From 4165fd5927be15aaeea19826fa3512b5646297bc Mon Sep 17 00:00:00 2001
From: Giulia <giulia.ghirardini@skywarder.eu>
Date: Fri, 17 Mar 2023 17:25:37 +0100
Subject: [PATCH] [LIS2MDL] Fixed selfTest register issue and added some
comments
---
src/shared/sensors/LIS2MDL/LIS2MDL.cpp | 22 ++++++++--------------
1 file changed, 8 insertions(+), 14 deletions(-)
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
index c2997de77..7d92b0163 100644
--- a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
+++ b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
@@ -46,9 +46,7 @@ bool LIS2MDL::init()
}
{
- // Important! It is imperative to get the 4WSPI enabled (set to the
- // value of 1) due to the four-wire connection for SPI and the I2C_DIS
- // disabled. selfTest bit still not enabled.
+ // The 4WSPI enabled, I2C_DIS is disabled and selfTest is disabled.
SPITransaction spi(mSlave);
spi.writeRegister(CFG_REG_C, (1 << 2) | (1 << 5));
}
@@ -97,15 +95,11 @@ bool LIS2MDL::selfTest()
// Set configuration for selfTest procedure. selfTest still not enabled
{
SPITransaction spi(mSlave);
- // CFG_REG_A: 10001100
- // continuous mode, odr = 100 Hz, enable temperature compensation
+ // Continuous mode, odr = 100 Hz, enable temperature compensation
spi.writeRegister(CFG_REG_A, 140);
- // CFG_REG_B: 00000010
- // offset cancellation
+ // Offset cancellation
spi.writeRegister(CFG_REG_B, spi.readRegister(CFG_REG_B) | (1 << 1));
- // CFG_REG_C: 001(1)0110
- // BDU enabled. only add the value in parenthesis otherwise overwrite
- // data
+ // BDU enabled
spi.writeRegister(CFG_REG_C, spi.readRegister(CFG_REG_C) | (1 << 4));
}
miosix::Thread::sleep(20);
@@ -158,8 +152,9 @@ bool LIS2MDL::selfTest()
SPITransaction spi(mSlave);
spi.writeRegister(CFG_REG_C, spi.readRegister(CFG_REG_C) & ~(1 << 1));
// Set idle mode
- spi.writeRegister(CFG_REG_A,
- spi.readRegister(CFG_REG_A) & ~((1 << 0) | (1 << 1)));
+ uint16_t reg = spi.readRegister(CFG_REG_A);
+ reg |= 0b11;
+ spi.writeRegister(CFG_REG_A, reg);
}
return true;
@@ -190,8 +185,7 @@ LIS2MDLData LIS2MDL::sampleImpl()
}
SPITransaction spi(mSlave);
- // check STATUS_REG to see if new data is available. If Zyxda = 1 (true) a
- // new set of data is available.
+ // Check STATUS_REG (Zyxda) to see if new data is available.
if (!(spi.readRegister(STATUS_REG) | (1 << 4)))
{
lastError = NO_NEW_DATA;
--
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