Oleg Goncharovskiy / LIS3MDL_my

for my students set_m_axes_offset

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   Exam_TK Exam_TK

lis3mdl_class.h@7:fa19aa1a666d, 2020-02-08 (annotated)

Committer:
docent
Date:
Sat Feb 08 09:11:31 2020 +0000
Revision:
7:fa19aa1a666d
Parent:
4:00493226e59f 
for my students set_m_axes_offset

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nikapov 0:7376fbeb1d4a 1 /**
nikapov 0:7376fbeb1d4a 2 ******************************************************************************
nikapov 0:7376fbeb1d4a 3 * @file lis3mdl_class.h
nikapov 0:7376fbeb1d4a 4 * @author AST / EST
nikapov 0:7376fbeb1d4a 5 * @version V0.0.1
nikapov 0:7376fbeb1d4a 6 * @date 14-April-2015
nikapov 0:7376fbeb1d4a 7 * @brief Header file for component LIS3MDL
nikapov 0:7376fbeb1d4a 8 ******************************************************************************
nikapov 0:7376fbeb1d4a 9 * @attention
nikapov 0:7376fbeb1d4a 10 *
nikapov 0:7376fbeb1d4a 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
nikapov 0:7376fbeb1d4a 12 *
nikapov 0:7376fbeb1d4a 13 * Redistribution and use in source and binary forms, with or without modification,
nikapov 0:7376fbeb1d4a 14 * are permitted provided that the following conditions are met:
nikapov 0:7376fbeb1d4a 15 * 1. Redistributions of source code must retain the above copyright notice,
nikapov 0:7376fbeb1d4a 16 * this list of conditions and the following disclaimer.
nikapov 0:7376fbeb1d4a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov 0:7376fbeb1d4a 18 * this list of conditions and the following disclaimer in the documentation
nikapov 0:7376fbeb1d4a 19 * and/or other materials provided with the distribution.
nikapov 0:7376fbeb1d4a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov 0:7376fbeb1d4a 21 * may be used to endorse or promote products derived from this software
nikapov 0:7376fbeb1d4a 22 * without specific prior written permission.
nikapov 0:7376fbeb1d4a 23 *
nikapov 0:7376fbeb1d4a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov 0:7376fbeb1d4a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov 0:7376fbeb1d4a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov 0:7376fbeb1d4a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov 0:7376fbeb1d4a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov 0:7376fbeb1d4a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov 0:7376fbeb1d4a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov 0:7376fbeb1d4a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov 0:7376fbeb1d4a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov 0:7376fbeb1d4a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov 0:7376fbeb1d4a 34 *
nikapov 0:7376fbeb1d4a 35 ******************************************************************************
nikapov 0:7376fbeb1d4a 36 */
nikapov 0:7376fbeb1d4a 37
nikapov 0:7376fbeb1d4a 38 #ifndef __LIS3MDL_CLASS_H
nikapov 0:7376fbeb1d4a 39 #define __LIS3MDL_CLASS_H
nikapov 0:7376fbeb1d4a 40
nikapov 0:7376fbeb1d4a 41 /* Includes ------------------------------------------------------------------*/
nikapov 0:7376fbeb1d4a 42 #include "mbed.h"
nikapov 0:7376fbeb1d4a 43 #include "DevI2C.h"
nikapov 0:7376fbeb1d4a 44 #include "lis3mdl.h"
nikapov 0:7376fbeb1d4a 45 #include "MagneticSensor.h"
mapellil 3:a35a16f3da39 46 #include <assert.h>
nikapov 0:7376fbeb1d4a 47
mapellil 4:00493226e59f 48
nikapov 0:7376fbeb1d4a 49 /* Classes -------------------------------------------------------------------*/
nikapov 0:7376fbeb1d4a 50 /** Class representing a LIS3MDL sensor component
nikapov 0:7376fbeb1d4a 51 */
nikapov 0:7376fbeb1d4a 52 class LIS3MDL : public MagneticSensor {
nikapov 0:7376fbeb1d4a 53 public:
docent 7:fa19aa1a666d 54 //my enum SPI_type_t {SPI3W, SPI4W};
mapellil 4:00493226e59f 55
docent 7:fa19aa1a666d 56 //my LIS3MDL(SPI *spi, PinName cs_pin, PinName int_pin=NC, SPI_type_t spi_type=SPI4W);
mapellil 4:00493226e59f 57
nikapov 0:7376fbeb1d4a 58 /** Constructor
nikapov 0:7376fbeb1d4a 59 * @param[in] i2c device I2C to be used for communication
mapellil 4:00493226e59f 60 */
mapellil 4:00493226e59f 61
mapellil 4:00493226e59f 62 LIS3MDL(DevI2C *i2c, uint8_t address=LIS3MDL_M_MEMS_ADDRESS_HIGH, PinName int_pin=NC);
nikapov 0:7376fbeb1d4a 63
nikapov 0:7376fbeb1d4a 64 /** Destructor
nikapov 0:7376fbeb1d4a 65 */
nikapov 0:7376fbeb1d4a 66 virtual ~LIS3MDL() {}
nikapov 0:7376fbeb1d4a 67
nikapov 0:7376fbeb1d4a 68 /*** Interface Methods ***/
nikapov 0:7376fbeb1d4a 69 virtual int init(void *init_struct) {
nikapov 0:7376fbeb1d4a 70 return LIS3MDL_Init((MAGNETO_InitTypeDef*)init_struct);
nikapov 0:7376fbeb1d4a 71 }
nikapov 0:7376fbeb1d4a 72
nikapov 0:7376fbeb1d4a 73 virtual int read_id(uint8_t *m_id) {
nikapov 0:7376fbeb1d4a 74 return LIS3MDL_Read_M_ID(m_id);
nikapov 0:7376fbeb1d4a 75 }
nikapov 0:7376fbeb1d4a 76
nikapov 0:7376fbeb1d4a 77 virtual int get_m_axes(int32_t *pData) {
nikapov 0:7376fbeb1d4a 78 return LIS3MDL_M_GetAxes(pData);
nikapov 0:7376fbeb1d4a 79 }
nikapov 0:7376fbeb1d4a 80
nikapov 0:7376fbeb1d4a 81 virtual int get_m_axes_raw(int16_t *pData) {
nikapov 0:7376fbeb1d4a 82 return LIS3MDL_M_GetAxesRaw(pData);
nikapov 0:7376fbeb1d4a 83 }
docent 7:fa19aa1a666d 84
docent 7:fa19aa1a666d 85 virtual int set_m_axes_offset(uint8_t axe,int16_t offset) { //my
docent 7:fa19aa1a666d 86 return LIS3MDL_M_SetAxeOffset(axe,offset);
docent 7:fa19aa1a666d 87 }
nikapov 0:7376fbeb1d4a 88 protected:
nikapov 0:7376fbeb1d4a 89 /*** Methods ***/
nikapov 0:7376fbeb1d4a 90 MAGNETO_StatusTypeDef LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init);
nikapov 0:7376fbeb1d4a 91 MAGNETO_StatusTypeDef LIS3MDL_Read_M_ID(uint8_t *m_id);
nikapov 0:7376fbeb1d4a 92 MAGNETO_StatusTypeDef LIS3MDL_M_GetAxes(int32_t *pData);
nikapov 0:7376fbeb1d4a 93 MAGNETO_StatusTypeDef LIS3MDL_M_GetAxesRaw(int16_t *pData);
docent 7:fa19aa1a666d 94 //my MAGNETO_StatusTypeDef LIS3MDL_Set_SpiInterface (void *handle, LIS3MDL_SPIMode_t spimode);
docent 7:fa19aa1a666d 95 MAGNETO_StatusTypeDef LIS3MDL_M_SetAxeOffset(uint8_t axe,int16_t offset);//my
nikapov 0:7376fbeb1d4a 96 /**
nikapov 0:7376fbeb1d4a 97 * @brief Configures LIS3MDL interrupt lines for NUCLEO boards
nikapov 0:7376fbeb1d4a 98 */
nikapov 0:7376fbeb1d4a 99 void LIS3MDL_IO_ITConfig(void)
nikapov 0:7376fbeb1d4a 100 {
nikapov 0:7376fbeb1d4a 101 /* To be implemented */
nikapov 0:7376fbeb1d4a 102 }
nikapov 0:7376fbeb1d4a 103
nikapov 0:7376fbeb1d4a 104 /**
nikapov 0:7376fbeb1d4a 105 * @brief Configures LIS3MDL I2C interface
nikapov 0:7376fbeb1d4a 106 * @return MAGNETO_OK in case of success, an error code otherwise
nikapov 0:7376fbeb1d4a 107 */
nikapov 0:7376fbeb1d4a 108 MAGNETO_StatusTypeDef LIS3MDL_IO_Init(void)
nikapov 0:7376fbeb1d4a 109 {
nikapov 0:7376fbeb1d4a 110 return MAGNETO_OK; /* done in constructor */
nikapov 0:7376fbeb1d4a 111 }
nikapov 0:7376fbeb1d4a 112
nikapov 0:7376fbeb1d4a 113 /**
nikapov 0:7376fbeb1d4a 114 * @brief Utility function to read data from LIS3MDL
nikapov 0:7376fbeb1d4a 115 * @param[out] pBuffer pointer to the byte-array to read data in to
nikapov 0:7376fbeb1d4a 116 * @param[in] RegisterAddr specifies internal address register to read from.
nikapov 0:7376fbeb1d4a 117 * @param[in] NumByteToRead number of bytes to be read.
nikapov 0:7376fbeb1d4a 118 * @retval MAGNETO_OK if ok,
nikapov 0:7376fbeb1d4a 119 * @retval MAGNETO_ERROR if an I2C error has occured
nikapov 0:7376fbeb1d4a 120 */
nikapov 0:7376fbeb1d4a 121 MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer,
nikapov 0:7376fbeb1d4a 122 uint8_t RegisterAddr, uint16_t NumByteToRead)
nikapov 0:7376fbeb1d4a 123 {
docent 7:fa19aa1a666d 124 /*my
mapellil 4:00493226e59f 125 if (_dev_spi) {
docent 7:fa19aa1a666d 126 // Write Reg Address
mapellil 4:00493226e59f 127 _dev_spi->lock();
mapellil 4:00493226e59f 128 _cs_pin = 0;
mapellil 4:00493226e59f 129 if (_spi_type == SPI4W) {
mapellil 4:00493226e59f 130 _dev_spi->write(RegisterAddr | 0x80);
mapellil 4:00493226e59f 131 for (int i=0; i<NumByteToRead; i++) {
mapellil 4:00493226e59f 132 *(pBuffer+i) = _dev_spi->write(0x00);
mapellil 4:00493226e59f 133 }
mapellil 4:00493226e59f 134 } else if (_spi_type == SPI3W){
docent 7:fa19aa1a666d 135 // Write RD Reg Address with RD bit
mapellil 4:00493226e59f 136 uint8_t TxByte = RegisterAddr | 0x80;
mapellil 4:00493226e59f 137 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
mapellil 4:00493226e59f 138 }
mapellil 4:00493226e59f 139 _cs_pin = 1;
mapellil 4:00493226e59f 140 _dev_spi->unlock();
mapellil 4:00493226e59f 141 return MAGNETO_OK;
docent 7:fa19aa1a666d 142 }
docent 7:fa19aa1a666d 143 */
mapellil 4:00493226e59f 144 if (!_dev_i2c) return MAGNETO_ERROR;
mapellil 4:00493226e59f 145 int ret = _dev_i2c->i2c_read(pBuffer,
mapellil 4:00493226e59f 146 _address,
nikapov 0:7376fbeb1d4a 147 RegisterAddr,
nikapov 0:7376fbeb1d4a 148 NumByteToRead);
nikapov 0:7376fbeb1d4a 149 if(ret != 0) {
nikapov 0:7376fbeb1d4a 150 return MAGNETO_ERROR;
nikapov 0:7376fbeb1d4a 151 }
nikapov 0:7376fbeb1d4a 152 return MAGNETO_OK;
nikapov 0:7376fbeb1d4a 153 }
nikapov 0:7376fbeb1d4a 154
nikapov 0:7376fbeb1d4a 155 /**
nikapov 0:7376fbeb1d4a 156 * @brief Utility function to write data to LIS3MDL
nikapov 0:7376fbeb1d4a 157 * @param[in] pBuffer pointer to the byte-array data to send
nikapov 0:7376fbeb1d4a 158 * @param[in] RegisterAddr specifies internal address register to read from.
nikapov 0:7376fbeb1d4a 159 * @param[in] NumByteToWrite number of bytes to write.
nikapov 0:7376fbeb1d4a 160 * @retval MAGNETO_OK if ok,
nikapov 0:7376fbeb1d4a 161 * @retval MAGNETO_ERROR if an I2C error has occured
nikapov 0:7376fbeb1d4a 162 */
nikapov 0:7376fbeb1d4a 163 MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer,
nikapov 0:7376fbeb1d4a 164 uint8_t RegisterAddr, uint16_t NumByteToWrite)
nikapov 0:7376fbeb1d4a 165 {
docent 7:fa19aa1a666d 166 /*
mapellil 4:00493226e59f 167 if (_dev_spi) {
mapellil 4:00493226e59f 168 _dev_spi->lock();
mapellil 4:00493226e59f 169 _cs_pin = 0;
mapellil 4:00493226e59f 170 int data = _dev_spi->write(RegisterAddr);
mapellil 4:00493226e59f 171 _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);
mapellil 4:00493226e59f 172 _cs_pin = 1;
mapellil 4:00493226e59f 173 _dev_spi->unlock();
mapellil 4:00493226e59f 174 return MAGNETO_OK;
mapellil 4:00493226e59f 175 }
docent 7:fa19aa1a666d 176 */
mapellil 4:00493226e59f 177 if (!_dev_i2c) return MAGNETO_ERROR;
mapellil 4:00493226e59f 178 int ret = _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
nikapov 0:7376fbeb1d4a 179 if(ret != 0) {
nikapov 0:7376fbeb1d4a 180 return MAGNETO_ERROR;
nikapov 0:7376fbeb1d4a 181 }
nikapov 0:7376fbeb1d4a 182 return MAGNETO_OK;
nikapov 0:7376fbeb1d4a 183 }
nikapov 0:7376fbeb1d4a 184
nikapov 0:7376fbeb1d4a 185 /*** Instance Variables ***/
nikapov 0:7376fbeb1d4a 186 /* IO Device */
mapellil 4:00493226e59f 187 DevI2C *_dev_i2c;
docent 7:fa19aa1a666d 188 //my SPI *_dev_spi;
mapellil 4:00493226e59f 189 uint8_t _address;
mapellil 4:00493226e59f 190 DigitalOut _cs_pin;
mapellil 4:00493226e59f 191 InterruptIn _int_pin;
docent 7:fa19aa1a666d 192 //my SPI_type_t _spi_type;
nikapov 0:7376fbeb1d4a 193 };
nikapov 0:7376fbeb1d4a 194
nikapov 0:7376fbeb1d4a 195 #endif // __LIS3MDL_CLASS_H