Naresh Krish / Mbed OS itracker-mbed-os-example-lis2mdl

Sample program on how to use the LIS2MDL sensor on the RAKWirelss iTracker module

Dependencies:   LIS2MDL

LIS2MDL/LIS2MDL.h@0:10c0e81df4ba, 2018-02-12 (annotated)

Committer:
knaresh89
Date:
Mon Feb 12 04:58:22 2018 +0000
Revision:
0:10c0e81df4ba
Sample app for the LIS2MDL sensor on the RAKWireless iTracker module

Who changed what in which revision?

UserRevisionLine numberNew contents of line
knaresh89 0:10c0e81df4ba 1 /*
knaresh89 0:10c0e81df4ba 2 Created by Naresh Krishnamoorthy
knaresh89 0:10c0e81df4ba 3
knaresh89 0:10c0e81df4ba 4 The LIS2MDL is a low power magnetometer, here used as 3 DoF solution.
knaresh89 0:10c0e81df4ba 5 Library may be used freely and without limit with attribution.
knaresh89 0:10c0e81df4ba 6 */
knaresh89 0:10c0e81df4ba 7
knaresh89 0:10c0e81df4ba 8 #ifndef LIS2MDL_h
knaresh89 0:10c0e81df4ba 9 #define LIS2MDL_h
knaresh89 0:10c0e81df4ba 10
knaresh89 0:10c0e81df4ba 11 #include "mbed.h"
knaresh89 0:10c0e81df4ba 12
knaresh89 0:10c0e81df4ba 13 //*********************************
knaresh89 0:10c0e81df4ba 14 //Register map for LIS2MDL'
knaresh89 0:10c0e81df4ba 15 // http://www.st.com/content/ccc/resource/technical/document/datasheet/group3/29/13/d1/e0/9a/4d/4f/30/DM00395193/files/DM00395193.pdf/jcr:content/translations/en.DM00395193.pdf
knaresh89 0:10c0e81df4ba 16 //*********************************
knaresh89 0:10c0e81df4ba 17 #define LIS2MDL_OFFSET_X_REG_L 0x45
knaresh89 0:10c0e81df4ba 18 #define LIS2MDL_OFFSET_X_REG_L 0x46
knaresh89 0:10c0e81df4ba 19 #define LIS2MDL_OFFSET_X_REG_L 0x47
knaresh89 0:10c0e81df4ba 20 #define LIS2MDL_OFFSET_X_REG_L 0x48
knaresh89 0:10c0e81df4ba 21 #define LIS2MDL_OFFSET_X_REG_L 0x49
knaresh89 0:10c0e81df4ba 22 #define LIS2MDL_OFFSET_X_REG_L 0x4A
knaresh89 0:10c0e81df4ba 23 #define LIS2MDL_WHO_AM_I 0x4F
knaresh89 0:10c0e81df4ba 24 #define LIS2MDL_CFG_REG_A 0x60
knaresh89 0:10c0e81df4ba 25 #define LIS2MDL_CFG_REG_B 0x61
knaresh89 0:10c0e81df4ba 26 #define LIS2MDL_CFG_REG_C 0x62
knaresh89 0:10c0e81df4ba 27 #define LIS2MDL_INT_CTRL_REG 0x63
knaresh89 0:10c0e81df4ba 28 #define LIS2MDL_INT_SOURCE_REG 0x64
knaresh89 0:10c0e81df4ba 29 #define LIS2MDL_INT_THS_L_REG 0x65
knaresh89 0:10c0e81df4ba 30 #define LIS2MDL_INT_THS_H_REG 0x66
knaresh89 0:10c0e81df4ba 31 #define LIS2MDL_STATUS_REG 0x67
knaresh89 0:10c0e81df4ba 32 #define LIS2MDL_OUTX_L_REG 0x68
knaresh89 0:10c0e81df4ba 33 #define LIS2MDL_OUTX_H_REG 0x69
knaresh89 0:10c0e81df4ba 34 #define LIS2MDL_OUTY_L_REG 0x6A
knaresh89 0:10c0e81df4ba 35 #define LIS2MDL_OUTY_H_REG 0x6B
knaresh89 0:10c0e81df4ba 36 #define LIS2MDL_OUTZ_L_REG 0x6C
knaresh89 0:10c0e81df4ba 37 #define LIS2MDL_OUTZ_H_REG 0x6D
knaresh89 0:10c0e81df4ba 38 #define LIS2MDL_TEMP_OUT_L_REG 0x6E
knaresh89 0:10c0e81df4ba 39 #define LIS2MDL_TEMP_OUT_H_REG 0x6F
knaresh89 0:10c0e81df4ba 40
knaresh89 0:10c0e81df4ba 41 #define LIS2MDL_ADDRESS (0x1E << 1)
knaresh89 0:10c0e81df4ba 42
knaresh89 0:10c0e81df4ba 43 //******************************
knaresh89 0:10c0e81df4ba 44 // MODR legal values
knaresh89 0:10c0e81df4ba 45 //******************************
knaresh89 0:10c0e81df4ba 46 #define MODR_10Hz 0x00
knaresh89 0:10c0e81df4ba 47 #define MODR_20Hz 0x01
knaresh89 0:10c0e81df4ba 48 #define MODR_50Hz 0x02
knaresh89 0:10c0e81df4ba 49 #define MODR_100Hz 0x03
knaresh89 0:10c0e81df4ba 50
knaresh89 0:10c0e81df4ba 51 /** LIS2MDL class.
knaresh89 0:10c0e81df4ba 52 * Used for interfacing with the LIS2MDL sensor on board the itracker
knaresh89 0:10c0e81df4ba 53 */
knaresh89 0:10c0e81df4ba 54 class LIS2MDL
knaresh89 0:10c0e81df4ba 55 {
knaresh89 0:10c0e81df4ba 56 public:
knaresh89 0:10c0e81df4ba 57 /**Public constructor
knaresh89 0:10c0e81df4ba 58 * @param p_i2c Mbed I2C class object
knaresh89 0:10c0e81df4ba 59 * @param addr Address of the I2C object
knaresh89 0:10c0e81df4ba 60 *
knaresh89 0:10c0e81df4ba 61 */
knaresh89 0:10c0e81df4ba 62 LIS2MDL(I2C& p_i2c, uint8_t addr);
knaresh89 0:10c0e81df4ba 63
knaresh89 0:10c0e81df4ba 64 /** init function to set the sensors initialisation parameters
knaresh89 0:10c0e81df4ba 65 * @param MODR See the MODR legal values in the defines in LIS2MDL.h
knaresh89 0:10c0e81df4ba 66 *
knaresh89 0:10c0e81df4ba 67 */
knaresh89 0:10c0e81df4ba 68 void init(uint8_t MODR);
knaresh89 0:10c0e81df4ba 69
knaresh89 0:10c0e81df4ba 70 /** Function to get the CHIP ID
knaresh89 0:10c0e81df4ba 71 *
knaresh89 0:10c0e81df4ba 72 * @return uin8_t returns the chip id. In this can 64
knaresh89 0:10c0e81df4ba 73 * see http://www.st.com/content/ccc/resource/technical/document/datasheet/group3/29/13/d1/e0/9a/4d/4f/30/DM00395193/files/DM00395193.pdf/jcr:content/translations/en.DM00395193.pdf
knaresh89 0:10c0e81df4ba 74 */
knaresh89 0:10c0e81df4ba 75 uint8_t getChipID();
knaresh89 0:10c0e81df4ba 76
knaresh89 0:10c0e81df4ba 77 /** Read the raw sensor data
knaresh89 0:10c0e81df4ba 78 * @params destination pointer to the array that will store the results
knaresh89 0:10c0e81df4ba 79 * see http://www.st.com/content/ccc/resource/technical/document/datasheet/group3/29/13/d1/e0/9a/4d/4f/30/DM00395193/files/DM00395193.pdf/jcr:content/translations/en.DM00395193.pdf
knaresh89 0:10c0e81df4ba 80 */
knaresh89 0:10c0e81df4ba 81 void readData(int16_t * destination);
knaresh89 0:10c0e81df4ba 82
knaresh89 0:10c0e81df4ba 83 /** Function to get the status register value
knaresh89 0:10c0e81df4ba 84 *
knaresh89 0:10c0e81df4ba 85 * @return uint8_t value of the status register
knaresh89 0:10c0e81df4ba 86 * see http://www.st.com/content/ccc/resource/technical/document/datasheet/group3/29/13/d1/e0/9a/4d/4f/30/DM00395193/files/DM00395193.pdf/jcr:content/translations/en.DM00395193.pdf
knaresh89 0:10c0e81df4ba 87 */
knaresh89 0:10c0e81df4ba 88 uint8_t status();
knaresh89 0:10c0e81df4ba 89
knaresh89 0:10c0e81df4ba 90 /** Function to reset the LIS2MDL sensor
knaresh89 0:10c0e81df4ba 91 */
knaresh89 0:10c0e81df4ba 92 void reset();
knaresh89 0:10c0e81df4ba 93
knaresh89 0:10c0e81df4ba 94 /** Function to generate the offset bias stored in the chip as part of the calib
knaresh89 0:10c0e81df4ba 95 * @param dest1 Magnetic Bias offset of the sensor
knaresh89 0:10c0e81df4ba 96 * @param dest2 Magnetic Scale offset of the sensor
knaresh89 0:10c0e81df4ba 97 */
knaresh89 0:10c0e81df4ba 98 void offsetBias(float * dest1, float * dest2);
knaresh89 0:10c0e81df4ba 99
knaresh89 0:10c0e81df4ba 100 /** Function to read the temperature of the internal tempo sensor
knaresh89 0:10c0e81df4ba 101 *
knaresh89 0:10c0e81df4ba 102 * @return uint8_t temperature reading of the internal temp sensor
knaresh89 0:10c0e81df4ba 103 */
knaresh89 0:10c0e81df4ba 104 int16_t readTemperature();
knaresh89 0:10c0e81df4ba 105
knaresh89 0:10c0e81df4ba 106 /** Self check function for the sensor
knaresh89 0:10c0e81df4ba 107 *
knaresh89 0:10c0e81df4ba 108 */
knaresh89 0:10c0e81df4ba 109 void lis2mdlSelfCheck();
knaresh89 0:10c0e81df4ba 110
knaresh89 0:10c0e81df4ba 111 /** I2C function for writing a Byte to the LIS2MDL sensor
knaresh89 0:10c0e81df4ba 112 * @param address address of the sensor
knaresh89 0:10c0e81df4ba 113 * @param subaddress register location to which to write data
knaresh89 0:10c0e81df4ba 114 * @param data data to be written
knaresh89 0:10c0e81df4ba 115 */
knaresh89 0:10c0e81df4ba 116 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
knaresh89 0:10c0e81df4ba 117
knaresh89 0:10c0e81df4ba 118 /** I2C function for reading a Byte from the LIS2MDL sensor
knaresh89 0:10c0e81df4ba 119 * @param address address of the sensor
knaresh89 0:10c0e81df4ba 120 * @param subaddress register location to which to write data
knaresh89 0:10c0e81df4ba 121 */
knaresh89 0:10c0e81df4ba 122 uint8_t readByte(uint8_t address, char subAddress);
knaresh89 0:10c0e81df4ba 123
knaresh89 0:10c0e81df4ba 124 /** I2C function for reading many Bytes from the LIS2MDL sensor
knaresh89 0:10c0e81df4ba 125 * @param address address of the sensor
knaresh89 0:10c0e81df4ba 126 * @param subaddress register location to which to write data
knaresh89 0:10c0e81df4ba 127 * @param count number of bytes to read
knaresh89 0:10c0e81df4ba 128 * @param dest pointer to the array which will store the read values
knaresh89 0:10c0e81df4ba 129 */
knaresh89 0:10c0e81df4ba 130 void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, char * dest);
knaresh89 0:10c0e81df4ba 131
knaresh89 0:10c0e81df4ba 132 protected:
knaresh89 0:10c0e81df4ba 133 I2C *_i2c_p;
knaresh89 0:10c0e81df4ba 134 I2C &_i2c;
knaresh89 0:10c0e81df4ba 135
knaresh89 0:10c0e81df4ba 136 };
knaresh89 0:10c0e81df4ba 137
knaresh89 0:10c0e81df4ba 138 #endif