mirror of
https://github.com/RIOT-OS/RIOT.git
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drivers/lis3mdl: Initial create of lis3mdl
This commit is contained in:
Rene Herthel
René Herthel
parent
ed208c2da8
commit
44ee645373
156
drivers/include/lis3mdl.h
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156
drivers/include/lis3mdl.h
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@ -0,0 +1,156 @@
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/*
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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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* @defgroup driver_LIS3MDL LIS3MDL 3-axis magnetometer
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* @ingroup drivers
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* @brief Device driver for the LIS3MDL 3-axis magnetometer
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* @{
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*
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* @file
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* @brief Device driver interface 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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#ifndef LIS3MDL_H
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#define LIS3MDL_H
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#include <stdint.h>
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#include "periph/i2c.h"
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#include "periph/gpio.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief 3d data container of the LIS3MDL sensor
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*/
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typedef struct {
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int16_t x_axis; /**< Magnometer data from x-axis */
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int16_t y_axis; /**< Magnometer data from y_axis */
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int16_t z_axis; /**< Magnometer data from z_axis */
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} lis3mdl_3d_data_t;
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/**
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* @brief Device descriptor for LIS3MDL sensor
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*/
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typedef struct {
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i2c_t i2c; /**< I2C device */
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uint8_t addr; /**< Magnometer I2C address */
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} lis3mdl_t;
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/**
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* @brief Operating mode of x- and y-axis for LIS3MDL
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*/
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typedef enum {
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LIS3MDL_XY_MODE_LOW = 0x00, /**< Low-power mode */
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LIS3MDL_XY_MODE_MEDIUM = 0x20, /**< Medium-performance mode */
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LIS3MDL_XY_MODE_HIGH = 0x40, /**< High-performance mode */
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LIS3MDL_XY_MODE_ULTRA = 0x60, /**< Ultra-High-performance mode */
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} lis3mdl_xy_mode_t;
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/**
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* @brief Operating mode of z-axis for LIS3MDL
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*/
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typedef enum {
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LIS3MDL_Z_MODE_LOW = 0x00, /**< Low-power mode */
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LIS3MDL_Z_MODE_MEDIUM = 0x04, /**< Medium-performance mode */
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LIS3MDL_Z_MODE_HIGH = 0x08, /**< High-performance mode */
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LIS3MDL_Z_MODE_ULTRA = 0x0C, /**< Ultra-High-performance mode */
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} lis3mdl_z_mode_t;
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/**
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* @brief Output data rate [Hz] for LIS3MDL
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*/
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typedef enum {
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LIS3MDL_ODR_0_625Hz = 0x00, /**< 0.625Hz */
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LIS3MDL_ODR_1_25Hz = 0x04, /**< 1.250Hz */
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LIS3MDL_ODR_2_5Hz = 0x08, /**< 5.000Hz */
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LIS3MDL_ODR_10Hz = 0x10, /**< 10.000Hz */
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LIS3DML_ODR_20HZ = 0x14, /**< 20.000Hz */
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LIS3DML_ODR_40HZ = 0x18, /**< 40.000Hz */
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LIS3MDL_ODR_80HZ = 0x1C, /**< 80.000Hz */
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} lis3mdl_odr_t;
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/**
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* @brief Scale [gauss] for LIS3MDL
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*/
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typedef enum {
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LIS3MDL_SCALE_4G = 0x00, /**< +- 4 gauss */
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LIS3MDL_SCALE_8G = 0x20, /**< +- 8 gauss */
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LIS3MDL_SCALE_12G = 0x40, /**< +- 12 gauss */
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LIS3MDL_SCALE_16G = 0x60, /**< +- 16 gauss */
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} lis3mdl_scale_t;
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/**
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* @brief Operating modes
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*/
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typedef enum {
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LIS3MDL_OP_CONT_CONV = 0x00, /**< Continous-conversion mode */
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LIS3MDL_OP_SNGL_CONV = 0x01, /**< Single-conversion mode */
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LIS3MDL_OP_PDOWN = 0x11, /**< Power-down mode */
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} lis3mdl_op_t;
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/**
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* @brief Initialize a new LIS3DML device.
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*
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* @param[in] dev device descriptor of LIS3MDL
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* @param[in] i2c I2C device connected to
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* @param[in] address I2C address of the magnometer
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* @param[in] xy_mode power mode of x- and y-axis
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* @param[in] z_mode power mode of z-axis
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* @param[in] odr output data rate of magnometer
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* @param[in] scale scale configuration of magnometer
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* @param[in] op_mode operation mode of the device
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int lis3mdl_init(lis3mdl_t *dev, i2c_t i2c, uint8_t address,
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lis3mdl_xy_mode_t xy_mode, lis3mdl_z_mode_t z_mode,
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lis3mdl_odr_t odr, lis3mdl_scale_t scale,
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lis3mdl_op_t op_mode);
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/**
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* @brief Reads the magnometer value of LIS3MDL.
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*
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* @param[in] dev device descriptor of LIS3MDL
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* @param[in] data measured magnetometer data
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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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* @brief Reads the temperature value of LIS3MDL.
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*
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* @param[in] dev device descriptor of LIS3MDL
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* @param[in] value measured temperature in degree celsius
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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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* @brief Enable the LIS3MDL device.
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*
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* @param[in] dev device descriptor of LIS3MDL
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*/
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void lis3mdl_enable(lis3mdl_t *dev);
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/**
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* @brief Disable the LIS3MDL device.
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*
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* @param[in] dev device descriptor of LIS3MDL
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*/
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void lis3mdl_disable(lis3mdl_t *dev);
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#ifdef __cplusplus
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}
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#endif
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#endif /* LIS3MDL_H */
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/** @} */
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3
drivers/lis3mdl/Makefile
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3
drivers/lis3mdl/Makefile
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@ -0,0 +1,3 @@
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MODULE = lis3mdl
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include $(RIOTBASE)/Makefile.base
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153
drivers/lis3mdl/include/lis3mdl-internal.h
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153
drivers/lis3mdl/include/lis3mdl-internal.h
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@ -0,0 +1,153 @@
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/*
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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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*
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* @file
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* @brief Definitions 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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#ifndef LIS3MDL_INTERNAL_H
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#define LIS3MDL_INTERNAL_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief LIS3DML chip identification
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* @{
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*/
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#define LIS3MDL_CHIP_ID (0x3D)
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#define LIS3MDL_CHIP_ADDR (0x1C)
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/** @} */
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/**
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* @name LIS3DML device identification register
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* @{
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*/
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#define LIS3DML_WHO_AM_I_REG (0x0F)
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/** @} */
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/**
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* @name LIS3DML controll register
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* @{
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*/
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#define LIS3MDL_CTRL_REG1 (0x20)
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#define LIS3MDL_CTRL_REG2 (0x21)
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#define LIS3MDL_CTRL_REG3 (0x22)
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#define LIS3MDL_CTRL_REG4 (0x23)
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#define LIS3MDL_CTRL_REG5 (0x24)
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/** @} */
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/**
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* @name LIS3DML masks for CTRL_REG1
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* @{
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*/
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#define LIS3MDL_MASK_REG1_TEMP_EN (0x80)
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/** @} */
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/**
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* @name LIS3DML masks for CTRL_REG2
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* @{
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*/
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#define LIS3MDL_MASK_REG2_REBOOT (0x06)
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#define LIS3MDL_MASK_REG2_SOFT_RST (0x04)
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/** @} */
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/**
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* @name LIS3DML masks for CTRL_REG3
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* @{
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*/
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#define LIS3MDL_MASK_REG3_LOW_POWER_EN (0x02)
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#define LIS3MDL_MASK_REG3_CONT_CONV_MODE (0x00)
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#define LIS3MDL_MASK_REG3_Z_LOW_POWER (0x00)
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#define LIS3MDL_MASK_REG3_Z_MEDIUM_POWER (0x04)
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/** @} */
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/**
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* @name LIS3DML masks for CTRL_REG5
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* @{
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*/
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#define LIS3MDL_MASK_REG5_BDU (0x40)
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#define LIS3MDL_MASK_REG5_BDU_OFF (0x00)
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/** @} */
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/**
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* @name LIS3DML status register
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* @{
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*/
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#define LIS3MDL_STATUS_REG (0x27)
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/** @} */
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/**
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* @name LIS3DML magnometer output register
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* @{
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*/
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#define LIS3MDL_OUT_X_L_REG (0x28)
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#define LIS3MDL_OUT_X_H_REG (0x29)
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#define LIS3MDL_OUT_Y_L_REG (0x2A)
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#define LIS3MDL_OUT_Y_H_REG (0x2B)
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#define LIS3MDL_OUT_Z_L_REG (0x2C)
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#define LIS3MDL_OUT_Z_H_REG (0x2D)
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/** @} */
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/**
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* @name LIS3DML temperature output register
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* @{
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*/
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#define LIS3MDL_TEMP_OUT_L_REG (0x2E)
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#define LIS3MDL_TEMP_OUT_H_REG (0x2F)
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/** @} */
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/**
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* @name LIS3DML interrupt register
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* @{
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*/
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#define LIS3MDL_INT_CFG_REG (0x30)
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#define LIS3MDL_INT_SRC_REG (0x31)
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#define LIS3MDL_INT_THS_L_REG (0x32)
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#define LIS3MDL_INT_THS_H_REG (0x33)
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/** @} */
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/**
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* @name LIS3MDL masks for interrupt cfg register
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* @{
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*/
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#define LIS3MDL_MASK_INT_CFG_XIEN (0x80)
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#define LIS3MDL_MASK_INT_CFG_YIEN (0x40)
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#define LIS3MDL_MASK_INT_CFG_ZIEN (0x20)
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#define LIS3MDL_MASK_INT_CFG_IEA (0x04)
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#define LIS3MDL_MASK_INT_CFG_LIR (0x02)
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#define LIS3MDL_MASK_INT_CFG_IEN (0x01)
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/** }@ */
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/**
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* @name LIS3MDL masks for interrupt src register
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* @{
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*/
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#define LIS3MDL_MASK_INT_SRC_PTH_X (0x80)
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#define LIS3MDL_MASK_INT_SRC_PTH_Y (0x40)
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#define LIS3MDL_MASK_INT_SRC_PTH_Z (0x20)
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#define LIS3MDL_MASK_INT_SRC_NTH_X (0x10)
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#define LIS3MDL_MASK_INT_SRC_NTH_Y (0x08)
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#define LIS3MDL_MASK_INT_SRC_NTH_Z (0x04)
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#define LIS3MDL_MASK_INT_SRC_MROI (0x02)
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#define LIS3MDL_MASK_INT_SRC_INT (0x01)
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#ifdef __cplusplus
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}
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#endif
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#endif /* LIS3MDL_INTERNAL_H */
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/** @} */
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154
drivers/lis3mdl/lis3mdl.c
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154
drivers/lis3mdl/lis3mdl.c
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@ -0,0 +1,154 @@
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/*
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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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char 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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char 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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}
|
||||
|
||||
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
Normal file
25
tests/driver_lis3mdl/Makefile
Normal file
@ -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
Normal file
11
tests/driver_lis3mdl/README.md
Normal file
@ -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
Normal file
67
tests/driver_lis3mdl/main.c
Normal file
@ -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;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user