lis3mdl.h File Reference

ST LIS3MDL 3-axis magnetometer driver interface (I2C). More...

#include "std.h"
#include "mcu_periph/i2c.h"
#include "math/pprz_algebra_int.h"

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Data Structures
struct	Lis3mdl
union	Lis3mdl.data

Macros
#define	LIS3MDL_ADDR1   (0b0011110 << 1)
#define	LIS3MDL_ADDR2   (0b0011100 << 1)
#define	LIS3MDL_PERFORMANCE_LOW_POWER   0b00
#define	LIS3MDL_PERFORMANCE_MEDIUM   0b01
#define	LIS3MDL_PERFORMANCE_HIGH   0b10
#define	LIS3MDL_PERFORMANCE_ULTRA_HIGH   0b11
#define	LIS3MDL_DATA_RATE_0_625_HZ   0b000
#define	LIS3MDL_DATA_RATE_1_25_HZ   0b001
#define	LIS3MDL_DATA_RATE_2_5_HZ   0b010
#define	LIS3MDL_DATA_RATE_5_HZ   0b011
#define	LIS3MDL_DATA_RATE_10_HZ   0b100
#define	LIS3MDL_DATA_RATE_20_HZ   0b101
#define	LIS3MDL_DATA_RATE_40_HZ   0b110
#define	LIS3MDL_DATA_RATE_80_HZ   0b111
#define	LIS3MDL_MODE_CONTINUOUS   0b00
#define	LIS3MDL_MODE_SINGLE   0b01
#define	LIS3MDL_MODE_POWER_DOWN   0b11
#define	LIS3MDL_SCALE_4_GAUSS   0b00
#define	LIS3MDL_SCALE_8_GAUSS   0b01
#define	LIS3MDL_SCALE_12_GAUSS   0b10
#define	LIS3MDL_SCALE_16_GAUSS   0b11

Enumerations
enum	Lis3mdlStatus { LIS3MDL_CONF_UNINIT, LIS3MDL_CONF_REG, LIS3MDL_STATUS_IDLE, LIS3MDL_STATUS_MEAS }
	config status states More...

Functions
void	lis3mdl_init (struct Lis3mdl *mag, struct i2c_periph *i2c_p, uint8_t addr, uint8_t data_rate, uint8_t scale, uint8_t mode, uint8_t perf)
void	lis3mdl_configure (struct Lis3mdl *mag)
void	lis3mdl_event (struct Lis3mdl *mag)
void	lis3mdl_read (struct Lis3mdl *mag)
static void	lis3mdl_periodic (struct Lis3mdl *mag)
	convenience function: read or start configuration if not already initialized More...

Detailed Description

ST LIS3MDL 3-axis magnetometer driver interface (I2C).

Definition in file lis3mdl.h.

---

Data Structure Documentation

struct Lis3mdl

Definition at line 69 of file lis3mdl.h.

Collaboration diagram for Lis3mdl:

Data Fields
union Lis3mdl	data
volatile bool	data_available	data ready flag
struct i2c_periph *	i2c_p	peripheral used for communcation
struct i2c_transaction	i2c_trans	i2c transaction
bool	initialized	config done flag
enum Lis3mdlStatus	status	init status

union Lis3mdl.data

Definition at line 75 of file lis3mdl.h.

Data Fields
int16_t	value[3]	data values accessible by channel index
struct Int16Vect3	vect	data vector in mag coordinate system

Macro Definition Documentation

#define LIS3MDL_ADDR1   (0b0011110 << 1)

Definition at line 34 of file lis3mdl.h.

Referenced by mag_lis3mdl_module_init().

#define LIS3MDL_ADDR2   (0b0011100 << 1)

Definition at line 35 of file lis3mdl.h.

#define LIS3MDL_DATA_RATE_0_625_HZ   0b000

Definition at line 42 of file lis3mdl.h.

#define LIS3MDL_DATA_RATE_10_HZ   0b100

Definition at line 46 of file lis3mdl.h.

#define LIS3MDL_DATA_RATE_1_25_HZ   0b001

Definition at line 43 of file lis3mdl.h.

#define LIS3MDL_DATA_RATE_20_HZ   0b101

Definition at line 47 of file lis3mdl.h.

#define LIS3MDL_DATA_RATE_2_5_HZ   0b010

Definition at line 44 of file lis3mdl.h.

#define LIS3MDL_DATA_RATE_40_HZ   0b110

Definition at line 48 of file lis3mdl.h.

#define LIS3MDL_DATA_RATE_5_HZ   0b011

Definition at line 45 of file lis3mdl.h.

#define LIS3MDL_DATA_RATE_80_HZ   0b111

Definition at line 49 of file lis3mdl.h.

Referenced by mag_lis3mdl_module_init().

#define LIS3MDL_MODE_CONTINUOUS   0b00

Definition at line 51 of file lis3mdl.h.

Referenced by mag_lis3mdl_module_init().

#define LIS3MDL_MODE_POWER_DOWN   0b11

Definition at line 53 of file lis3mdl.h.

#define LIS3MDL_MODE_SINGLE   0b01

Definition at line 52 of file lis3mdl.h.

#define LIS3MDL_PERFORMANCE_HIGH   0b10

Definition at line 39 of file lis3mdl.h.

#define LIS3MDL_PERFORMANCE_LOW_POWER   0b00

Definition at line 37 of file lis3mdl.h.

#define LIS3MDL_PERFORMANCE_MEDIUM   0b01

Definition at line 38 of file lis3mdl.h.

#define LIS3MDL_PERFORMANCE_ULTRA_HIGH   0b11

Definition at line 40 of file lis3mdl.h.

Referenced by mag_lis3mdl_module_init().

#define LIS3MDL_SCALE_12_GAUSS   0b10

Definition at line 57 of file lis3mdl.h.

#define LIS3MDL_SCALE_16_GAUSS   0b11

Definition at line 58 of file lis3mdl.h.

#define LIS3MDL_SCALE_4_GAUSS   0b00

Definition at line 55 of file lis3mdl.h.

Referenced by mag_lis3mdl_module_init().

#define LIS3MDL_SCALE_8_GAUSS   0b01

Definition at line 56 of file lis3mdl.h.

Enumeration Type Documentation

enum Lis3mdlStatus

config status states

Enumerator
LIS3MDL_CONF_UNINIT
LIS3MDL_CONF_REG
LIS3MDL_STATUS_IDLE
LIS3MDL_STATUS_MEAS

Definition at line 61 of file lis3mdl.h.

Function Documentation

void lis3mdl_configure

(

struct Lis3mdl *

mag

)

Definition at line 82 of file lis3mdl.c.

References Lis3mdl::i2c_p, Lis3mdl::i2c_trans, i2c_transmit(), I2CTransDone, I2CTransFailed, I2CTransSuccess, Lis3mdl::initialized, LIS3MDL_CONF_REG, LIS3MDL_CONF_UNINIT, LIS3MDL_STATUS_IDLE, i2c_transaction::slave_addr, Lis3mdl::status, and i2c_transaction::status.

Referenced by lis3mdl_periodic().

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void lis3mdl_event

(

struct Lis3mdl *

mag

)

Definition at line 127 of file lis3mdl.c.

References i2c_transaction::buf, Lis3mdl::data, Lis3mdl::data_available, Lis3mdl::i2c_trans, I2CTransDone, I2CTransFailed, I2CTransSuccess, Lis3mdl::initialized, Int16FromBuf, LIS3MDL_STATUS_IDLE, LIS3MDL_STATUS_MEAS, LIS3MDL_STATUS_ZYXDA, Lis3mdl::status, and i2c_transaction::status.

Referenced by mag_lis3mdl_module_event().

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void lis3mdl_init	(	struct Lis3mdl *	mag,
		struct i2c_periph *	i2c_p,
		uint8_t	addr,
		uint8_t	data_rate,
		uint8_t	scale,
		uint8_t	mode,
		uint8_t	perf
	)

Definition at line 60 of file lis3mdl.c.

References i2c_transaction::buf, Lis3mdl::data_available, Lis3mdl::i2c_p, Lis3mdl::i2c_trans, I2CTransDone, Lis3mdl::initialized, LIS3MDL_CONF_UNINIT, LIS3MDL_ENABLE_AUTO_INC, LIS3MDL_REG_CTL_1, mode, i2c_transaction::slave_addr, Lis3mdl::status, and i2c_transaction::status.

Referenced by mag_lis3mdl_module_init().

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static void lis3mdl_periodic ( struct Lis3mdl *  mag )

inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 88 of file lis3mdl.h.

References Lis3mdl::initialized, lis3mdl_configure(), and lis3mdl_read().

Referenced by mag_lis3mdl_module_periodic().

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void lis3mdl_read

(

struct Lis3mdl *

mag

)

Definition at line 113 of file lis3mdl.c.

References i2c_transaction::buf, Lis3mdl::i2c_p, Lis3mdl::i2c_trans, i2c_transceive(), LIS3MDL_ENABLE_AUTO_INC, LIS3MDL_REG_STATUS, LIS3MDL_STATUS_IDLE, LIS3MDL_STATUS_MEAS, i2c_transaction::slave_addr, and Lis3mdl::status.

Referenced by lis3mdl_periodic().

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