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57 lines
1.5 KiB
57 lines
1.5 KiB
/* |
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* lis2mdl.c |
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* The LIS2MDL is a low power magnetometer, here used as 3 DoF in a 10 DoF |
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* absolute orientation solution. |
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* |
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* Created on: Jan 18, 2021 |
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* Author: Daniel Peter Chokola |
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* |
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* Adapted From: |
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* EM7180_LSM6DSM_LIS2MDL_LPS22HB_Butterfly |
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* by: Kris Winer |
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* 09/23/2017 Copyright Tlera Corporation |
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* |
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* Library may be used freely and without limit with attribution. |
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*/ |
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#ifndef LIS2MDL_h |
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#define LIS2MDL_h |
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/* Includes */ |
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#include <imu_common.h> |
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#include <stdint.h> |
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/* Definitions */ |
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#define LIS2MDL_OK (0) |
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#define LIS2MDL_BAD_ARG (1 << 0) |
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#define LIS2MDL_BAD_COMM (1 << 1) |
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#define MODR_10Hz 0x00 |
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#define MODR_20Hz 0x01 |
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#define MODR_50Hz 0x02 |
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#define MODR_100Hz 0x03 |
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#define MFS_14BITS 0 // 0.6 mG per LSB |
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#define MFS_16BITS 1 // 0.15 mG per LSB |
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/* Data Structures */ |
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typedef int32_t lis2mdl_status_t; |
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typedef struct lis2mdl_init_s |
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{ |
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uint8_t m_odr; |
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} lis2mdl_init_t; |
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typedef struct lis2mdl_s |
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{ |
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lis2mdl_init_t *init; |
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uint8_t i2c_addr; |
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delay_func_t delay_func; |
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i2c_read_func_t i2c_read_func; |
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i2c_write_func_t i2c_write_func; |
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} lis2mdl_t; |
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/* Function Prototypes */ |
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lis2mdl_status_t lis2mdl_init(lis2mdl_t *lis2mdl, lis2mdl_init_t *init); |
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void lis2mdl_set_delay_cb(lis2mdl_t *lis2mdl, delay_func_t delay_func); |
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void lis2mdl_set_i2c_cbs(lis2mdl_t *lis2mdl, i2c_read_func_t i2c_read_func, |
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i2c_write_func_t i2c_write_func, uint8_t dev_addr); |
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lis2mdl_status_t lis2mdl_config(lis2mdl_t *lis2mdl); |
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#endif
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