Adafruit_LIS3MDL.h

Go to the documentation of this file.

#ifndef ADAFRUIT_LIS3MDL_H
#define ADAFRUIT_LIS3MDL_H

#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_SPIDevice.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

/*=========================================================================
I2C ADDRESS/BITS
-----------------------------------------------------------------------*/
#define LIS3MDL_I2CADDR_DEFAULT (0x1C) 
/*=========================================================================*/

#define LIS3MDL_REG_WHO_AM_I 0x0F  
#define LIS3MDL_REG_CTRL_REG1 0x20 
#define LIS3MDL_REG_CTRL_REG2 0x21 
#define LIS3MDL_REG_CTRL_REG3 0x22 
#define LIS3MDL_REG_CTRL_REG4 0x23 
#define LIS3MDL_REG_STATUS 0x27    
#define LIS3MDL_REG_OUT_X_L 0x28   
#define LIS3MDL_REG_INT_CFG 0x30   
#define LIS3MDL_REG_INT_THS_L 0x32 


typedef enum {
  LIS3MDL_RANGE_4_GAUSS = 0b00,  
  LIS3MDL_RANGE_8_GAUSS = 0b01,  
  LIS3MDL_RANGE_12_GAUSS = 0b10, 
  LIS3MDL_RANGE_16_GAUSS = 0b11, 
} lis3mdl_range_t;

typedef enum {
  LIS3MDL_DATARATE_0_625_HZ = 0b0000, 
  LIS3MDL_DATARATE_1_25_HZ = 0b0010,  
  LIS3MDL_DATARATE_2_5_HZ = 0b0100,   
  LIS3MDL_DATARATE_5_HZ = 0b0110,     
  LIS3MDL_DATARATE_10_HZ = 0b1000,    
  LIS3MDL_DATARATE_20_HZ = 0b1010,    
  LIS3MDL_DATARATE_40_HZ = 0b1100,    
  LIS3MDL_DATARATE_80_HZ = 0b1110,    
  LIS3MDL_DATARATE_155_HZ = 0b0001,   
  LIS3MDL_DATARATE_300_HZ = 0b0011,   
  LIS3MDL_DATARATE_560_HZ = 0b0101,   
  LIS3MDL_DATARATE_1000_HZ = 0b0111,  
} lis3mdl_dataRate_t;

typedef enum {
  LIS3MDL_LOWPOWERMODE = 0b00,  
  LIS3MDL_MEDIUMMODE = 0b01,    
  LIS3MDL_HIGHMODE = 0b10,      
  LIS3MDL_ULTRAHIGHMODE = 0b11, 
} lis3mdl_performancemode_t;

typedef enum {
  LIS3MDL_CONTINUOUSMODE = 0b00, 
  LIS3MDL_SINGLEMODE = 0b01,     
  LIS3MDL_POWERDOWNMODE = 0b11,  
} lis3mdl_operationmode_t;

class Adafruit_LIS3MDL : public Adafruit_Sensor {
public:
  Adafruit_LIS3MDL(void);
  bool begin_I2C(uint8_t i2c_addr = LIS3MDL_I2CADDR_DEFAULT,
                 TwoWire *wire = &Wire);
  bool begin_SPI(uint8_t cs_pin, SPIClass *theSPI = &SPI,
                 uint32_t frequency = 1000000);
  bool begin_SPI(int8_t cs_pin, int8_t sck_pin, int8_t miso_pin,
                 int8_t mosi_pin, uint32_t frequency = 1000000);

  void reset(void);

  void setPerformanceMode(lis3mdl_performancemode_t mode);
  lis3mdl_performancemode_t getPerformanceMode(void);
  void setOperationMode(lis3mdl_operationmode_t mode);
  lis3mdl_operationmode_t getOperationMode(void);
  void setDataRate(lis3mdl_dataRate_t dataRate);
  lis3mdl_dataRate_t getDataRate(void);
  void setRange(lis3mdl_range_t range);
  lis3mdl_range_t getRange(void);
  void setIntThreshold(uint16_t value);
  uint16_t getIntThreshold(void);
  void configInterrupt(bool enableX, bool enableY, bool enableZ, bool polarity,
                       bool latch, bool enableInt);
  void selfTest(bool flag);

  void read();
  bool getEvent(sensors_event_t *event);
  void getSensor(sensor_t *sensor);

  // Arduino compatible API
  int readMagneticField(float &x, float &y, float &z);
  float magneticFieldSampleRate(void);
  int magneticFieldAvailable(void);

  int16_t x,     
      y,         
      z;         
  float x_gauss, 
      y_gauss,   
      z_gauss;   

  lis3mdl_range_t rangeBuffered = LIS3MDL_RANGE_4_GAUSS;

private:
  bool _init(void);

  Adafruit_I2CDevice *i2c_dev = NULL;
  Adafruit_SPIDevice *spi_dev = NULL;

  int32_t _sensorID;
};

#endif