#include <modm/driver/inertial/lis3mdl.hpp>

Inheritance diagram for modm::lis3mdl< I2cMaster >:

Public Typedefs
typedef modm::Configuration< Control1_t, DataRate, Bit6\|Bit5\|Bit4\|Bit3\|Bit2\|Bit1 >	DataRate_t

typedef modm::Configuration< Control1_t, HighSpeedModes, Bit2\|Bit1, 4 >	HighSpeedModes_t

typedef modm::Configuration< Control2_t, Scale, Bit6\|Bit5 >	Scale_t

typedef modm::Configuration< Control3_t, OperationMode, Bit1\|Bit0 >	OperationMode_t

typedef modm::Configuration< Control4_t, HighSpeedModes, Bit2\|Bit1, 2 >	HighSpeedModesZ_t

Public Types
enum	Register : uint8_t { Register::WHO_AM_I = 0x0F, Register::CTRL1 = 0x20, Register::CTRL2 = 0x21, Register::CTRL3 = 0x22, Register::CTRL4 = 0x23, Register::CTRL5 = 0x24, Register::STATUS = 0x27, Register::OUT_X_L = 0x28, Register::OUT_X_H = 0x29, Register::OUT_Y_L = 0x2A, Register::OUT_Y_H = 0x2B, Register::OUT_Z_L = 0x2C, Register::OUT_Z_H = 0x2D, Register::OUT_TEMP_L = 0x2E, Register::OUT_TEMP_H = 0x2F, Register::INT_CFG = 0x30, Register::INT_SRC = 0x31, Register::INT_THS_L = 0x33, Register::INT_THS_H = 0x34 }

enum	Control1 : uint8_t { Control1::TEMP_EN = Bit7, Control1::OM1 = Bit6, Control1::OM0 = Bit5, Control1::DO2 = Bit4, Control1::DO1 = Bit3, Control1::DO0 = Bit2, Control1::FAST_ODR = Bit1, Control1::ST = Bit0 }
	Control register 1. More...

enum	DataRate : uint8_t { DataRate::Rate_0_625_Hz = 0x00, DataRate::Rate_1_25_Hz = 0x04, DataRate::Rate_2_5_Hz = 0x80, DataRate::Rate_5_Hz = 0xC0, DataRate::Rate_10_Hz = 0x10, DataRate::Rate_20_Hz = 0x14, DataRate::Rate_40_Hz = 0x18, DataRate::Rate_80_Hz = 0x1C, DataRate::Rate_115_Hz = 0x62, DataRate::Rate_300_Hz = 0x42, DataRate::Rate_569_Hz = 0x22, DataRate::Rate_1000_Hz = 0x02 }
	Output Data Rates for the Magnetometer sensor. More...

enum	HighSpeedModes : uint8_t { LowPower = 0x00, MediumPerformance = 0x01, HighPerformance = 0x02, UltraHighPerformance = 0x03 }
	Operation mode to be used with high speed data rates (>80 Hz)

enum	Control2 : uint8_t { Control2::FS1 = Bit6, Control2::FS0 = Bit5, Control2::REBOOT = Bit3, Control2::SOFT_RST = Bit2 }
	Control Register 2. More...

enum	Scale : uint8_t { Scale::Scale_4_gauss = 0x00, Scale::Scale_8_gauss = 0x40, Scale::Scale_12_gauss = 0x80, Scale::Scale_16_gauss = 0xC0 }
	Full scale of the magnetometer data output. More...

enum	Control3 : uint8_t { Control3::LP = Bit5, Control3::SIM = Bit2, Control3::MD_1 = Bit1, Control3::MD_0 = Bit0 }
	Control Register 3. More...

enum	OperationMode : uint8_t { OperationMode::Off = 0x02, OperationMode::Continous = 0x00, OperationMode::Single = 0x01 }

enum	Control4 : uint8_t { Control4::OMZ_1 = Bit3, Control4::OMZ_0 = Bit2, Control4::BLE = Bit1 }
	Control Register 4. More...

enum	Control5 : uint8_t { Control5::FAST_READ = Bit7, Control5::BDU = Bit6 }
	Control Register 5. More...

enum	Status : uint8_t { Status::ZYXOR = Bit7, Status::ZOR = Bit6, Status::YOR = Bit5, Status::XOR = Bit4, Status::ZYXDA = Bit3, Status::ZDA = Bit2, Status::YDA = Bit1, Status::XDA = Bit0 }
	STATUS is read-only. More...

Public Member Functions
	MODM_FLAGS8 (Control1)

	MODM_FLAGS8 (Control2)

	MODM_FLAGS8 (Control3)

	MODM_FLAGS8 (Control4)

	MODM_FLAGS8 (Control5)

	MODM_FLAGS8 (Status)

	Lis3mdl (uint8_t address=0x1C)
	Construct a driver object for the LIS3MDL chip. More...

modm::ResumableResult< bool >	configure (DataRate rate, Scale scale)
	Configures the sensor This method will setup the data rate and the scale with which the sensor will sample the data. More...

modm::ResumableResult< bool >	setMode (OperationMode mode)
	Sets the mode of the sensor. More...

Scale	getScale ()
	Get the currently configured scale for the magnetometer. More...

modm::ResumableResult< bool >	readMagnetometerRaw (Vector3i &data)
	Reads out the raw magnetometer into a given vector object. More...

modm::ResumableResult< bool >	readMagnetometer (Vector3f &data)
	Reads out the scaled magnetometer data in gauss. More...

void	attachConfigurationHandler (I2c::ConfigurationHandler handler)

modm::ResumableResult< bool >	ping ()

modm::ResumableResult< bool >	read (uint8_t *buffer, std::size_t size)
	Starts a write transaction and waits until finished.

void	setAddress (uint8_t address)

modm::ResumableResult< bool >	write (const uint8_t *buffer, std::size_t size)
	Starts a write transaction and waits until finished.

modm::ResumableResult< bool >	writeRead (const uint8_t writeBuffer, std::size_t writeSize, uint8_t readBuffer, std::size_t readSize)
	Starts a write-read transaction and waits until finished.

Protected Member Functions
modm::ResumableResult< ReturnType > resumable	function (...)

int8_t	getResumableDepth () const

bool	isResumableRunning () const

bool	isTransactionRunning ()

modm::ResumableResult< bool >	read (uint8_t reg, uint8_t &value)
	read a 8bit value

modm::ResumableResult< bool >	read (uint8_t reg, uint8_t *buffer, uint8_t length)
	read multiple 8bit values from a start register

modm::ResumableResult< bool >	runTransaction ()
	Starts our own transaction and waits until finished.

bool	startRead (uint8_t *buffer, std::size_t size)
	Configures the transaction with a read operation and starts it.

bool	startTransaction ()
	Starts the transaction with our own transaction object.

bool	startTransaction (modm::I2cTransaction *transaction)
	Starts the transaction with a separate transaction object.

bool	startWrite (const uint8_t *buffer, std::size_t size)
	Configures the transaction with a write operation and starts it.

bool	startWriteRead (const uint8_t writeBuffer, std::size_t writeSize, uint8_t readBuffer, std::size_t readSize)
	Configures the transaction with a write/read operation and starts it.

void	stopResumable ()
	Force all resumable functions to stop running at the current nesting level.

bool	wasTransactionSuccessful ()

modm::ResumableResult< bool >	write (uint8_t reg, uint8_t value)
	write a 8bit value

Protected Attributes
I2cWriteReadTransaction	transaction

Static Protected Attributes
static constexpr float	convTable [4]

Detailed Description

template<class I2cMaster>
class modm::lis3mdl< I2cMaster >

Template Parameters

I2cMaster I2cMaster interface

Author: Benjamin Carrick

Member Enumeration Documentation

template<class I2cMaster >

enum modm::lis3mdl::Control1 : uint8_t

strong

Control register 1.

Enum Values	Documentation
TEMP_EN	Temperature sensor enable.
OM1	Operation mode bit 1.
OM0	Operation mode bit 0.
DO2	Data output rate bit 2.
DO1	Data output rate bit 1.
DO0	Data output rate bit 0.
FAST_ODR	Fast data acquisition (for rates higher than 80Hz)
ST	Self test enable.

template<class I2cMaster >

enum modm::lis3mdl::Control2 : uint8_t

strong

Control Register 2.

Enum Values	Documentation
FS1	Full-Scale configuration bit 1.
FS0	Full-Scale configuration bit 0.
REBOOT	Reboot memory content.
SOFT_RST	Soft reset.

template<class I2cMaster >

enum modm::lis3mdl::Control3 : uint8_t

strong

Control Register 3.

Enum Values	Documentation
LP	Low Power Mode Enable.
SIM	SPI Interface Mode (0 = 4 Wire(default), 1 = 3 Wire)
MD_1	Sensor Operation Mode bit 1.
MD_0	Sensor Operation Mode bit 0.

template<class I2cMaster >

enum modm::lis3mdl::Control4 : uint8_t

strong

Control Register 4.

Enum Values	Documentation
OMZ_1	Operation Mode for z axis bit 1.
OMZ_0	Operation Mode for z axis bit 1.
BLE	Bit order of the data output (0 = little endian, 1 = big endian)

template<class I2cMaster >

enum modm::lis3mdl::Control5 : uint8_t

strong

Control Register 5.

Enum Values	Documentation
FAST_READ	Fast read enable.
BDU	Blocking read.

template<class I2cMaster >

enum modm::lis3mdl::DataRate : uint8_t

strong

Output Data Rates for the Magnetometer sensor.

Enum Values	Documentation
Rate_0_625_Hz	0.625 Hz
Rate_1_25_Hz	1.25 Hz
Rate_2_5_Hz	2.5 Hz
Rate_5_Hz	5 Hz
Rate_10_Hz	10 Hz
Rate_20_Hz	20 Hz
Rate_40_Hz	40 Hz
Rate_80_Hz	80 Hz
Rate_115_Hz	115 Hz
Rate_300_Hz	300 Hz
Rate_569_Hz	560 Hz
Rate_1000_Hz	1000 Hz

template<class I2cMaster >

enum modm::lis3mdl::OperationMode : uint8_t

strong

Enum Values	Documentation
Off	Power down mode.
Continous	Continous conversion mode.
Single	Single shot mode.

template<class I2cMaster >

enum modm::lis3mdl::Register : uint8_t

strong

Enum Values	Documentation
WHO_AM_I	Contains 0x3D.
CTRL1	Control register 1: rw.
CTRL2	Control register 2: rw.
CTRL3	Control register 3: rw.
CTRL4	Control register 4: rw.
CTRL5	Control register 5: rw.
STATUS	Status Data Register.
OUT_X_L	Angular rates output x-axis register low.
OUT_X_H	Angular rates output x-axis register high.
OUT_Y_L	Angular rates output y-axis register low.
OUT_Y_H	Angular rates output y-axis register high.
OUT_Z_L	Angular rates output z-axis register low.
OUT_Z_H	Angular rates output z-axis register high.
OUT_TEMP_L	Temperature output register low.
OUT_TEMP_H	Temperature output register high.
INT_CFG	Interrupt Configuration Register.
INT_SRC	Interrupt Source Register.
INT_THS_L	Interrupt Threshold Value Low.
INT_THS_H	Interrupt Threshold Value High.

template<class I2cMaster >

enum modm::lis3mdl::Scale : uint8_t

strong

Full scale of the magnetometer data output.

Enum Values	Documentation
Scale_4_gauss	4 gauss
Scale_8_gauss	8 gauss
Scale_12_gauss	12 gauss
Scale_16_gauss	16 gauss

template<class I2cMaster >

enum modm::lis3mdl::Status : uint8_t

strong

STATUS is read-only.

Enum Values	Documentation
ZYXOR	Overrun in Z,Y and X axis.
ZOR	Overrun in Z axis.
YOR	Overrun in Y axis.
XOR	Overrun in X axis.
ZYXDA	New data available in Z,Y and X axis.
ZDA	New data available in Z axis.
YDA	New data available in Y axis.
XDA	New data available in X axis.

Member Function Documentation

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::attachConfigurationHandler ( I2c::ConfigurationHandler handler )

inheritedinline

Attaches a configuration handler, which is called before a transaction, whenever the configuration has to be changed.

template<class I2cMaster >

modm::ResumableResult<bool> modm::lis3mdl< I2cMaster >::configure	(	DataRate	rate,
		Scale	scale
	)

Configures the sensor This method will setup the data rate and the scale with which the sensor will sample the data.

Parameters

rate	The sample rate for the sensor
scale	The full scale of the output data

Returns: Whether the configuration was successful

modm::ResumableResult< ReturnType > resumable modm::NestedResumable< 1 >::function ( ... )

inherited

Run the resumable function.

You need to implement this method in you subclass yourself.

Returns: >NestingError if still running, <=NestingError if it has finished.

int8_t modm::NestedResumable< 1 >::getResumableDepth ( ) const

inheritedinline

Returns: the nesting depth in the current resumable function, or -1 if called outside any resumable function

template<class I2cMaster >

Scale modm::lis3mdl< I2cMaster >::getScale ( )

Get the currently configured scale for the magnetometer.

Returns: The currently configured data scale

bool modm::NestedResumable< 1 >::isResumableRunning ( ) const

inheritedinline

Returns: true if a resumable function is running at the current nesting level, else false

bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::isTransactionRunning ( )

inheritedinlineprotected

Returns: true when transaction is busy.

template<class I2cMaster >

modm::lis3mdl< I2cMaster >::Lis3mdl ( uint8_t address = 0x1C )

Construct a driver object for the LIS3MDL chip.

Parameters

address The I2C device address of the sensor

modm::ResumableResult<bool> modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::ping ( )

inheritedinline

Return Values

true	device responds to address
false	no device with address found

template<class I2cMaster >

modm::ResumableResult<bool> modm::lis3mdl< I2cMaster >::readMagnetometer ( Vector3f & data )

Reads out the scaled magnetometer data in gauss.

Parameters

data	A reference to a Vector3f object the data will be written to

Returns: Whether the sensor data have been read

template<class I2cMaster >

modm::ResumableResult<bool> modm::lis3mdl< I2cMaster >::readMagnetometerRaw ( Vector3i & data )

Reads out the raw magnetometer into a given vector object.

Parameters

data	A reference to a Vector3i object the data will be written to

Returns: Whether the sensor data have been read

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::setAddress ( uint8_t address )

inheritedinline

Sets a new address of the slave device.

Parameters

address the slave address not yet shifted left (address < 128).

template<class I2cMaster >

modm::ResumableResult<bool> modm::lis3mdl< I2cMaster >::setMode ( OperationMode mode )

Sets the mode of the sensor.

Parameters

mode	The mode on which the magnetometer operates

Returns: Whether the mode has been set

bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::wasTransactionSuccessful ( )

inheritedinlineprotected

Returns: true when transaction did not return an error.

Member Data Documentation

template<class I2cMaster >

constexpr float modm::lis3mdl< I2cMaster >::convTable[4]

staticprotectedconstexpr

Initial value:

{
                                                0.00012207f,  
                                                0.000244141f, 
                                                0.000366211f, 
                                                0.000488281f  
                                                }

The documentation for this class was generated from the following file:

lis3mdl.hpp

Public Typedefs

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

template<class I2cMaster> class modm::lis3mdl< I2cMaster >

Member Enumeration Documentation

Member Function Documentation

Member Data Documentation

template<class I2cMaster>
class modm::lis3mdl< I2cMaster >