Collaboration diagram for LIS3MDL:

Detailed Description

Macros
#define	lis3mdlCompassGetAxesNumber(devp) compassGetAxesNumber(&((devp)->comp_if))
	Return the number of axes of the BaseCompass. More...

#define	lis3mdlCompassReadRaw(devp, axes) compassReadRaw(&((devp)->comp_if), axes)
	Retrieves raw data from the BaseCompass. More...

#define	lis3mdlCompassReadCooked(devp, axes) compassReadCooked(&((devp)->comp_if), axes)
	Retrieves cooked data from the BaseCompass. More...

#define	lis3mdlCompassSetBias(devp, bp) compassSetBias(&((devp)->comp_if), bp)
	Set bias values for the BaseCompass. More...

#define	lis3mdlCompassResetBias(devp) compassResetBias(&((devp)->comp_if))
	Reset bias values for the BaseCompass. More...

#define	lis3mdlCompassSetSensitivity(devp, sp) compassSetSensitivity(&((devp)->comp_if), sp)
	Set sensitivity values for the BaseCompass. More...

#define	lis3mdlCompassResetSensitivity(devp) compassResetSensitivity(&((devp)->comp_if))
	Reset sensitivity values for the BaseCompass. More...

#define	lis3mdlCompassSetFullScale(devp, fs) (devp)->vmt->comp_set_full_scale(devp, fs)
	Changes the LIS3MDLDriver compass fullscale value. More...

Version identification
#define	EX_LIS3MDL_VERSION "1.1.2"
	LIS3MDL driver version string. More...

#define	EX_LIS3MDL_MAJOR 1
	LIS3MDL driver version major number. More...

#define	EX_LIS3MDL_MINOR 1
	LIS3MDL driver version minor number. More...

#define	EX_LIS3MDL_PATCH 2
	LIS3MDL driver version patch number. More...

#define	LIS3MDL_COMP_NUMBER_OF_AXES 3U
	LIS3MDL compass subsystem characteristics. More...

LIS3MDL communication interfaces related bit masks
#define	LIS3MDL_DI_MASK 0xFF

#define	LIS3MDL_DI(n) (1 << n)

#define	LIS3MDL_AD_MASK 0x3F

#define	LIS3MDL_AD(n) (1 << n)

#define	LIS3MDL_MS (1 << 6)

#define	LIS3MDL_RW (1 << 7)

#define	LIS3MDL_SUB_MS (1 << 7)

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

LIS3MDL_CTRL_REG1 register bits definitions
#define	LIS3MDL_CTRL_REG1_MASK 0xFF

#define	LIS3MDL_CTRL_REG1_ST (1 << 0)

#define	LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1)

#define	LIS3MDL_CTRL_REG1_DO0 (1 << 2)

#define	LIS3MDL_CTRL_REG1_DO1 (1 << 3)

#define	LIS3MDL_CTRL_REG1_DO2 (1 << 4)

#define	LIS3MDL_CTRL_REG1_OM0 (1 << 5)

#define	LIS3MDL_CTRL_REG1_OM1 (1 << 6)

#define	LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7)

LIS3MDL_CTRL_REG2 register bits definitions
#define	LIS3MDL_CTRL_REG2_MASK 0x6C

#define	LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2)

#define	LIS3MDL_CTRL_REG2_REBOOT (1 << 3)

#define	LIS3MDL_CTRL_REG2_FS_MASK 0x60

#define	LIS3MDL_CTRL_REG2_FS0 (1 << 5)

#define	LIS3MDL_CTRL_REG2_FS1 (1 << 6)

LIS3MDL_CTRL_REG3 register bits definitions
#define	LIS3MDL_CTRL_REG3_MASK 0x27

#define	LIS3MDL_CTRL_REG3_MD0 (1 << 0)

#define	LIS3MDL_CTRL_REG3_MD1 (1 << 1)

#define	LIS3MDL_CTRL_REG3_SIM (1 << 2)

#define	LIS3MDL_CTRL_REG3_LP (1 << 5)

LIS3MDL_CTRL_REG4 register bits definitions
#define	LIS3MDL_CTRL_REG4_MASK 0x0E

#define	LIS3MDL_CTRL_REG4_BLE (1 << 1)

#define	LIS3MDL_CTRL_REG4_OMZ0 (1 << 2)

#define	LIS3MDL_CTRL_REG4_OMZ1 (1 << 3)

LIS3MDL_CTRL_REG5 register bits definitions
#define	LIS3MDL_CTRL_REG5_MASK 0xC0

#define	LIS3MDL_CTRL_REG5_BDU (1 << 6)

#define	LIS3MDL_CTRL_REG5_FAST_READ (1 << 7)

Configuration options
#define	LIS3MDL_USE_SPI FALSE
	LIS3MDL SPI interface switch. More...

#define	LIS3MDL_SHARED_SPI FALSE
	LIS3MDL shared SPI switch. More...

#define	LIS3MDL_USE_I2C TRUE
	LIS3MDL I2C interface switch. More...

#define	LIS3MDL_SHARED_I2C FALSE
	LIS3MDL shared I2C switch. More...

#define	LIS3MDL_USE_ADVANCED FALSE
	LIS3MDL advanced configurations switch. More...

LIS3MDL data structures and types
Todo: Add support for LIS3MDL over SPI.
typedef struct LIS3MDLDriver	LIS3MDLDriver
	LIS3MDL slave address. More...

#define	_lis3msl_methods_alone
	`LIS3MDL` specific methods. More...

#define	_lis3mdl_methods
	`LIS3MDL` specific methods with inherited ones. More...

#define	_lis3mdl_data
	`LIS3MDLDriver` specific data. More...

Data Structures
struct	LIS3MDLConfig
	LIS3MDL configuration structure. More...

struct	LIS3MDLVMT
	`LIS3MDL` virtual methods table. More...

struct	LIS3MDLDriver
	LIS3MDL 3-axis compass class. More...

Functions
msg_t	lis3mdlI2CReadRegister (I2CDriver i2cp, lis3mdl_sad_t sad, uint8_t reg, uint8_t rxbuf, size_t n)
	Reads registers value using I2C. More...

msg_t	lis3mdlI2CWriteRegister (I2CDriver i2cp, lis3mdl_sad_t sad, uint8_t txbuf, uint8_t n)
	Writes a value into a register using I2C. More...

static size_t	comp_get_axes_number (void *ip)
	Return the number of axes of the BaseCompass. More...

static msg_t	comp_read_raw (void *ip, int32_t axes[])
	Retrieves raw data from the BaseCompass. More...

static msg_t	comp_read_cooked (void *ip, float axes[])
	Retrieves cooked data from the BaseCompass. More...

static msg_t	comp_set_bias (void ip, float bp)
	Set bias values for the BaseCompass. More...

static msg_t	comp_reset_bias (void *ip)
	Reset bias values for the BaseCompass. More...

static msg_t	comp_set_sensivity (void ip, float sp)
	Set sensitivity values for the BaseCompass. More...

static msg_t	comp_reset_sensivity (void *ip)
	Reset sensitivity values for the BaseCompass. More...

static msg_t	comp_set_full_scale (LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs)
	Changes the LIS3MDLDriver compass fullscale value. More...

void	lis3mdlObjectInit (LIS3MDLDriver *devp)
	Initializes an instance. More...

void	lis3mdlStart (LIS3MDLDriver devp, const LIS3MDLConfig config)
	Configures and activates LIS3MDL Complex Driver peripheral. More...

void	lis3mdlStop (LIS3MDLDriver *devp)
	Deactivates the LIS3MDL Complex Driver peripheral. More...

Macro Definition Documentation

#define EX_LIS3MDL_VERSION "1.1.2"

LIS3MDL driver version string.

Definition at line 45 of file lis3mdl.h.

#define EX_LIS3MDL_MAJOR 1

LIS3MDL driver version major number.

Definition at line 50 of file lis3mdl.h.

#define EX_LIS3MDL_MINOR 1

LIS3MDL driver version minor number.

Definition at line 55 of file lis3mdl.h.

#define EX_LIS3MDL_PATCH 2

LIS3MDL driver version patch number.

Definition at line 60 of file lis3mdl.h.

#define LIS3MDL_COMP_NUMBER_OF_AXES 3U

LIS3MDL compass subsystem characteristics.

Note: Sensitivity is expressed as G/LSB whereas G stands for Gauss.; Bias is expressed as G.

Definition at line 70 of file lis3mdl.h.

Referenced by comp_get_axes_number(), comp_read_cooked(), comp_read_raw(), comp_reset_bias(), comp_reset_sensivity(), comp_set_bias(), comp_set_full_scale(), comp_set_sensivity(), lis3mdlObjectInit(), and lis3mdlStart().

#define LIS3MDL_USE_SPI FALSE

LIS3MDL SPI interface switch.

If set to TRUE the support for SPI is included.

Note: The default is FALSE.

Definition at line 195 of file lis3mdl.h.

#define LIS3MDL_SHARED_SPI FALSE

LIS3MDL shared SPI switch.

If set to TRUE the device acquires SPI bus ownership on each transaction.

Note: The default is FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.

Definition at line 205 of file lis3mdl.h.

#define LIS3MDL_USE_I2C TRUE

LIS3MDL I2C interface switch.

If set to TRUE the support for I2C is included.

Note: The default is TRUE.

Definition at line 214 of file lis3mdl.h.

#define LIS3MDL_SHARED_I2C FALSE

LIS3MDL shared I2C switch.

If set to TRUE the device acquires I2C bus ownership on each transaction.

Note: The default is FALSE. Requires I2C_USE_MUTUAL_EXCLUSION

Definition at line 224 of file lis3mdl.h.

#define LIS3MDL_USE_ADVANCED FALSE

LIS3MDL advanced configurations switch.

If set to TRUE more configurations are available.

Note: The default is FALSE.

Definition at line 233 of file lis3mdl.h.

#define _lis3msl_methods_alone

Value:

/* Change full scale value of LIS3MDL compass subsystem.*/ \

msg_t (*comp_set_full_scale)(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs);

lis3mdl_comp_fs_t

LIS3MDL full scale.

Definition: lis3mdl.h:296

LIS3MDLDriver

LIS3MDL 3-axis compass class.

Definition: lis3mdl.h:503

comp_set_full_scale

static msg_t comp_set_full_scale(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs)

Changes the LIS3MDLDriver compass fullscale value.

Definition: lis3mdl.c:345

msg_t

int32_t msg_t

Definition: chtypes.h:51

LIS3MDL specific methods.

Definition at line 462 of file lis3mdl.h.

#define _lis3mdl_methods

Value:

_base_object_methods \

_lis3msl_methods_alone

#define _lis3msl_methods_alone

LIS3MDL specific methods.

Definition: lis3mdl.h:462

LIS3MDL specific methods with inherited ones.

Definition at line 469 of file lis3mdl.h.

#define _lis3mdl_data

Value:

_base_compass_data                                                        \
  /* Driver state.*/                                                        \
  lis3mdl_state_t           state;                                          \
  /* Current configuration data.*/                                          \
  const LIS3MDLConfig       *config;                                        \
  /* Compass subsystem axes number.*/                                       \
  size_t                    compaxes;                                       \
  /* Compass subsystem current sensitivity.*/                               \
  float                     compsensitivity[LIS3MDL_COMP_NUMBER_OF_AXES];   \
  /* Compass subsystem current bias.*/                                      \
  float                     compbias[LIS3MDL_COMP_NUMBER_OF_AXES];          \
  /* Compass subsystem current full scale value.*/                          \
  float                     compfullscale;

LIS3MDLDriver specific data.

Definition at line 485 of file lis3mdl.h.

#define lis3mdlCompassGetAxesNumber ( devp ) compassGetAxesNumber(&((devp)->comp_if))

Return the number of axes of the BaseCompass.

Parameters

[in] devp pointer to LIS3MDLDriver.

Returns: the number of axes.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 525 of file lis3mdl.h.

#define lis3mdlCompassReadRaw	(	devp,
		axes
	)	compassReadRaw(&((devp)->comp_if), axes)

Retrieves raw data from the BaseCompass.

Note: This data is retrieved from MEMS register without any algebraical manipulation.; The axes array must be at least the same size of the BaseCompass axes number.

Parameters

[in]	devp	pointer to `BaseCompass` interface.
[out]	axes	a buffer which would be filled with raw data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 546 of file lis3mdl.h.

#define lis3mdlCompassReadCooked	(	devp,
		axes
	)	compassReadCooked(&((devp)->comp_if), axes)

Retrieves cooked data from the BaseCompass.

Note: This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.; Final data is expressed as G.; The axes array must be at least the same size of the BaseCompass axes number.

Parameters

[in]	devp	pointer to `BaseCompass` interface.
[out]	axes	a buffer which would be filled with cooked data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 568 of file lis3mdl.h.

#define lis3mdlCompassSetBias	(	devp,
		bp
	)	compassSetBias(&((devp)->comp_if), bp)

Set bias values for the BaseCompass.

Note: Bias must be expressed as G.; The bias buffer must be at least the same size of the BaseCompass axes number.

Parameters

[in]	devp	pointer to `BaseCompass` interface.
[in]	bp	a buffer which contains biases.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 585 of file lis3mdl.h.

#define lis3mdlCompassResetBias ( devp ) compassResetBias(&((devp)->comp_if))

Reset bias values for the BaseCompass.

Note: Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in] devp pointer to LIS3MDLDriver.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 600 of file lis3mdl.h.

#define lis3mdlCompassSetSensitivity	(	devp,
		sp
	)	compassSetSensitivity(&((devp)->comp_if), sp)

Set sensitivity values for the BaseCompass.

Note: Sensitivity must be expressed as G/LSB.; The sensitivity buffer must be at least the same size of the BaseCompass axes number.

Parameters

[in]	devp	pointer to `LIS3MDLDriver`.
[in]	sp	a buffer which contains sensitivities.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 617 of file lis3mdl.h.

#define lis3mdlCompassResetSensitivity ( devp ) compassResetSensitivity(&((devp)->comp_if))

Reset sensitivity values for the BaseCompass.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] devp pointer to LIS3MDLDriver.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 632 of file lis3mdl.h.

#define lis3mdlCompassSetFullScale	(	devp,
		fs
	)	(devp)->vmt->comp_set_full_scale(devp, fs)

Changes the LIS3MDLDriver compass fullscale value.

Note: This function also rescale sensitivities and biases based on previous and next fullscale value.; A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to `LIS3MDLDriver`.
[in]	fs	new fullscale value.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 650 of file lis3mdl.h.

Typedef Documentation

typedef struct LIS3MDLDriver LIS3MDLDriver

LIS3MDL slave address.

Structure representing a LIS3MDL driver.

Definition at line 283 of file lis3mdl.h.

Enumeration Type Documentation

enum lis3mdl_sad_t

LIS3MDL slave address.

Enumerator
LIS3MDL_SAD_GND	Slave Address when SA1 is to GND
LIS3MDL_SAD_VCC	Slave Address when SA1 is to VCC

Definition at line 288 of file lis3mdl.h.

enum lis3mdl_comp_fs_t

LIS3MDL full scale.

Enumerator
LIS3MDL_COMP_FS_4GA	�4 Gauss
LIS3MDL_COMP_FS_8GA	�8 Gauss
LIS3MDL_COMP_FS_12GA	�12 Gauss
LIS3MDL_COMP_FS_16GA	�16 Gauss

Definition at line 296 of file lis3mdl.h.

enum lis3mdl_comp_odr_t

LIS3MDL output data rate.

Enumerator
LIS3MDL_COMP_ODR_0_625HZ	Output Data Rate = 0.625 Hz
LIS3MDL_COMP_ODR_1_25HZ	Output Data Rate = 1.25 Hz
LIS3MDL_COMP_ODR_2_5HZ	Output Data Rate = 2.5 Hz
LIS3MDL_COMP_ODR_5HZ	Output Data Rate = 5 Hz
LIS3MDL_COMP_ODR_10HZ	Output Data Rate = 10 Hz
LIS3MDL_COMP_ODR_20HZ	Output Data Rate = 20 Hz
LIS3MDL_COMP_ODR_40HZ	Output Data Rate = 40 Hz
LIS3MDL_COMP_ODR_80HZ	Output Data Rate = 80 Hz

Definition at line 306 of file lis3mdl.h.

enum lis3mdl_comp_lp_t

LIS3MDL low power mode configuration.

Enumerator
LIS3MDL_COMP_LP_DISABLED	Low Power mode disabled
LIS3MDL_COMP_LP_ENABLED	Low Power mode enabled

Definition at line 320 of file lis3mdl.h.

enum lis3mdl_comp_md_t

LIS3MDL conversion mode.

Enumerator
LIS3MDL_COMP_MD_CONTINUOUS	Continuous conversion mode
LIS3MDL_COMP_MD_SINGLE	Single conversion mode
LIS3MDL_COMP_MD_POWER_DOWN	Power down mode

Definition at line 328 of file lis3mdl.h.

enum lis3mdl_comp_omxy_t

LIS3MDL operation mode for X and Y axes.

Enumerator
LIS3MDL_COMP_OMXY_LP	X-Y axes low power mode
LIS3MDL_COMP_OMXY_MEDIUM	X-Y axes medium performance mode
LIS3MDL_COMP_OMXY_HIGH	X-Y axes high performance mode
LIS3MDL_COMP_OMXY_ULTRA	X-Y axes ultra performance mode

Definition at line 337 of file lis3mdl.h.

enum lis3mdl_comp_omz_t

LIS3MDL operation mode for Z axis.

Enumerator
LIS3MDL_COMP_OMZ_LP	Z axis low power mode
LIS3MDL_COMP_OMZ_MEDIUM	Z axis medium performance mode
LIS3MDL_COMP_OMZ_HIGH	Z axis high performance mode
LIS3MDL_COMP_OMZ_ULTRA	Z axis ultra performance mode

Definition at line 347 of file lis3mdl.h.

enum lis3mdl_temp_t

LIS3MDL temperature sensor enabling.

Enumerator
LIS3MDL_TEMP_DISABLED	Temperature sensor disabled.
LIS3MDL_TEMP_ENABLED	Temperature sensor enabled.

Definition at line 357 of file lis3mdl.h.

enum lis3mdl_bdu_t

LIS3MDL block data update.

Enumerator
LIS3MDL_BDU_CONTINUOUS	Continuous Update
LIS3MDL_BDU_BLOCKED	Block data updated after reading.

Definition at line 365 of file lis3mdl.h.

enum lis3mdl_end_t

LIS3MDL endianness.

Enumerator
LIS3MDL_END_LITTLE	Little endian.
LIS3MDL_END_BIG	Big endian.

Definition at line 373 of file lis3mdl.h.

enum lis3mdl_state_t

Driver state machine possible states.

Enumerator
LIS3MDL_UNINIT	Not initialized.
LIS3MDL_STOP	Stopped.
LIS3MDL_READY	Ready.

Definition at line 381 of file lis3mdl.h.

Function Documentation

msg_t lis3mdlI2CReadRegister	(	I2CDriver *	i2cp,
		lis3mdl_sad_t	sad,
		uint8_t	reg,
		uint8_t *	rxbuf,
		size_t	n
	)

Reads registers value using I2C.

Precondition: The I2C interface must be initialized and the driver started.

Parameters

[in]	i2cp	pointer to the I2C interface
[in]	sad	slave address without R bit
[in]	reg	first sub-register address
[out]	rxbuf	pointer to an output buffer
[in]	n	number of consecutive register to read

Returns: the operation status.

Function Class:Not an API, this function is for internal use only.

Definition at line 62 of file lis3mdl.c.

References i2cMasterTransmitTimeout(), and TIME_INFINITE.

Referenced by comp_read_raw(), and comp_set_full_scale().

Here is the call graph for this function:

msg_t lis3mdlI2CWriteRegister	(	I2CDriver *	i2cp,
		lis3mdl_sad_t	sad,
		uint8_t *	txbuf,
		uint8_t	n
	)

Writes a value into a register using I2C.

Precondition: The I2C interface must be initialized and the driver started.

Parameters

[in]	i2cp	pointer to the I2C interface
[in]	sad	slave address without R bit
[in]	txbuf	buffer containing sub-address value in first position and values to write
[in]	n	size of txbuf less one (not considering the first element)

Returns: the operation status.

Function Class:Not an API, this function is for internal use only.

Definition at line 85 of file lis3mdl.c.

References i2cMasterTransmitTimeout(), and TIME_INFINITE.

Referenced by comp_set_full_scale(), lis3mdlStart(), and lis3mdlStop().

Here is the call graph for this function:

static size_t comp_get_axes_number ( void * ip )

static

Return the number of axes of the BaseCompass.

Parameters

[in] ip pointer to BaseCompass interface

Returns: the number of axes.

Definition at line 102 of file lis3mdl.c.

References LIS3MDL_COMP_NUMBER_OF_AXES, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_read_raw	(	void *	ip,
		int32_t	axes[]
	)

static

Retrieves raw data from the BaseCompass.

Note: This data is retrieved from MEMS register without any algebraical manipulation.; The axes array must be at least the same size of the BaseCompass axes number.

Parameters

[in]	ip	pointer to `BaseCompass` interface.
[out]	axes	a buffer which would be filled with raw data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 124 of file lis3mdl.c.

References I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LIS3MDL_COMP_NUMBER_OF_AXES, LIS3MDL_READY, lis3mdlI2CReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_read_cooked(), and comp_set_full_scale().

Here is the call graph for this function:

static msg_t comp_read_cooked	(	void *	ip,
		float	axes[]
	)

static

Retrieves cooked data from the BaseCompass.

Note: This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.; Final data is expressed as G.; The axes array must be at least the same size of the BaseCompass axes number.

Parameters

[in]	ip	pointer to `BaseCompass` interface.
[out]	axes	a buffer which would be filled with cooked data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 178 of file lis3mdl.c.

References comp_read_raw(), LIS3MDL_COMP_NUMBER_OF_AXES, LIS3MDL_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

Here is the call graph for this function:

static msg_t comp_set_bias	(	void *	ip,
		float *	bp
	)

static

Set bias values for the BaseCompass.

Note: Bias must be expressed as G.; The bias buffer must be at least the same size of the BaseCompass axes number.

Parameters

[in]	ip	pointer to `BaseCompass` interface.
[in]	bp	a buffer which contains biases.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 212 of file lis3mdl.c.

References LIS3MDL_COMP_NUMBER_OF_AXES, LIS3MDL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_reset_bias ( void * ip )

static

Reset bias values for the BaseCompass.

Note: Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in] ip pointer to BaseCompass interface.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 241 of file lis3mdl.c.

References LIS3MDL_COMP_NUMBER_OF_AXES, LIS3MDL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_set_sensivity	(	void *	ip,
		float *	sp
	)

static

Set sensitivity values for the BaseCompass.

Note: Sensitivity must be expressed as G/LSB.; The sensitivity buffer must be at least the same size of the BaseCompass axes number.

Parameters

[in]	ip	pointer to `BaseCompass` interface.
[in]	sp	a buffer which contains sensitivities.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 271 of file lis3mdl.c.

References LIS3MDL_COMP_NUMBER_OF_AXES, LIS3MDL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_reset_sensivity ( void * ip )

static

Reset sensitivity values for the BaseCompass.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] ip pointer to BaseCompass interface.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 300 of file lis3mdl.c.

References FALSE, LIS3MDL_COMP_FS_12GA, LIS3MDL_COMP_FS_16GA, LIS3MDL_COMP_FS_4GA, LIS3MDL_COMP_FS_8GA, LIS3MDL_COMP_NUMBER_OF_AXES, LIS3MDL_READY, MSG_OK, MSG_RESET, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by comp_set_full_scale().

static msg_t comp_set_full_scale	(	LIS3MDLDriver *	devp,
		lis3mdl_comp_fs_t	fs
	)

static

Changes the LIS3MDLDriver compass fullscale value.

Note: This function also rescale sensitivities and biases based on previous and next fullscale value.; A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to `LIS3MDLDriver` interface.
[in]	fs	new fullscale value.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 345 of file lis3mdl.c.

References comp_get_axes_number(), comp_read_cooked(), comp_read_raw(), comp_reset_bias(), comp_reset_sensivity(), comp_set_bias(), comp_set_sensivity(), I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LIS3MDL_COMP_FS_12GA, LIS3MDL_COMP_FS_16GA, LIS3MDL_COMP_FS_4GA, LIS3MDL_COMP_FS_8GA, LIS3MDL_COMP_NUMBER_OF_AXES, LIS3MDL_READY, lis3mdlI2CReadRegister(), lis3mdlI2CWriteRegister(), MSG_OK, MSG_RESET, osalDbgAssert, and osalDbgCheck.

Here is the call graph for this function:

void lis3mdlObjectInit ( LIS3MDLDriver * devp )

Initializes an instance.

Parameters

[out] devp pointer to the LIS3MDLDriver object

Function Class:Initializer, this function just initializes an object and can be invoked before the kernel is initialized.

Definition at line 446 of file lis3mdl.c.

References LIS3MDLDriver::comp_if, LIS3MDL_COMP_NUMBER_OF_AXES, LIS3MDL_STOP, BaseCompass::vmt, and LIS3MDLDriver::vmt.

void lis3mdlStart	(	LIS3MDLDriver *	devp,
		const LIS3MDLConfig *	config
	)

Configures and activates LIS3MDL Complex Driver peripheral.

Parameters

[in]	devp	pointer to the `LIS3MDLDriver` object
[in]	config	pointer to the `LIS3MDLConfig` object

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 465 of file lis3mdl.c.

References I2CDriver::config, FALSE, i2cAcquireBus(), LIS3MDLConfig::i2cp, i2cReleaseBus(), i2cStart(), LIS3MDL_COMP_FS_12GA, LIS3MDL_COMP_FS_16GA, LIS3MDL_COMP_FS_4GA, LIS3MDL_COMP_FS_8GA, LIS3MDL_COMP_NUMBER_OF_AXES, LIS3MDL_READY, LIS3MDL_STOP, lis3mdlI2CWriteRegister(), osalDbgAssert, osalDbgCheck, and osalThreadSleepMilliseconds.

Here is the call graph for this function:

void lis3mdlStop ( LIS3MDLDriver * devp )

Deactivates the LIS3MDL Complex Driver peripheral.

Parameters

[in] devp pointer to the LIS3MDLDriver object

Function Class:Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 598 of file lis3mdl.c.

References i2cAcquireBus(), i2cReleaseBus(), i2cStart(), i2cStop(), LIS3MDL_READY, LIS3MDL_STOP, lis3mdlI2CWriteRegister(), osalDbgAssert, and osalDbgCheck.

Here is the call graph for this function:

Detailed Description

Macros

Version identification

LIS3MDL communication interfaces related bit masks

LIS3MDL register addresses

LIS3MDL_CTRL_REG1 register bits definitions

LIS3MDL_CTRL_REG2 register bits definitions

LIS3MDL_CTRL_REG3 register bits definitions

LIS3MDL_CTRL_REG4 register bits definitions

LIS3MDL_CTRL_REG5 register bits definitions

Configuration options

LIS3MDL data structures and types

Data Structures

Functions

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation