Diff: LIS2MDL/LIS2MDL.h

Revision:

0:10c0e81df4ba

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS2MDL/LIS2MDL.h	Mon Feb 12 04:58:22 2018 +0000
@@ -0,0 +1,138 @@
+/* 
+    Created by Naresh Krishnamoorthy
+  
+  The LIS2MDL is a low power magnetometer, here used as 3 DoF solution.
+  Library may be used freely and without limit with attribution.
+*/
+
+#ifndef LIS2MDL_h
+#define LIS2MDL_h
+
+#include "mbed.h"
+
+//*********************************
+//Register map for LIS2MDL'
+// 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
+//*********************************
+#define LIS2MDL_OFFSET_X_REG_L        0x45
+#define LIS2MDL_OFFSET_X_REG_L        0x46
+#define LIS2MDL_OFFSET_X_REG_L        0x47
+#define LIS2MDL_OFFSET_X_REG_L        0x48
+#define LIS2MDL_OFFSET_X_REG_L        0x49
+#define LIS2MDL_OFFSET_X_REG_L        0x4A
+#define LIS2MDL_WHO_AM_I              0x4F
+#define LIS2MDL_CFG_REG_A             0x60
+#define LIS2MDL_CFG_REG_B             0x61
+#define LIS2MDL_CFG_REG_C             0x62
+#define LIS2MDL_INT_CTRL_REG          0x63
+#define LIS2MDL_INT_SOURCE_REG        0x64
+#define LIS2MDL_INT_THS_L_REG         0x65
+#define LIS2MDL_INT_THS_H_REG         0x66
+#define LIS2MDL_STATUS_REG            0x67
+#define LIS2MDL_OUTX_L_REG            0x68
+#define LIS2MDL_OUTX_H_REG            0x69
+#define LIS2MDL_OUTY_L_REG            0x6A
+#define LIS2MDL_OUTY_H_REG            0x6B
+#define LIS2MDL_OUTZ_L_REG            0x6C
+#define LIS2MDL_OUTZ_H_REG            0x6D
+#define LIS2MDL_TEMP_OUT_L_REG        0x6E
+#define LIS2MDL_TEMP_OUT_H_REG        0x6F
+
+#define LIS2MDL_ADDRESS               (0x1E << 1)
+
+//******************************
+// MODR legal values
+//******************************
+#define MODR_10Hz   0x00
+#define MODR_20Hz   0x01
+#define MODR_50Hz   0x02
+#define MODR_100Hz  0x03
+
+/** LIS2MDL class.
+ *  Used for interfacing with the LIS2MDL sensor on board the itracker
+ */
+class LIS2MDL
+{
+public:
+    /**Public constructor
+     * @param p_i2c Mbed I2C class object
+     * @param addr Address of the I2C object  
+     *  
+    */
+    LIS2MDL(I2C& p_i2c, uint8_t addr);
+    
+    /** init function to set the sensors initialisation parameters
+    *  @param  MODR See the MODR legal values in the defines in LIS2MDL.h
+    *
+    */
+    void init(uint8_t MODR);
+    
+    /** Function to get the CHIP ID
+    *
+    *  @return uin8_t returns the chip id. In this can 64
+    *  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
+    */
+    uint8_t getChipID();
+    
+    /** Read the raw sensor data
+    *   @params destination pointer to the array that will store the results
+    *   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
+    */
+    void readData(int16_t * destination);
+    
+    /** Function to get the status register value
+    *   
+    *   @return uint8_t value of the status register
+    *   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
+    */
+    uint8_t status();
+    
+    /** Function to reset the LIS2MDL sensor
+    */
+    void reset();
+    
+    /** Function to generate the offset bias stored in the chip as part of the calib 
+    *   @param dest1 Magnetic Bias offset of the sensor
+    *   @param dest2 Magnetic Scale offset of the sensor    
+    */
+    void offsetBias(float * dest1, float * dest2);
+    
+    /** Function to read the temperature of the internal tempo sensor
+    *
+    *   @return uint8_t temperature reading of the internal temp sensor
+    */
+    int16_t readTemperature();
+    
+    /** Self check function for the sensor
+    *
+    */
+    void lis2mdlSelfCheck();
+
+    /** I2C function for writing a Byte to the LIS2MDL sensor
+    *   @param address address of the sensor
+    *   @param subaddress register location to which to write data
+    *   @param data data to be written 
+    */
+    void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
+    
+    /** I2C function for reading a Byte from the LIS2MDL sensor
+    *   @param address address of the sensor
+    *   @param subaddress register location to which to write data
+    */
+    uint8_t readByte(uint8_t address, char subAddress);
+    
+    /** I2C function for reading many Bytes from the LIS2MDL sensor
+    *   @param address address of the sensor
+    *   @param subaddress register location to which to write data
+    *   @param count number of bytes to read
+    *   @param dest pointer to the array which will store the read values    
+    */
+    void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, char * dest);
+
+protected:
+    I2C *_i2c_p;
+    I2C &_i2c;
+
+};
+
+#endif
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