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

Dependencies:   LIS2MDL

Files at this revision

API Documentation at this revision

Comitter:
knaresh89
Date:
Mon Feb 12 05:02:00 2018 +0000
Parent:
0:10c0e81df4ba
Commit message:
Sample program on how to use the LIS2MDL sensor on the RAKWirelss iTracker module

Changed in this revision

LIS2MDL.lib Show annotated file Show diff for this revision Revisions of this file
LIS2MDL/LIS2MDL.cpp Show diff for this revision Revisions of this file
LIS2MDL/LIS2MDL.h Show diff for this revision Revisions of this file
diff -r 10c0e81df4ba -r 4a8ff3cf48ab LIS2MDL.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS2MDL.lib	Mon Feb 12 05:02:00 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/knaresh89/code/LIS2MDL/#d7138994c637
diff -r 10c0e81df4ba -r 4a8ff3cf48ab LIS2MDL/LIS2MDL.cpp
--- a/LIS2MDL/LIS2MDL.cpp	Mon Feb 12 04:58:22 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,225 +0,0 @@
-/* 
-  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.
-
-*/
-
-#include "LIS2MDL.h"
-#include "SEGGER_RTT.h"
-
-LIS2MDL::LIS2MDL (I2C& p_i2c, uint8_t addr)
-    : _i2c(p_i2c)
-{
-    _i2c.frequency(400000);
-}
-
-void LIS2MDL::reset()
-{
-    // reset device
-    uint8_t temp = readByte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A);
-    writeByte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x20); // Set bit 5 to 1 to reset LIS2MDL
-    wait(0.1);
-    writeByte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x40); // Set bit 6 to 1 to boot LIS2MDL
-    wait(0.1); // Wait for all registers to reset
-}
-
-void LIS2MDL::offsetBias(float * dest1, float * dest2)
-{
-    int32_t mag_bias[3] = {0, 0, 0}, mag_scale[3] = {0, 0, 0};
-    int16_t mag_max[3] = {-32767, -32767, -32767}, mag_min[3] = {32767, 32767, 32767}, mag_temp[3] = {0, 0, 0};
-    float _mRes = 0.0015f;
-
-    SEGGER_RTT_printf(0, "Calculate mag offset bias: move all around to sample the complete response surface!");
-    wait(4);
-
-    for (int ii = 0; ii < 4000; ii++) {
-        readData(mag_temp);
-        for (int jj = 0; jj < 3; jj++) {
-            if(mag_temp[jj] > mag_max[jj]) mag_max[jj] = mag_temp[jj];
-            if(mag_temp[jj] < mag_min[jj]) mag_min[jj] = mag_temp[jj];
-        }
-        wait(0.12);
-    }
-
-    _mRes = 0.0015f; // fixed sensitivity
-    // Get hard iron correction
-    mag_bias[0]  = (mag_max[0] + mag_min[0])/2;  // get average x mag bias in counts
-    mag_bias[1]  = (mag_max[1] + mag_min[1])/2;  // get average y mag bias in counts
-    mag_bias[2]  = (mag_max[2] + mag_min[2])/2;  // get average z mag bias in counts
-
-    dest1[0] = (float) mag_bias[0] * _mRes;  // save mag biases in G for main program
-    dest1[1] = (float) mag_bias[1] * _mRes;
-    dest1[2] = (float) mag_bias[2] * _mRes;
-
-    // Get soft iron correction estimate
-    mag_scale[0]  = (mag_max[0] - mag_min[0])/2;  // get average x axis max chord length in counts
-    mag_scale[1]  = (mag_max[1] - mag_min[1])/2;  // get average y axis max chord length in counts
-    mag_scale[2]  = (mag_max[2] - mag_min[2])/2;  // get average z axis max chord length in counts
-
-    float avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2];
-    avg_rad /= 3.0f;
-
-    dest2[0] = avg_rad/((float)mag_scale[0]);
-    dest2[1] = avg_rad/((float)mag_scale[1]);
-    dest2[2] = avg_rad/((float)mag_scale[2]);
-
-    SEGGER_RTT_printf(0, "Mag Calibration done!");
-}
-
-
-void LIS2MDL::init(uint8_t MODR)
-{
-
-// enable temperature compensation (bit 7 == 1), continuous mode (bits 0:1 == 00)
-    writeByte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, 0x80 | MODR<<2);
-
-// enable low pass filter (bit 0 == 1), set to ODR/4
-    writeByte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_B, 0x01);
-
-// enable data ready on interrupt pin (bit 0 == 1), enable block data read (bit 4 == 1)
-    writeByte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, 0x01 | 0x10);
-
-}
-
-uint8_t LIS2MDL::getChipID()
-{
-    uint8_t c = readByte(LIS2MDL_ADDRESS, LIS2MDL_WHO_AM_I);
-    SEGGER_RTT_printf(0, "Address: %d  \n", c);
-    return c;
-}
-
-uint8_t LIS2MDL::status()
-{
-    // Read the status register of the altimeter
-    uint8_t temp = readByte(LIS2MDL_ADDRESS, LIS2MDL_STATUS_REG);
-    SEGGER_RTT_printf(0, "LIS2MDL status : %d \n", temp);
-    return temp;
-}
-
-void LIS2MDL::readData(int16_t * destination)
-{
-    char rawData[6];  // x/y/z mag register data stored here
-    readBytes(LIS2MDL_ADDRESS, (0x80 | LIS2MDL_OUTX_L_REG), 8, &rawData[0]);  // Read the 6 raw data registers into data array
-
-    destination[0] = ((int16_t)rawData[1] << 8) | rawData[0] ;     // Turn the MSB and LSB into a signed 16-bit value
-    destination[1] = ((int16_t)rawData[3] << 8) | rawData[2] ;
-    destination[2] = ((int16_t)rawData[5] << 8) | rawData[4] ;
-
-    SEGGER_RTT_printf(0, "x: %d y: %d z: %d \n", destination[0], destination[1], destination[2]);
-}
-
-int16_t LIS2MDL::readTemperature()
-{
-    char rawData[2];  // x/y/z mag register data stored here
-    readBytes(LIS2MDL_ADDRESS, (0x80 | LIS2MDL_TEMP_OUT_L_REG), 2, &rawData[0]);  // Read the 8 raw data registers into data array
-
-    int16_t temp = ((int16_t)rawData[1] << 8) | rawData[0] ;       // Turn the MSB and LSB into a signed 16-bit value
-    SEGGER_RTT_printf(0, "LIS2MDL temp is : %d \n", temp);
-    return temp;
-}
-
-void LIS2MDL::lis2mdlSelfCheck()
-{
-  int16_t temp[3] = {0, 0, 0};
-  float magTest[3] = {0., 0., 0.};
-  float magNom[3] = {0., 0., 0.};
-  int32_t sum[3] = {0, 0, 0};
-  float _mRes = 0.0015f;
-    
-  // first, get average response with self test disabled
-  for (int ii = 0; ii < 50; ii++)
-  {
-    readData(temp);
-    sum[0] += temp[0];
-    sum[1] += temp[1];
-    sum[2] += temp[2];
-    wait(0.1);
-  }
-  
-  magNom[0] = (float) sum[0] / 50.0f;
-  magNom[1] = (float) sum[1] / 50.0f;
-  magNom[2] = (float) sum[2] / 50.0f;
-  
-  uint8_t c = readByte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C);
-  writeByte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c | 0x02); // enable self test
-  wait(0.1); // let mag respond
-  
-  sum[0] = 0;
-  sum[1] = 0;
-  sum[2] = 0;
-  for (int ii = 0; ii < 50; ii++)
-  {
-    readData(temp);
-    sum[0] += temp[0];
-    sum[1] += temp[1];
-    sum[2] += temp[2];
-    wait(0.1);
-  }
-  
-  magTest[0] = (float) sum[0] / 50.0f;
-  magTest[1] = (float) sum[1] / 50.0f;
-  magTest[2] = (float) sum[2] / 50.0f;
-  
-  writeByte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c); // return to previous settings/normal mode
-  wait(0.1); // let mag respond
-
-  /*SEGGER_RTT.printf(0, "Mag Self Test: \n");
-  SEGGER_RTT.printf(0, "Mx results:"); 
-  SEGGER_RTT.printf(0, " %f ", (magTest[0] - magNom[0]) * _mRes * 1000.0); 
-  SEGGER_RTT.printf(0, " mG \n");
-  SEGGER_RTT.printf(0, "My results:"); 
-  SEGGER_RTT.printf(0, " %f \n", (magTest[0] - magNom[0]) * _mRes * 1000.0);
-  SEGGER_RTT.printf(0, "Mz results:"); 
-  SEGGER_RTT.printf(0, " %f \n", (magTest[1] - magNom[1]) * _mRes * 1000.0);
-  SEGGER_RTT.printf(0, "Should be between 15 and 500 mG \n");*/
-  wait(2.0);  // give some time to read the screen
-}
-
-
-
-
-//*******************************************
-// I2C read/write functions for the LIS2MDL
-//*******************************************
-
-uint8_t LIS2MDL::readByte(uint8_t address, char subAddress)
-{
-    char temp[1];
-    int ack = 0;
-    _i2c.start();
-    ack = _i2c.write(0x3C);
-    //SEGGER_RTT_printf(0, "address ACK: %d \n", ack);
-    ack = _i2c.write(subAddress);
-    //SEGGER_RTT_printf(0, "sub address ACK: %d \n", ack);
-    _i2c.start();
-    ack = _i2c.write(0x3D);
-    temp[0] = _i2c.read(0);
-    _i2c.stop();
-    //SEGGER_RTT_printf(0, "readbyte read ACK: %d \n", ack);
-    return temp[0];
-}
-
-
-void LIS2MDL::readBytes(uint8_t address, uint8_t subAddress, uint8_t count, char * dest)
-{
-    int ack = 0;
-    _i2c.start();
-    ack = _i2c.write(0x3C);
-    //SEGGER_RTT_printf(0, "address ACK: %d \n", ack);
-    ack = _i2c.write(subAddress);
-    //SEGGER_RTT_printf(0, "subaddr ACK: %d \n", ack);
-    ack = _i2c.read(address, &dest[0], count);
-    //SEGGER_RTT_printf(0, "read ACK: %d \n", ack);
-    _i2c.stop();
-}
-
-void LIS2MDL::writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
-{
-    _i2c.start();
-    _i2c.write(0x3C);
-    _i2c.write(subAddress);
-    _i2c.write(data);
-    _i2c.stop();
-}
\ No newline at end of file
diff -r 10c0e81df4ba -r 4a8ff3cf48ab LIS2MDL/LIS2MDL.h
--- a/LIS2MDL/LIS2MDL.h	Mon Feb 12 04:58:22 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,138 +0,0 @@
-/* 
-    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
\ No newline at end of file