Revision 1:4a8ff3cf48ab, committed 2018-02-12

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

--- /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

--- 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

--- 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