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drivers/lis3mdl: Initial create of lis3mdl

pr/gpio
Rene Herthel 7 years ago committed by René Herthel
parent
commit
44ee645373
  1. 156
      drivers/include/lis3mdl.h
  2. 3
      drivers/lis3mdl/Makefile
  3. 153
      drivers/lis3mdl/include/lis3mdl-internal.h
  4. 154
      drivers/lis3mdl/lis3mdl.c
  5. 25
      tests/driver_lis3mdl/Makefile
  6. 11
      tests/driver_lis3mdl/README.md
  7. 67
      tests/driver_lis3mdl/main.c

156
drivers/include/lis3mdl.h

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/*
* Copyright (C) 2015 HAW Hamburg
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @defgroup driver_LIS3MDL LIS3MDL 3-axis magnetometer
* @ingroup drivers
* @brief Device driver for the LIS3MDL 3-axis magnetometer
* @{
*
* @file
* @brief Device driver interface for the LIS3MDL 3-axis magnetometer
*
* @author René Herthel <rene-herthel@outlook.de>
*/
#ifndef LIS3MDL_H
#define LIS3MDL_H
#include <stdint.h>
#include "periph/i2c.h"
#include "periph/gpio.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief 3d data container of the LIS3MDL sensor
*/
typedef struct {
int16_t x_axis; /**< Magnometer data from x-axis */
int16_t y_axis; /**< Magnometer data from y_axis */
int16_t z_axis; /**< Magnometer data from z_axis */
} lis3mdl_3d_data_t;
/**
* @brief Device descriptor for LIS3MDL sensor
*/
typedef struct {
i2c_t i2c; /**< I2C device */
uint8_t addr; /**< Magnometer I2C address */
} lis3mdl_t;
/**
* @brief Operating mode of x- and y-axis for LIS3MDL
*/
typedef enum {
LIS3MDL_XY_MODE_LOW = 0x00, /**< Low-power mode */
LIS3MDL_XY_MODE_MEDIUM = 0x20, /**< Medium-performance mode */
LIS3MDL_XY_MODE_HIGH = 0x40, /**< High-performance mode */
LIS3MDL_XY_MODE_ULTRA = 0x60, /**< Ultra-High-performance mode */
} lis3mdl_xy_mode_t;
/**
* @brief Operating mode of z-axis for LIS3MDL
*/
typedef enum {
LIS3MDL_Z_MODE_LOW = 0x00, /**< Low-power mode */
LIS3MDL_Z_MODE_MEDIUM = 0x04, /**< Medium-performance mode */
LIS3MDL_Z_MODE_HIGH = 0x08, /**< High-performance mode */
LIS3MDL_Z_MODE_ULTRA = 0x0C, /**< Ultra-High-performance mode */
} lis3mdl_z_mode_t;
/**
* @brief Output data rate [Hz] for LIS3MDL
*/
typedef enum {
LIS3MDL_ODR_0_625Hz = 0x00, /**< 0.625Hz */
LIS3MDL_ODR_1_25Hz = 0x04, /**< 1.250Hz */
LIS3MDL_ODR_2_5Hz = 0x08, /**< 5.000Hz */
LIS3MDL_ODR_10Hz = 0x10, /**< 10.000Hz */
LIS3DML_ODR_20HZ = 0x14, /**< 20.000Hz */
LIS3DML_ODR_40HZ = 0x18, /**< 40.000Hz */
LIS3MDL_ODR_80HZ = 0x1C, /**< 80.000Hz */
} lis3mdl_odr_t;
/**
* @brief Scale [gauss] for LIS3MDL
*/
typedef enum {
LIS3MDL_SCALE_4G = 0x00, /**< +- 4 gauss */
LIS3MDL_SCALE_8G = 0x20, /**< +- 8 gauss */
LIS3MDL_SCALE_12G = 0x40, /**< +- 12 gauss */
LIS3MDL_SCALE_16G = 0x60, /**< +- 16 gauss */
} lis3mdl_scale_t;
/**
* @brief Operating modes
*/
typedef enum {
LIS3MDL_OP_CONT_CONV = 0x00, /**< Continous-conversion mode */
LIS3MDL_OP_SNGL_CONV = 0x01, /**< Single-conversion mode */
LIS3MDL_OP_PDOWN = 0x11, /**< Power-down mode */
} lis3mdl_op_t;
/**
* @brief Initialize a new LIS3DML device.
*
* @param[in] dev device descriptor of LIS3MDL
* @param[in] i2c I2C device connected to
* @param[in] address I2C address of the magnometer
* @param[in] xy_mode power mode of x- and y-axis
* @param[in] z_mode power mode of z-axis
* @param[in] odr output data rate of magnometer
* @param[in] scale scale configuration of magnometer
* @param[in] op_mode operation mode of the device
*
* @return 0 on success
* @return -1 on error
*/
int lis3mdl_init(lis3mdl_t *dev, i2c_t i2c, uint8_t address,
lis3mdl_xy_mode_t xy_mode, lis3mdl_z_mode_t z_mode,
lis3mdl_odr_t odr, lis3mdl_scale_t scale,
lis3mdl_op_t op_mode);
/**
* @brief Reads the magnometer value of LIS3MDL.
*
* @param[in] dev device descriptor of LIS3MDL
* @param[in] data measured magnetometer data
*/
void lis3mdl_read_mag(lis3mdl_t *dev, lis3mdl_3d_data_t *data);
/**
* @brief Reads the temperature value of LIS3MDL.
*
* @param[in] dev device descriptor of LIS3MDL
* @param[in] value measured temperature in degree celsius
*/
void lis3mdl_read_temp(lis3mdl_t *dev, int16_t *value);
/**
* @brief Enable the LIS3MDL device.
*
* @param[in] dev device descriptor of LIS3MDL
*/
void lis3mdl_enable(lis3mdl_t *dev);
/**
* @brief Disable the LIS3MDL device.
*
* @param[in] dev device descriptor of LIS3MDL
*/
void lis3mdl_disable(lis3mdl_t *dev);
#ifdef __cplusplus
}
#endif
#endif /* LIS3MDL_H */
/** @} */

3
drivers/lis3mdl/Makefile

@ -0,0 +1,3 @@
MODULE = lis3mdl
include $(RIOTBASE)/Makefile.base

153
drivers/lis3mdl/include/lis3mdl-internal.h

@ -0,0 +1,153 @@
/*
* Copyright (C) 2015 HAW Hamburg
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup driver_lis3mdl
*
* @{
*
* @file
* @brief Definitions for the LIS3MDL 3-axis magnetometer
*
* @author René Herthel <rene-herthel@outlook.de>
*/
#ifndef LIS3MDL_INTERNAL_H
#define LIS3MDL_INTERNAL_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief LIS3DML chip identification
* @{
*/
#define LIS3MDL_CHIP_ID (0x3D)
#define LIS3MDL_CHIP_ADDR (0x1C)
/** @} */
/**
* @name LIS3DML device identification register
* @{
*/
#define LIS3DML_WHO_AM_I_REG (0x0F)
/** @} */
/**
* @name LIS3DML controll register
* @{
*/
#define LIS3MDL_CTRL_REG1 (0x20)
#define LIS3MDL_CTRL_REG2 (0x21)
#define LIS3MDL_CTRL_REG3 (0x22)
#define LIS3MDL_CTRL_REG4 (0x23)
#define LIS3MDL_CTRL_REG5 (0x24)
/** @} */
/**
* @name LIS3DML masks for CTRL_REG1
* @{
*/
#define LIS3MDL_MASK_REG1_TEMP_EN (0x80)
/** @} */
/**
* @name LIS3DML masks for CTRL_REG2
* @{
*/
#define LIS3MDL_MASK_REG2_REBOOT (0x06)
#define LIS3MDL_MASK_REG2_SOFT_RST (0x04)
/** @} */
/**
* @name LIS3DML masks for CTRL_REG3
* @{
*/
#define LIS3MDL_MASK_REG3_LOW_POWER_EN (0x02)
#define LIS3MDL_MASK_REG3_CONT_CONV_MODE (0x00)
#define LIS3MDL_MASK_REG3_Z_LOW_POWER (0x00)
#define LIS3MDL_MASK_REG3_Z_MEDIUM_POWER (0x04)
/** @} */
/**
* @name LIS3DML masks for CTRL_REG5
* @{
*/
#define LIS3MDL_MASK_REG5_BDU (0x40)
#define LIS3MDL_MASK_REG5_BDU_OFF (0x00)
/** @} */
/**
* @name LIS3DML status register
* @{
*/
#define LIS3MDL_STATUS_REG (0x27)
/** @} */
/**
* @name LIS3DML magnometer output register
* @{
*/
#define LIS3MDL_OUT_X_L_REG (0x28)
#define LIS3MDL_OUT_X_H_REG (0x29)
#define LIS3MDL_OUT_Y_L_REG (0x2A)
#define LIS3MDL_OUT_Y_H_REG (0x2B)
#define LIS3MDL_OUT_Z_L_REG (0x2C)
#define LIS3MDL_OUT_Z_H_REG (0x2D)
/** @} */
/**
* @name LIS3DML temperature output register
* @{
*/
#define LIS3MDL_TEMP_OUT_L_REG (0x2E)
#define LIS3MDL_TEMP_OUT_H_REG (0x2F)
/** @} */
/**
* @name LIS3DML interrupt register
* @{
*/
#define LIS3MDL_INT_CFG_REG (0x30)
#define LIS3MDL_INT_SRC_REG (0x31)
#define LIS3MDL_INT_THS_L_REG (0x32)
#define LIS3MDL_INT_THS_H_REG (0x33)
/** @} */
/**
* @name LIS3MDL masks for interrupt cfg register
* @{
*/
#define LIS3MDL_MASK_INT_CFG_XIEN (0x80)
#define LIS3MDL_MASK_INT_CFG_YIEN (0x40)
#define LIS3MDL_MASK_INT_CFG_ZIEN (0x20)
#define LIS3MDL_MASK_INT_CFG_IEA (0x04)
#define LIS3MDL_MASK_INT_CFG_LIR (0x02)
#define LIS3MDL_MASK_INT_CFG_IEN (0x01)
/** }@ */
/**
* @name LIS3MDL masks for interrupt src register
* @{
*/
#define LIS3MDL_MASK_INT_SRC_PTH_X (0x80)
#define LIS3MDL_MASK_INT_SRC_PTH_Y (0x40)
#define LIS3MDL_MASK_INT_SRC_PTH_Z (0x20)
#define LIS3MDL_MASK_INT_SRC_NTH_X (0x10)
#define LIS3MDL_MASK_INT_SRC_NTH_Y (0x08)
#define LIS3MDL_MASK_INT_SRC_NTH_Z (0x04)
#define LIS3MDL_MASK_INT_SRC_MROI (0x02)
#define LIS3MDL_MASK_INT_SRC_INT (0x01)
#ifdef __cplusplus
}
#endif
#endif /* LIS3MDL_INTERNAL_H */
/** @} */

154
drivers/lis3mdl/lis3mdl.c

@ -0,0 +1,154 @@
/*
* Copyright (C) 2015 HAW Hamburg
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup driver_lis3mdl
* @{
*
* @file
* @brief Device driver implementation for the LIS3MDL 3-axis magnetometer
*
* @author René Herthel <rene-herthel@outlook.de>
*
* @}
*/
#include "lis3mdl.h"
#include "include/lis3mdl-internal.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
#define MASK_INT16_MSB (0x8000)
#define MASK_INT16_NMSB (0x7FFF)
#define TEMP_DIVIDER (16)
#define TEMP_OFFSET (25)
#define GAUSS_DIVIDER (1000)
/**
* @brief Takes an unsigned value representing a two's complement number
* and returns the signed number it represents
*
* @param[in] value value which represents a two's complement number
*
* @return the converted signed number of 'value'
*/
static inline int16_t _twos_complement(int16_t value)
{
if (value & MASK_INT16_MSB) {
value = ~(value & MASK_INT16_NMSB) + 1;
return ~(value & MASK_INT16_NMSB);
}
else {
return value;
}
}
int lis3mdl_init(lis3mdl_t *dev,
i2c_t i2c,
uint8_t address,
lis3mdl_xy_mode_t xy_mode,
lis3mdl_z_mode_t z_mode,
lis3mdl_odr_t odr,
lis3mdl_scale_t scale,
lis3mdl_op_t op_mode) {
char tmp;
dev->i2c = i2c;
dev->addr = address;
i2c_acquire(dev->i2c);
if (i2c_init_master(i2c, I2C_SPEED_NORMAL) < 0) {
DEBUG("LIS3MDL: Master initialization failed\n");
return -1;
}
i2c_read_reg(dev->i2c, dev->addr, LIS3DML_WHO_AM_I_REG, &tmp);
if (tmp != LIS3MDL_CHIP_ID) {
DEBUG("LIS3MDL: Identification failed\n");
return -1;
}
tmp = ( LIS3MDL_MASK_REG1_TEMP_EN /* enable temperature sensor */
| xy_mode /* set x-, y-axis operative mode */
| odr); /* set output data rate */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG1, tmp);
/* set Full-scale configuration */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG2, scale);
/* set continuous-conversion mode */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG3, op_mode);
/* set z-axis operative mode */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG4, z_mode);
i2c_release(dev->i2c);
return 0;
}
void lis3mdl_read_mag(lis3mdl_t *dev, lis3mdl_3d_data_t *data)
{
char tmp[2] = {0, 0};
i2c_acquire(dev->i2c);
i2c_read_regs(dev->i2c, dev->addr, LIS3MDL_OUT_X_L_REG, &tmp[0], 2);
data->x_axis = (tmp[1] << 8) | tmp[0];
i2c_read_regs(dev->i2c, dev->addr, LIS3MDL_OUT_Y_L_REG, &tmp[0], 2);
data->y_axis = (tmp[1] << 8) | tmp[0];
i2c_read_regs(dev->i2c, dev->addr, LIS3MDL_OUT_Z_L_REG, &tmp[0], 2);
data->z_axis = (tmp[1] << 8) | tmp[0];
data->x_axis = _twos_complement(data->x_axis);
data->y_axis = _twos_complement(data->y_axis);
data->z_axis = _twos_complement(data->z_axis);
/* Divide the raw data by 1000 to geht [G] := Gauss */
data->x_axis /= GAUSS_DIVIDER;
data->y_axis /= GAUSS_DIVIDER;
data->z_axis /= GAUSS_DIVIDER;
i2c_release(dev->i2c);
}
void lis3mdl_read_temp(lis3mdl_t *dev, int16_t *value)
{
i2c_acquire(dev->i2c);
i2c_read_regs(dev->i2c, dev->addr, LIS3MDL_TEMP_OUT_L_REG, (char*)value, 2);
i2c_release(dev->i2c);
*value = _twos_complement(*value);
*value = (TEMP_OFFSET + (*value / TEMP_DIVIDER));
}
void lis3mdl_enable(lis3mdl_t *dev)
{
i2c_acquire(dev->i2c);
/* Z-axis medium-power mode */
i2c_write_reg(dev->i2c, dev->addr,
LIS3MDL_CTRL_REG3, LIS3MDL_MASK_REG3_Z_MEDIUM_POWER);
i2c_release(dev->i2c);
}
void lis3mdl_disable(lis3mdl_t *dev)
{
char tmp = ( LIS3MDL_MASK_REG3_LOW_POWER_EN /**< enable power-down mode */
| LIS3MDL_MASK_REG3_Z_LOW_POWER); /**< Z-axis low-power mode */
i2c_acquire(dev->i2c);
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG3, tmp);
i2c_release(dev->i2c);
}

25
tests/driver_lis3mdl/Makefile

@ -0,0 +1,25 @@
APPLICATION = driver_lis3mdl
include ../Makefile.tests_common
# only this board is known (yet) to provide the sensor LIS3MDL
BOARD_WHITELIST = limifrog-v1
FEATURES_REQUIRED = periph_i2c periph_gpio
USEMODULE += lis3mdl
USEMODULE += xtimer
ifneq (,$(TEST_LIS3MDL_I2C))
CFLAGS += -DTEST_LIS3MDL_I2C=$(TEST_LIS3MDL_I2C)
else
# set random default
CFLAGS += -DTEST_LIS3MDL_I2C=I2C_1
endif
ifneq (,$(TEST_LIS3MDL_MAG_ADDR))
CFLAGS += -DTEST_LIS3MDL_MAG_ADDR=$(TEST_LIS3MDL_MAG_ADDR)
else
# set random default 7 bit address
CFLAGS += -DTEST_LIS3MDL_MAG_ADDR=28
endif
include $(RIOTBASE)/Makefile.include

11
tests/driver_lis3mdl/README.md

@ -0,0 +1,11 @@
# About
This is a manual test application for the LIS3MDL magnetometer driver.
# Usage
This test application will initialize the accelerometer with the following parameters:
- Sampling Rate: 10Hz
- Scale: 4G
- Temperature sensor: Enabled
After initialization, the sensor reads the magnetometer values every 100ms
and prints them to the STDOUT.

67
tests/driver_lis3mdl/main.c

@ -0,0 +1,67 @@
/*
* Copyright (C) 2015 HAW Hamburg
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup tests
* @{
*
* @file
* @brief Test application for the LIS3MDL 3-axis magnetometer
*
* @author René Herthel <rene-herthel@outlook.de>
*
* @}
*/
#ifndef TEST_LIS3MDL_I2C
#error "TEST_LIS3MDL_I2C not defined"
#endif
#ifndef TEST_LIS3MDL_MAG_ADDR
#error "TEST_LIS3MDL_MAG_ADDR not defined"
#endif
#include <stdio.h>
#include "xtimer.h"
#include "lis3mdl.h"
#define SLEEP (800 * 800U)
int main(void)
{
lis3mdl_t dev;
lis3mdl_3d_data_t mag_value;
int16_t temp_value = 0;
puts("\nLIS3MDL test application");
printf("Initializing LIS3MDL sensor at I2C_%i ... \n", TEST_LIS3MDL_I2C);
if (lis3mdl_init(&dev, TEST_LIS3MDL_I2C, TEST_LIS3MDL_MAG_ADDR,
LIS3MDL_XY_MODE_MEDIUM,
LIS3MDL_Z_MODE_MEDIUM, LIS3MDL_ODR_10Hz,
LIS3MDL_SCALE_4G, LIS3MDL_OP_CONT_CONV) == 0) {
puts("[ OK ]\n");
}
else {
puts("[ FAIL ]\n");
return 1;
}
while(1){
lis3mdl_read_mag(&dev, &mag_value);
printf("Magnetometer [G]:\tX: %2d\tY: %2d\tZ: %2d\n", mag_value.x_axis,
mag_value.y_axis,
mag_value.z_axis);
lis3mdl_read_temp(&dev, &temp_value);
printf("Temperature:\t\t%i°C\n", temp_value);
xtimer_usleep(SLEEP);
}
return 0;
}
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