The LIS2MDL is an ultra-low-power, high-performance 3-axis digital magnetic sensor.

The LIS2MDL has a magnetic field dynamic range of ±50 gauss.

The LIS2MDL includes an I2C serial bus interface that supports standard, fast mode, fast mode plus, and high-speed (100 kHz, 400 kHz, 1 MHz, and 3.4 MHz) and an SPI serial standard interface.

More details in datasheet here: http://www.st.com/resource/en/datasheet/lis2mdl.pdf

This driver assumes the user will deploy the sensor over I2C. SPI update will be committed soon :)

Sample Code:

uint8_t MODR = MODR_100Hz; int16_t temp[3] = {0, 0, 0}; float magBias[3] = {0,0,0}, magScale[3] = {0,0,0};

Attach interrupt to this pin if you want to use magnetometer sensor interrupt Before that make sure to set the correct interrupt value in the INT_CTRL_REG, INT_THS_L_REG and the INT_THS_H_REG (threshold value) DigitalIn interruptPin(LIS2MDL_intPin);

The itracker has the LIS2MDL sensor on the 13 and 11 I2C pins I2C i2c(p13,p11);

main() method. Runs in its own thread in the OS int main() { Create LIS2MDL object LIS2MDL sensor(i2c, LIS2MDL_ADDRESS);

Reset the sensor to ensure correct starting config register values sensor.reset(); wait(3);

Intialise the CHIP with the MODR value chosen sensor.init(MODR);

Test the Chip ID. Should return 64 (0x40) sensor.getChipID();

Calcaulte the offset bias to be used in future reading. See self check for example usage sensor.offsetBias(magBias, magScale);

Read the internal temp sensor sensor.readTemperature();

Get readings from the sensor; for(int i=0; i<60; i++) { int16_t temp[3] = {0, 0, 0}; sensor.readData(temp); wait(0.1); } }