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