LIS3MDL.h

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/* Copyright (c) 2020 Skyward Experimental Rocketry
 * Author: Riccardo Musso
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <diagnostic/PrintLogger.h>
#include <drivers/spi/SPIDriver.h>
#include <sensors/Sensor.h>
 
#include "LIS3MDLData.h"
 
namespace Boardcore
{
 
class LIS3MDL : public Sensor<LIS3MDLData>
{
public:
    enum ODR : uint8_t
    {
        ODR_0_625_HZ = 0x00,  
        ODR_1_25_HZ  = 0x04,  
        ODR_2_5_HZ   = 0x08,  
        ODR_5_HZ     = 0x0c,  
        ODR_10_HZ    = 0x10,  
        ODR_20_HZ    = 0x14,  
        ODR_40_HZ    = 0x18,  
        ODR_80_HZ    = 0x1c,  
 
        ODR_155_HZ  = 0x62,  
        ODR_300_HZ  = 0x42,  
        ODR_560_HZ  = 0x22,  
        ODR_1000_HZ = 0x02,  
 
        FAST_ODR_BIT = 0x02,
    };
 
    enum FullScale : uint8_t
    {
        FS_4_GAUSS  = 0x00,  
        FS_8_GAUSS  = 0x20,  
        FS_12_GAUSS = 0x40,  
        FS_16_GAUSS = 0x60,  
    };
 
    enum OperativeMode : uint8_t
    {
        OM_LOW_POWER        = 0x0,
        OM_MEDIUM_POWER     = 0x1,
        OM_HIGH_POWER       = 0x2,
        OM_ULTRA_HIGH_POWER = 0x3,
    };
 
    struct Config
    {
        Config() {}
 
        FullScale scale      = FS_8_GAUSS;
        ODR odr              = ODR_40_HZ;
        OperativeMode xyMode = OM_ULTRA_HIGH_POWER;
        OperativeMode zMode  = OM_ULTRA_HIGH_POWER;
 
        unsigned temperatureDivider = 0;
 
        bool doBlockDataUpdate = false;
    };
 
    LIS3MDL(SPIBusInterface& bus, miosix::GpioPin pin,
            SPIBusConfig spiConfig = {}, Config config = {});
 
    bool init() override;
 
    bool selfTest() override;
 
    bool applyConfig(Config config);
 
protected:
    LIS3MDLData sampleImpl() override;
 
private:
    void updateUnit(FullScale fs);
 
    SPISlave slave;
    Config configuration;
 
    unsigned tempCounter = 0;
    bool isInitialized   = false;
    float currentUnit    = 0;
 
    enum Registers : uint8_t
    {
        WHO_AM_I = 0x0f,
 
        CTRL_REG1 = 0x20,
        CTRL_REG2 = 0x21,
        CTRL_REG3 = 0x22,
        CTRL_REG4 = 0x23,
        CTRL_REG5 = 0x24,
 
        STATUS_REG = 0x27,
        OUT_X_L    = 0x28,
        OUT_X_H    = 0x29,
        OUT_Y_L    = 0x2a,
        OUT_Y_H    = 0x2b,
        OUT_Z_L    = 0x2c,
        OUT_Z_H    = 0x2d,
 
        TEMP_OUT_L = 0x2e,
        TEMP_OUT_H = 0x2f,
 
        INT_CFG   = 0x30,
        INT_THS_L = 0x32,
        INT_THS_H = 0x33,
    };
 
    static constexpr uint32_t WHO_AM_I_VALUE       = 0x3d;
    static constexpr uint32_t CONTINUOS_CONVERSION = 0x0;
 
    static constexpr uint32_t REFERENCE_TEMPERATURE = 25;
    static constexpr float DEG_PER_LSB              = 0.125;
 
    static constexpr float GAUSS_PER_LSB_FS_4  = 0.000146156;
    static constexpr float GAUSS_PER_LSB_FS_8  = 0.000292312;
    static constexpr float GAUSS_PER_LSB_FS_12 = 0.000438404;
    static constexpr float GAUSS_PER_LSB_FS_16 = 0.000584454;
 
    static constexpr uint32_t ENABLE_TEMPERATURE = 1 << 7;
    static constexpr uint32_t ENABLE_SELF_TEST   = 1 << 0;
    static constexpr uint32_t ENABLE_BDU         = 1 << 6;
 
    static constexpr uint32_t ENABLE_INT_PIN = 1 << 0;
    static constexpr uint32_t ENABLE_INT_X   = 1 << 7;
    static constexpr uint32_t ENABLE_INT_Y   = 1 << 6;
    static constexpr uint32_t ENABLE_INT_Z   = 1 << 5;
 
    static constexpr uint8_t INCREMENT_REG_FLAG = 0x40;
 
    PrintLogger logger = Logging::getLogger("lis3mdl");
};
 
}  // namespace Boardcore