diff options
Diffstat (limited to 'os')
| -rw-r--r-- | os/ex/ST/lis3mdl.c | 289 | ||||
| -rw-r--r-- | os/ex/ST/lis3mdl.h | 189 |
2 files changed, 307 insertions, 171 deletions
diff --git a/os/ex/ST/lis3mdl.c b/os/ex/ST/lis3mdl.c index 659cc29e0..5c7169868 100644 --- a/os/ex/ST/lis3mdl.c +++ b/os/ex/ST/lis3mdl.c @@ -33,55 +33,6 @@ /* Driver local definitions. */
/*===========================================================================*/
-#define LIS3MDL_SENS_4GA ((float)6842.0f)
-#define LIS3MDL_SENS_8GA ((float)3421.0f)
-#define LIS3MDL_SENS_12GA ((float)2281.0f)
-#define LIS3MDL_SENS_16GA ((float)1711.0f)
-
-#define LIS3MDL_TEMP_SENS ((float)8.0f)
-
-#define LIS3MDL_DI ((uint8_t)0xFF)
-#define LIS3MDL_DI_0 ((uint8_t)0x01)
-#define LIS3MDL_DI_1 ((uint8_t)0x02)
-#define LIS3MDL_DI_2 ((uint8_t)0x04)
-#define LIS3MDL_DI_3 ((uint8_t)0x08)
-#define LIS3MDL_DI_4 ((uint8_t)0x10)
-#define LIS3MDL_DI_5 ((uint8_t)0x20)
-#define LIS3MDL_DI_6 ((uint8_t)0x40)
-#define LIS3MDL_DI_7 ((uint8_t)0x80)
-
-#define LIS3MDL_AD ((uint8_t)0x3F)
-#define LIS3MDL_AD_0 ((uint8_t)0x01)
-#define LIS3MDL_AD_1 ((uint8_t)0x02)
-#define LIS3MDL_AD_2 ((uint8_t)0x04)
-#define LIS3MDL_AD_3 ((uint8_t)0x08)
-#define LIS3MDL_AD_4 ((uint8_t)0x10)
-#define LIS3MDL_AD_5 ((uint8_t)0x20)
-#define LIS3MDL_AD_6 ((uint8_t)0x40)
-#define LIS3MDL_RW ((uint8_t)0x80)
-
-#define LIS3MDL_AD_WHO_AM_I ((uint8_t)0x0F)
-#define LIS3MDL_AD_CTRL_REG1 ((uint8_t)0x20)
-#define LIS3MDL_AD_CTRL_REG2 ((uint8_t)0x21)
-#define LIS3MDL_AD_CTRL_REG3 ((uint8_t)0x22)
-#define LIS3MDL_AD_CTRL_REG4 ((uint8_t)0x23)
-#define LIS3MDL_AD_CTRL_REG5 ((uint8_t)0x24)
-#define LIS3MDL_AD_STATUS_REG ((uint8_t)0x27)
-#define LIS3MDL_AD_OUT_X_L ((uint8_t)0x28)
-#define LIS3MDL_AD_OUT_X_H ((uint8_t)0x29)
-#define LIS3MDL_AD_OUT_Y_L ((uint8_t)0x2A)
-#define LIS3MDL_AD_OUT_Y_H ((uint8_t)0x2B)
-#define LIS3MDL_AD_OUT_Z_L ((uint8_t)0x2C)
-#define LIS3MDL_AD_OUT_Z_H ((uint8_t)0x2D)
-#define LIS3MDL_AD_TEMP_OUT_L ((uint8_t)0x2E)
-#define LIS3MDL_AD_TEMP_OUT_H ((uint8_t)0x2F)
-#define LIS3MDL_AD_INT_CFG ((uint8_t)0x30)
-#define LIS3MDL_AD_INT_SOURCE ((uint8_t)0x31)
-#define LIS3MDL_AD_INT_THS_L ((uint8_t)0x32)
-#define LIS3MDL_AD_INT_THS_H ((uint8_t)0x33)
-
-#define LIS3MDL_CTRL_REG2_FS_MASK ((uint8_t)0x60)
-
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
@@ -133,46 +84,16 @@ uint8_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg, *
* @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit
- * @param[in] sub sub-register address
+ * @param[in] reg sub-register address
* @param[in] value the value to be written
* @return the operation status.
*/
msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
uint8_t value) {
- uint8_t rxbuf;
uint8_t txbuf[2];
- switch (reg) {
- default:
- /* Reserved register must not be written, according to the datasheet
- * this could permanently damage the device.
- */
- chDbgAssert(FALSE, "lis3mdlI2CWriteRegister(), reserved register");
- case LIS3MDL_AD_WHO_AM_I:
- case LIS3MDL_AD_STATUS_REG:
- case LIS3MDL_AD_OUT_X_L:
- case LIS3MDL_AD_OUT_X_H:
- case LIS3MDL_AD_OUT_Y_L:
- case LIS3MDL_AD_OUT_Y_H:
- case LIS3MDL_AD_OUT_Z_L:
- case LIS3MDL_AD_OUT_Z_H:
- case LIS3MDL_AD_TEMP_OUT_L:
- case LIS3MDL_AD_TEMP_OUT_H:
- case LIS3MDL_AD_INT_SOURCE:
- case LIS3MDL_AD_INT_THS_L:
- case LIS3MDL_AD_INT_THS_H:
- /* Read only registers cannot be written, the command is ignored.*/
- return MSG_RESET;
- case LIS3MDL_AD_CTRL_REG1:
- case LIS3MDL_AD_CTRL_REG2:
- case LIS3MDL_AD_CTRL_REG3:
- case LIS3MDL_AD_CTRL_REG4:
- case LIS3MDL_AD_CTRL_REG5:
- case LIS3MDL_AD_INT_CFG:
- txbuf[0] = reg;
- txbuf[1] = value;
- return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
- break;
- }
+ txbuf[0] = reg;
+ txbuf[1] = value;
+ return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, NULL, 0, TIME_INFINITE);
}
#endif /* LIS3MDL_USE_I2C */
@@ -189,9 +110,8 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) { uint16_t tmp;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
- "read_raw(), invalid state");
+ "read_raw(), invalid state");
-#if LIS3MDL_USE_I2C
osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
"read_raw(), channel not ready");
#if LIS3MDL_SHARED_I2C
@@ -199,35 +119,44 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) { i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
-
tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
- LIS3MDL_AD_OUT_X_L, NULL);
+ LIS3MDL_AD_OUT_X_L, &msg);
+ if (msg != MSG_OK)
+ return msg;
tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
- LIS3MDL_AD_OUT_X_H, NULL) << 8;
+ LIS3MDL_AD_OUT_X_H, &msg) << 8;
+ if (msg != MSG_OK)
+ return msg;
axes[0] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[0];
tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
- LIS3MDL_AD_OUT_Y_L, NULL);
+ LIS3MDL_AD_OUT_Y_L, &msg);
+ if (msg != MSG_OK)
+ return msg;
tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
- LIS3MDL_AD_OUT_Y_H, NULL) << 8;
+ LIS3MDL_AD_OUT_Y_H, &msg) << 8;
+ if (msg != MSG_OK)
+ return msg;
axes[1] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[1];
tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
- LIS3MDL_AD_OUT_Z_L, NULL);
+ LIS3MDL_AD_OUT_Z_L, &msg);
+ if (msg != MSG_OK)
+ return msg;
tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
- LIS3MDL_AD_OUT_Z_H, NULL) << 8;
+ LIS3MDL_AD_OUT_Z_H, &msg) << 8;
+ if (msg != MSG_OK)
+ return msg;
axes[2] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[2];
-
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
-#endif /* LIS3MDL_USE_I2C */
return MSG_OK;
}
@@ -239,11 +168,12 @@ static msg_t read_cooked(void *ip, float axes[]) { osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
- "read_cooked(), invalid state");
+ "read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] / ((LIS3MDLDriver *)ip)->sensitivity[i];
+ axes[i] -= ((LIS3MDLDriver *)ip)->bias[i];
}
return msg;
}
@@ -318,27 +248,52 @@ static msg_t reset_sensivity(void *ip) { return MSG_OK;
}
-static msg_t get_temperature(void *ip, float* tempp) {
- int16_t temp;
-#if LIS3MDL_USE_I2C
- osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
- "gyro_read_raw(), channel not ready");
-#if LIS3MDL_SHARED_I2C
- i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
- i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
- ((LIS3MDLDriver *)ip)->config->i2ccfg);
-#endif /* LIS3MDL_SHARED_I2C */
- temp = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
- ((LIS3MDLDriver *)ip)->config->slaveaddress,
- LIS3MDL_AD_TEMP_OUT_L, NULL));
- temp += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
- ((LIS3MDLDriver *)ip)->config->slaveaddress,
- LIS3MDL_AD_TEMP_OUT_H, NULL) << 8);
-#if LIS3MDL_SHARED_I2C
- i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
-#endif /* LIS3MDL_SHARED_I2C */
-#endif /* LIS3MDL_USE_I2C */
- *tempp = (float)temp / LIS3MDL_TEMP_SENS;
+static msg_t set_full_scale(void *ip, lis3mdl_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, cr;
+ msg_t msg;
+
+ if(fs == LIS3MDL_FS_4GA) {
+ newfs = LIS3MDL_4GA;
+ }
+ else if(fs == LIS3MDL_FS_8GA) {
+ newfs = LIS3MDL_8GA;
+ }
+ else if(fs == LIS3MDL_FS_12GA) {
+ newfs = LIS3MDL_12GA;
+ }
+ else if(fs == LIS3MDL_FS_16GA) {
+ newfs = LIS3MDL_16GA;
+ }
+ else {
+ return MSG_RESET;
+ }
+
+ if(newfs != ((LIS3MDLDriver *)ip)->fullscale) {
+ scale = newfs / ((LIS3MDLDriver *)ip)->fullscale;
+ ((LIS3MDLDriver *)ip)->fullscale = newfs;
+
+ /* Updating register.*/
+ cr = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG2, &msg);
+ if(msg != MSG_OK)
+ return msg;
+
+ cr &= ~(LIS3MDL_CTRL_REG2_FS_MASK);
+ cr |= fs;
+ msg = lis3mdlI2CWriteRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG2, cr);
+ if(msg != MSG_OK)
+ return msg;
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
+ ((LIS3MDLDriver *)ip)->sensitivity[i] *= scale;
+ ((LIS3MDLDriver *)ip)->bias[i] *= scale;
+ }
+ }
return MSG_OK;
}
@@ -354,7 +309,7 @@ static const struct BaseCompassVMT vmt_basecompass = { static const struct LIS3MDLVMT vmt_lis3mdl = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity,
- get_temperature
+ set_full_scale
};
/*===========================================================================*/
@@ -389,6 +344,7 @@ void lis3mdlObjectInit(LIS3MDLDriver *devp) { */
void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
uint32_t i;
+ uint8_t cr;
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
@@ -402,46 +358,82 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) { #endif /* LIS3MDL_SHARED_I2C */
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
- lis3mdlI2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LIS3MDL_AD_CTRL_REG1,
- devp->config->temperature |
- devp->config->outputdatarate |
- devp->config->operationmodexy);
- lis3mdlI2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LIS3MDL_AD_CTRL_REG2,
- devp->config->fullscale);
- lis3mdlI2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LIS3MDL_AD_CTRL_REG3,
- devp->config->conversionmode);
- lis3mdlI2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LIS3MDL_AD_CTRL_REG4,
- devp->config->operationmodez |
- devp->config->endianness);
- lis3mdlI2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LIS3MDL_AD_CTRL_REG5,
- devp->config->blockdataupdate);
+
+ /* Control register 1 configuration block.*/
+ {
+ cr = devp->config->outputdatarate;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr |= devp->config->operationmodexy;
+#else
+ cr |= LIS3MDL_CTRL_REG1_OM0 | LIS3MDL_CTRL_REG1_OM1;
+#endif
+ lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG1, cr);
+ }
+
+ /* Control register 2 configuration block.*/
+ {
+ cr = devp->config->fullscale;
+ lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG2, cr);
+ }
+
+ /* Control register 3 configuration block.*/
+ {
+ cr = 0;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr = devp->config->conversionmode;
+#endif
+ lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG3, cr);
+ }
+
+ /* Control register 4 configuration block.*/
+ {
+ cr = 0;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr = devp->config->operationmodez | devp->config->endianness;
+#endif
+ lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG4, cr);
+ }
+
+ /* Control register 5 configuration block.*/
+ {
+ cr = 0;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr = devp->config->blockdataupdate;
+#endif
+ lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG5, cr);
+ }
+
+
#if LIS3MDL_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
/* Storing sensitivity information according to full scale value */
- if(devp->config->fullscale == LIS3MDL_FS_4GA)
+ if(devp->config->fullscale == LIS3MDL_FS_4GA) {
+ devp->fullscale = LIS3MDL_4GA;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_4GA;
- else if(devp->config->fullscale == LIS3MDL_FS_8GA)
+ }
+ else if(devp->config->fullscale == LIS3MDL_FS_8GA) {
+ devp->fullscale = LIS3MDL_8GA;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_8GA;
- else if(devp->config->fullscale == LIS3MDL_FS_12GA)
+ }
+ else if(devp->config->fullscale == LIS3MDL_FS_12GA) {
+ devp->fullscale = LIS3MDL_12GA;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_12GA;
- else if(devp->config->fullscale == LIS3MDL_FS_16GA)
+ }
+ else if(devp->config->fullscale == LIS3MDL_FS_16GA) {
+ devp->fullscale = LIS3MDL_16GA;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_16GA;
+ }
else
osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
devp->state = LIS3MDL_READY;
@@ -455,7 +447,7 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) { * @api
*/
void lis3mdlStop(LIS3MDLDriver *devp) {
-
+ uint8_t cr;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
@@ -468,10 +460,9 @@ void lis3mdlStop(LIS3MDLDriver *devp) { i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
- lis3mdlI2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LIS3MDL_AD_CTRL_REG3,
- LIS3MDL_MD_POWER_DOWN);
+ cr = LIS3MDL_CTRL_REG3_MD0 | LIS3MDL_CTRL_REG3_MD1;
+ lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG3, cr);
i2cStop((devp)->config->i2cp);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
diff --git a/os/ex/ST/lis3mdl.h b/os/ex/ST/lis3mdl.h index 3a641b575..0351ffdde 100644 --- a/os/ex/ST/lis3mdl.h +++ b/os/ex/ST/lis3mdl.h @@ -24,7 +24,6 @@ *
* @{
*/
-
#ifndef _LIS3MDL_H_
#define _LIS3MDL_H_
@@ -35,9 +34,141 @@ /*===========================================================================*/
/**
- * @brief LIS3MDL number of axes.
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief LIS3MDL driver version string.
+ */
+#define EX_LIS3MDL_VERSION "1.0.0"
+
+/**
+ * @brief LIS3MDL driver version major number.
+ */
+#define EX_LIS3MDL_MAJOR 1
+
+/**
+ * @brief LIS3MDL driver version minor number.
+ */
+#define EX_LIS3MDL_MINOR 0
+
+/**
+ * @brief LIS3MDL driver version patch number.
+ */
+#define EX_LIS3MDL_PATCH 0
+/** @} */
+
+/**
+ * @brief LIS3MDL characteristics.
+ *
+ * @{
+ */
+#define LIS3MDL_NUMBER_OF_AXES 3U
+
+#define LIS3MDL_4GA 4.0f
+#define LIS3MDL_8GA 8.0f
+#define LIS3MDL_12GA 12.0f
+#define LIS3MDL_16GA 16.0f
+
+#define LIS3MDL_SENS_4GA 6842.0f
+#define LIS3MDL_SENS_8GA 3421.0f
+#define LIS3MDL_SENS_12GA 2281.0f
+#define LIS3MDL_SENS_16GA 1711.0f
+/** @} */
+
+/**
+ * @name LIS3MDL communication interfaces related bit masks
+ * @{
+ */
+#define LIS3MDL_DI_MASK 0xFF /**< Data In mask */
+#define LIS3MDL_DI(n) (1 << n) /**< Data In bit n */
+#define LIS3MDL_AD_MASK 0x3F /**< Address Data mask */
+#define LIS3MDL_AD(n) (1 << n) /**< Address Data bit n */
+#define LIS3MDL_MS (1 << 6) /**< Multiple selection */
+#define LIS3MDL_RW (1 << 7) /**< Read Write selector */
+/** @} */
+
+/**
+ * @name LIS3MDL register addresses
+ * @{
+ */
+#define LIS3MDL_AD_WHO_AM_I 0x0F
+#define LIS3MDL_AD_CTRL_REG1 0x20
+#define LIS3MDL_AD_CTRL_REG2 0x21
+#define LIS3MDL_AD_CTRL_REG3 0x22
+#define LIS3MDL_AD_CTRL_REG4 0x23
+#define LIS3MDL_AD_CTRL_REG5 0x24
+#define LIS3MDL_AD_STATUS_REG 0x27
+#define LIS3MDL_AD_OUT_X_L 0x28
+#define LIS3MDL_AD_OUT_X_H 0x29
+#define LIS3MDL_AD_OUT_Y_L 0x2A
+#define LIS3MDL_AD_OUT_Y_H 0x2B
+#define LIS3MDL_AD_OUT_Z_L 0x2C
+#define LIS3MDL_AD_OUT_Z_H 0x2D
+#define LIS3MDL_AD_TEMP_OUT_L 0x2E
+#define LIS3MDL_AD_TEMP_OUT_H 0x2F
+#define LIS3MDL_AD_INT_CFG 0x30
+#define LIS3MDL_AD_INT_SOURCE 0x31
+#define LIS3MDL_AD_INT_THS_L 0x32
+#define LIS3MDL_AD_INT_THS_H 0x33
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define LIS3MDL_CTRL_REG1_MASK 0xFF /**< LIS3MDL_CTRL_REG1 mask */
+#define LIS3MDL_CTRL_REG1_ST (1 << 0) /**< Self test enable */
+#define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1) /**< Fast data rate */
+#define LIS3MDL_CTRL_REG1_DO0 (1 << 2) /**< Output data rate bit 0 */
+#define LIS3MDL_CTRL_REG1_DO1 (1 << 3) /**< Output data rate bit 1 */
+#define LIS3MDL_CTRL_REG1_DO2 (1 << 4) /**< Output data rate bit 2 */
+#define LIS3MDL_CTRL_REG1_OM0 (1 << 5) /**< X-Y mode bit 0 */
+#define LIS3MDL_CTRL_REG1_OM1 (1 << 6) /**< X-Y mode bit 1 */
+#define LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7) /**< Temperature sensor */
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG2 register bits definitions
+ * @{
+ */
+#define LIS3MDL_CTRL_REG2_MASK 0x6C /**< LIS3MDL_CTRL_REG2 mask */
+#define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2) /**< Soft reset */
+#define LIS3MDL_CTRL_REG2_REBOOT (1 << 3) /**< Reboot memory */
+#define LIS3MDL_CTRL_REG2_FS_MASK 0x60 /**< Full scale mask */
+#define LIS3MDL_CTRL_REG2_FS0 (1 << 5) /**< Full scale bit 0 */
+#define LIS3MDL_CTRL_REG2_FS1 (1 << 6) /**< Full scale bit 1 */
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG3 register bits definitions
+ * @{
+ */
+#define LIS3MDL_CTRL_REG3_MASK 0x27 /**< LIS3MDL_CTRL_REG3 mask */
+#define LIS3MDL_CTRL_REG3_MD0 (1 << 0) /**< Operating mode bit 0 */
+#define LIS3MDL_CTRL_REG3_MD1 (1 << 1) /**< Operating mode bit 1 */
+#define LIS3MDL_CTRL_REG3_SIM (1 << 2) /**< SPI interface mode */
+#define LIS3MDL_CTRL_REG3_LP (1 << 5) /**< Low power */
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG4 register bits definitions
+ * @{
+ */
+#define LIS3MDL_CTRL_REG4_MASK 0x0E /**< LIS3MDL_CTRL_REG4 mask */
+#define LIS3MDL_CTRL_REG4_BLE (1 << 1) /**< Endianess */
+#define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2) /**< Z mode bit 0 */
+#define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3) /**< Z mode bit 1 */
+/** @} */
+
+/**
+ * @name LIS3MDL_CTRL_REG5 register bits definitions
+ * @{
*/
-#define LIS3MDL_NUMBER_OF_AXES ((size_t) 3U)
+#define LIS3MDL_CTRL_REG5_MASK 0xC0 /**< LIS3MDL_CTRL_REG5 mask */
+#define LIS3MDL_CTRL_REG5_BDU (1 << 6) /**< Block data update */
+#define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7) /**< Fast read mode */
+/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
@@ -66,6 +197,15 @@ #endif
/**
+ * @brief LIS3MDL advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS3MDL_USE_ADVANCED FALSE
+#endif
+
+/**
* @brief LIS3MDL shared I2C switch.
* @details If set to @p TRUE the device acquires I2C bus ownership
* on each transaction.
@@ -104,6 +244,7 @@ * @name LIS3MDL data structures and types
* @{
*/
+
/**
* @brief LIS3MDL slave address
*/
@@ -116,10 +257,10 @@ typedef enum { * @brief LIS3MDL full scale
*/
typedef enum {
- LIS3MDL_FS_4GA = 0x00, /**< ±4 Gauss */
- LIS3MDL_FS_8GA = 0x02, /**< ±8 Gauss */
- LIS3MDL_FS_12GA = 0x04, /**< ±12 Gauss */
- LIS3MDL_FS_16GA = 0x0C /**< ±16 Gauss */
+ LIS3MDL_FS_4GA = 0x00, /**< ±4 Gauss */
+ LIS3MDL_FS_8GA = 0x20, /**< ±8 Gauss */
+ LIS3MDL_FS_12GA = 0x40, /**< ±12 Gauss */
+ LIS3MDL_FS_16GA = 0x60 /**< ±16 Gauss */
}lis3mdl_fs_t;
/**
@@ -210,7 +351,6 @@ typedef enum { * @brief LIS3MDL configuration structure.
*/
typedef struct {
-
#if (LIS3MDL_USE_SPI) || defined(__DOXYGEN__)
/**
* @brief SPI driver associated to this LIS3MDL.
@@ -232,6 +372,14 @@ typedef struct { const I2CConfig *i2ccfg;
#endif /* LIS3MDL_USE_I2C */
/**
+ * @brief LIS3MDL initial sensitivity.
+ */
+ float sensitivity[LIS3MDL_NUMBER_OF_AXES];
+ /**
+ * @brief LIS3MDL initial bias.
+ */
+ float bias[LIS3MDL_NUMBER_OF_AXES];
+ /**
* @brief LIS3MDL slave address
*/
lis3mdl_sad_t slaveaddress;
@@ -243,6 +391,7 @@ typedef struct { * @brief LIS3MDL output data rate
*/
lis3mdl_odr_t outputdatarate;
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LIS3MDL low power mode configuration
*/
@@ -260,10 +409,6 @@ typedef struct { */
lis3mdl_omz_t operationmodez;
/**
- * @brief LIS3MDL temperature sensor enabling
- */
- lis3mdl_temp_t temperature;
- /**
* @brief LIS3MDL block data update
*/
lis3mdl_bdu_t blockdataupdate;
@@ -271,6 +416,7 @@ typedef struct { * @brief LIS3MDL endianness
*/
lis3mdl_end_t endianness;
+#endif
} LIS3MDLConfig;
/**
@@ -283,9 +429,8 @@ typedef struct LIS3MDLDriver LIS3MDLDriver; */
#define _lis3mdl_methods \
_base_compass_methods \
- /* Retrieve the temperature of LIS3MDL chip.*/ \
- msg_t (*get_temperature)(void *instance, float* temperature);
-
+ /* Change full scale value of LIS3MDL.*/ \
+ msg_t (*set_full_scale)(void *instance, lis3mdl_fs_t fs);
/**
* @extends BaseCompassVMT
@@ -308,7 +453,9 @@ struct LIS3MDLVMT { /* Current sensitivity.*/ \
float sensitivity[LIS3MDL_NUMBER_OF_AXES]; \
/* Bias data.*/ \
- int32_t bias[LIS3MDL_NUMBER_OF_AXES];
+ int32_t bias[LIS3MDL_NUMBER_OF_AXES]; \
+ /* Current full scale value.*/ \
+ float fullscale;
/**
* @extends BaseCompass
@@ -333,20 +480,18 @@ struct LIS3MDLDriver { /*===========================================================================*/
/**
- * @brief Get current MEMS temperature.
- * @detail This information is very useful especially for high accuracy IMU.
- * @note Temperature sensor must be enabled using a proper configuration.
+ * @brief Change compass full scale value.
*
* @param[in] ip pointer to a @p BaseCompass class.
- * @param[out] temp the MEMS temperature as single precision floating.
+ * @param[in] fs the new full scale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
* @api
*/
-#define compassGetTemp(ip, tpp) \
- (ip)->vmt_lis3mdl->get_temperature(ip, tpp)
+#define compassSetFullScale(ip, fs) \
+ (ip)->vmt_lis3mdl->set_full_scale(ip, fs)
/*===========================================================================*/
/* External declarations. */
|