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74 lines
2.3 KiB
74 lines
2.3 KiB
/* 09/23/2017 Copyright Tlera Corporation |
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Created by Kris Winer |
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This sketch uses SDA/SCL on pins 21/20 (Butterfly default), respectively, and it uses the Butterfly STM32L433CU Breakout Board. |
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The LIS2MDL is a low power magnetometer, here used as 3 DoF in a 9 DoF absolute orientation solution. |
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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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#include "Arduino.h" |
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#include <Wire.h> |
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//Register map for LIS2MDL' |
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// http://www.st.com/content/ccc/resource/technical/document/datasheet/group3/29/13/d1/e0/9a/4d/4f/30/DM00395193/files/DM00395193.pdf/jcr:content/translations/en.DM00395193.pdf |
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#define LIS2MDL_OFFSET_X_REG_L 0x45 |
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#define LIS2MDL_OFFSET_X_REG_H 0x46 |
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#define LIS2MDL_OFFSET_Y_REG_L 0x47 |
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#define LIS2MDL_OFFSET_Y_REG_H 0x48 |
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#define LIS2MDL_OFFSET_Z_REG_L 0x49 |
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#define LIS2MDL_OFFSET_Z_REG_H 0x4A |
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#define LIS2MDL_WHO_AM_I 0x4F |
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#define LIS2MDL_CFG_REG_A 0x60 |
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#define LIS2MDL_CFG_REG_B 0x61 |
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#define LIS2MDL_CFG_REG_C 0x62 |
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#define LIS2MDL_INT_CTRL_REG 0x63 |
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#define LIS2MDL_INT_SOURCE_REG 0x64 |
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#define LIS2MDL_INT_THS_L_REG 0x65 |
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#define LIS2MDL_INT_THS_H_REG 0x66 |
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#define LIS2MDL_STATUS_REG 0x67 |
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#define LIS2MDL_OUTX_L_REG 0x68 |
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#define LIS2MDL_OUTX_H_REG 0x69 |
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#define LIS2MDL_OUTY_L_REG 0x6A |
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#define LIS2MDL_OUTY_H_REG 0x6B |
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#define LIS2MDL_OUTZ_L_REG 0x6C |
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#define LIS2MDL_OUTZ_H_REG 0x6D |
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#define LIS2MDL_TEMP_OUT_L_REG 0x6E |
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#define LIS2MDL_TEMP_OUT_H_REG 0x6F |
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#define LIS2MDL_ADDRESS 0x1E |
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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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class LIS2MDL |
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{ |
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public: |
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LIS2MDL(uint8_t intPin); |
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uint8_t getChipID(); |
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void init(uint8_t MODR); |
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void offsetBias(float * dest1, float * dest2); |
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void reset(); |
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void selfTest(); |
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uint8_t status(); |
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void readData(int16_t * destination); |
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int16_t readTemperature(); |
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void I2Cscan(); |
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void writeByte(uint8_t address, uint8_t subAddress, uint8_t data); |
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uint8_t readByte(uint8_t address, uint8_t subAddress); |
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void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest); |
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private: |
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uint8_t _intPin; |
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float _mRes; |
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}; |
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#endif
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