brian claus
Copied from STs implementation.
Revision 1:898554a35638, committed 2016-10-06
- Comitter:
- bclaus
- Date:
- Thu Oct 06 23:28:08 2016 +0000
- Parent:
- 0:32f3441153b5
- Commit message:
- functional;
Changed in this revision
--- a/lis3mdl.cpp Thu Oct 06 16:45:48 2016 +0000
+++ b/lis3mdl.cpp Thu Oct 06 23:28:08 2016 +0000
@@ -48,27 +48,18 @@
Init();
}
/**
- * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss.
+ * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in microTeslas.
* @param float *pfData
* @retval None.
*/
-void LIS3MDL::GetAxes(AxesRaw_TypeDef *pData)
+void LIS3MDL::readMag(void)
{
- uint8_t tempReg = 0x00;
- int16_t pDataRaw[3];
+
float sensitivity = 0;
- int ret;
-
- GetAxesRaw(pDataRaw);
+
- ret = _i2c.i2c_read(&tempReg, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
-
- if (ret == 0)
- {
- tempReg &= LIS3MDL_M_FS_MASK;
-
- switch(tempReg)
- {
+ GetAxesRaw();
+/*
case LIS3MDL_M_FS_4:
sensitivity = 0.14;
break;
@@ -82,11 +73,11 @@
sensitivity = 0.58;
break;
}
- }
-
- pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
- pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
- pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
+ }*/
+ sensitivity = 0.12207;
+ mx = mx_raw * sensitivity;
+ my = my_raw * sensitivity;
+ mz = mz_raw * sensitivity;
}
@@ -95,31 +86,18 @@
* @param float *pfData
* @retval None.
*/
-void LIS3MDL::GetAxesRaw(int16_t *pData)
+void LIS3MDL::GetAxesRaw()
{
- uint8_t tempReg[2] = {0,0};
- int ret;
-
- pData[0] = pData[1] = pData[2] = 0;
+ char data[6];
+
+ char subAddressXL = LIS3MDL_M_OUT_X_L_M;
- ret = _i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_X_L_M + 0x80, 2);
-
- if (ret == 0)
- {
- pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
- ret = _i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Y_L_M + 0x80, 2);
- }
-
- if (ret == 0)
- {
- pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
- ret = _i2c.i2c_read(&tempReg[0], LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_OUT_Z_L_M + 0x80, 2);
- }
-
- if (ret == 0)
- {
- pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
- }
+ _i2c.write(LIS3MDL_M_MEMS_ADDRESS, &subAddressXL, 1, true);
+ _i2c.read(LIS3MDL_M_MEMS_ADDRESS, data, 6);
+
+ mx_raw = data[0] | (data[1] << 8);
+ my_raw = data[2] | (data[3] << 8);
+ mz_raw = data[4] | (data[5] << 8);
}
/**
@@ -129,14 +107,16 @@
*/
uint8_t LIS3MDL::ReadID(void)
{
- uint8_t tmp=0x00;
+ char data[1];
int ret;
+ char subAddress = LIS3MDL_M_WHO_AM_I_ADDR;
/* Read WHO I AM register */
- ret = _i2c.i2c_read(&tmp, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_WHO_AM_I_ADDR, 1);
+ _i2c.write(LIS3MDL_M_MEMS_ADDRESS, &subAddress, 1, true);
+ ret=_i2c.read(LIS3MDL_M_MEMS_ADDRESS, data, 1);
/* Return the ID */
- return ((ret == 0) ? (uint8_t)tmp : 0);
+ return ((ret == 0) ? (uint8_t)data[0] : 0);
}
/**
@@ -146,62 +126,43 @@
*/
void LIS3MDL::Init() {
- uint8_t tmp1 = 0x00;
- int ret;
+ char tmp1[2];
/****** Magnetic sensor *******/
-
- ret = _i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
-
+
/* Conversion mode selection */
- if (ret == 0)
- {
- tmp1 &= ~(LIS3MDL_M_MD_MASK);
- tmp1 |= LIS3MDL_M_MD_CONTINUOUS;
- ret = _i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG3_M, 1);
- }
+ tmp1[0] = LIS3MDL_M_CTRL_REG3_M;
+ tmp1[1] = 0x00;
+
+ _i2c.write(LIS3MDL_M_MEMS_ADDRESS, tmp1, 2);
+
- if (ret == 0)
- {
- ret = _i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
- }
+ //OM=UHP for XY
+ //FAST_ODR enabled - 155Hz
+ tmp1[0] = LIS3MDL_M_CTRL_REG1_M;
+ tmp1[1] = 0x8E;
+
+ _i2c.write(LIS3MDL_M_MEMS_ADDRESS, tmp1, 2);
- if (ret == 0)
- {
- /* Output data rate selection */
- tmp1 &= ~(LIS3MDL_M_DO_MASK);
- tmp1 |= LIS3MDL_M_DO_80;
+ /* Full scale selection */
+ tmp1[0] = LIS3MDL_M_CTRL_REG2_M;
+ tmp1[1] = 0x00;
- /* X and Y axes Operative mode selection */
- tmp1 &= ~(LIS3MDL_M_OM_MASK);
- tmp1 |= LIS3MDL_M_OM_HP;
-
- ret = _i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG1_M, 1);
- }
+ _i2c.write(LIS3MDL_M_MEMS_ADDRESS, tmp1, 2);
- if (ret == 0)
- {
- ret = _i2c.i2c_read(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
- }
-
- if (ret == 0)
- {
- /* Full scale selection */
- tmp1 &= ~(LIS3MDL_M_FS_MASK);
- tmp1 |= LIS3MDL_M_FS_4;
+ /*Fast Z*/
+ tmp1[0] = LIS3MDL_M_CTRL_REG4_M;
+ tmp1[1] = 0x0C;
- ret = _i2c.i2c_write(&tmp1, LIS3MDL_M_MEMS_ADDRESS, LIS3MDL_M_CTRL_REG2_M, 1);
- }
+ _i2c.write(LIS3MDL_M_MEMS_ADDRESS, tmp1, 2);
/******************************/
- if (ret == 0)
- {
if(ReadID() == I_AM_LIS3MDL_M)
{
LIS3MDLInitialized = 1;
}
- }
+
return;
}
--- a/lis3mdl.h Thu Oct 06 16:45:48 2016 +0000
+++ b/lis3mdl.h Thu Oct 06 23:28:08 2016 +0000
@@ -54,9 +54,11 @@
* @param
*/
LIS3MDL (PinName sda, PinName scl);
+ float mx, my, mz;
+ int16_t mx_raw, my_raw, mz_raw;
- void GetAxes(AxesRaw_TypeDef *pData);
- void GetAxesRaw(int16_t *pData);
+ void readMag();
+ void GetAxesRaw();
void Init();
uint8_t ReadID(void);
void RebootCmd(void);
--- a/lis3mdl_platform.h Thu Oct 06 16:45:48 2016 +0000 +++ b/lis3mdl_platform.h Thu Oct 06 23:28:08 2016 +0000 @@ -74,7 +74,7 @@ * [7] TEMP_COMP: Temperature compensation enable * [6:5] OM1-0: X and Y axes operative mode selection * [4:2] DO2-0: Output data rate selection - * [1] This bit must be set to �0� for the correct operation of the device + * [1] FAST ODR * [0] ST: Self-test enable * \endcode */ @@ -111,6 +111,7 @@ * \endcode */ #define LIS3MDL_M_CTRL_REG3_M 0x22 +#define LIS3MDL_M_CTRL_REG4_M 0x23 /**