
+++ b/LIS3MDL.cpp Tue Apr 13 13:52:14 2021 +0000
@@ -50,41 +50,14 @@
// Choose device mode (bits 1:0 = 00 = continuous data read, 01 = single conversion, 10 & 11 = default power down)
//writeByte(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG3, 0x00); // Enable continuous data read mode (bits 1:0 = 00)
i2c_write(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG3,0x00,1);
- // Enable temperature sensor (bit 7 = 1)
- // Set magnetometer operative mode for x and y axes (bits 6:5)
- // Set magnetometer ODR (bits 4:2)
- //writeByte(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG1, 0x80 | Mopmode << 5 | Modr << 2);
- //i2c_write(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG1, 0x80 | Mopmode << 5 | Modr << 2,1);
-
- //writeByte(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG2, Mscale << 5); // Set magnetometer full scale range
- //i2c_write(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG2, Mscale << 5,1);
-
- //writeByte(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG4, Mopmode << 2); // Set magnetometer operative mode for z axis
- //i2c_write(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG4, Mopmode << 2,1); // Set magnetometer operative mode for z axis
-
- //writeByte(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG5, 0x40); // output registers not updated until both data bytes have been read
i2c_write(LIS3MDL_ADDRESS, LIS3MDL_CTRL_REG5, 0x40,1); // output registers not updated until both data bytes have been read
- //Put into the correct operating mode
- //disableLowPower();
- //enableAxisXYZ();
- //setDataRate(2);
-
return 1;
}
bool LIS3MDL::writeRegister(const uint8_t register_addr, const uint8_t value) {
- //send write call to sensor address
- //send register address to sensor
- //send value to register
- /*
- bool write_status = 0;
- Wire.beginTransmission(_address); //open communication with
- Wire.write(register_addr);
- Wire.write(value);
- Wire.endTransmission();
- */
+
i2c_write(_address,register_addr,value,1);
return 1; //returns whether the write succeeded or failed
@@ -207,314 +180,13 @@
return heading;
}
-void getMag(int16_t* ax, int16_t* ay, int16_t* az) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-bool whoAmI(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getTempEnabled(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setTempEnabled(bool enable) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-uint8_t getOperativeMode(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setOperativeMode(uint8_t mode) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-uint8_t getDataRate(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setDataRate(uint8_t rate) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getSelfTestEnabled(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setSelfTestEnabled(bool enable) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-uint8_t getFullScale(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setFullScale(uint8_t sccale) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool reboot(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool softReset(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getLowPowerMode(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setLowPowerMode(bool mode) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getSPIMode(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setSPIMode(bool mode) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-uint8_t getOperatingMode(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setOperatingMode(uint8_t mode) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-uint8_t getOMZ(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setOMZ(uint8_t mode) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getEndian(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setEndian(bool selection) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool disableDataUpdate(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool enableDataUpdate(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getDataUpdateStatus(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getXYZOverrun(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getZOverrun(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getYOverrun(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getXOverrun(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getXYZDataAvailable(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getZDataAvailable(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getYDataAvailabl(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool getXDataAvailable(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool enableXInterupt(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool disableXInterupt(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool isXIntEnabled(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool enableYInterupt(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool disableYInterupt(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool isYIntEnabled(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool enableZInterupt(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool disableZInterupt(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool isZIntEnabled(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setIntHigh(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setIntLow(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool checkIntConfig(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool setInteruptLatch(bool latch) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool checkInteruptLatch(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool enableIntInterupt(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool disableIntInterupt(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool checkIntInterupt(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-
-bool posXThreshold(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool posYThreshold(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool posZThreshold(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool negXThreshold(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool negYThreshold(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool negZThreshold(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool measurementOverflow(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-bool checkInteruptEvent(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-
-bool setInteruptThreshold(uint16_t threshold) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
-}
-
-uint16_t getInteruptThreshold(void) {
- //return (readMaskedRegister(LIS3MDL_CTRL_REG2, LIS3MDL_HPIS2_MASK) != 0);
+bool LIS3MDL::whoAmI(void) {
+ return (LIS3MDL_I_AM_MASK == readRegister(LIS3MDL_WHO_AM_I));
}
-/** Read the all axis registers
- * @see getAxisZ()
- * @see getAxisY()
- * @see getAxisZ()
- */
-void LIS3MDL::getMotion(int16_t* ax, int16_t* ay, int16_t* az) {
- *ax = getAxisX();
- *ay = getAxisY();
- *az = getAxisZ();
-}
-//bool LIS3MDL::tempHasOverrun(void) {
-// uint8_t overrun = readMaskedRegister(LIS3MDL_STATUS_REG_AUX, LIS3MDL_TOR_MASK);
-// return (overrun != 0);
-//}
-
-//bool LIS3MDL::tempDataAvailable(void) {
-// uint8_t data = readMaskedRegister(LIS3MDL_STATUS_REG_AUX, LIS3MDL_TDA_MASK);
-// return (data != 0);
-//}
-
-//uint16_t LIS3MDL::getTemperature(void) {
-// if(tempDataAvailable()){
-// return readRegisters(LIS3MDL_OUT_TEMP_H, LIS3MDL_OUT_TEMP_L);
-// } else {
-// //if new data isn't available
-// return 0;
-// }
-//}
-
-bool LIS3MDL::whoAmI(void) {
- return (LIS3MDL_I_AM_MASK == readRegister(LIS3MDL_WHO_AM_I));
-}
-
-bool LIS3MDL::getTempEnabled(void) {
- //return (readMaskedRegister(LIS3MDL_TEMP_CFG_REG, LIS3MDL_TEMP_EN_MASK) != 0);
-}
-
-bool LIS3MDL::setTempEnabled(bool enable) {
- //return writeRegister(LIS3MDL_TEMP_CFG_REG, enable ? LIS3MDL_TEMP_EN_MASK : 0);
-}
-
-uint8_t LIS3MDL::getDataRate(void) {
- //return readMaskedRegister(LIS3MDL_CTRL_REG1, LIS3MDL_ODR_MASK);
-}
-
-bool LIS3MDL::setDataRate(uint8_t rate) {
- if(rate > 9) {
- return 0;
- }
- uint8_t data_rate = rate << 4;
- // return writeMaskedRegister(LIS3MDL_CTRL_REG1, LIS3MDL_ODR_MASK, data_rate);
-}
-
-
-
-