From 50175f60180fa056c579f6daa34fe03ab4460c35 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 issue. Still to be double checked
---
.vscode/settings.json | 7 +++-
src/shared/sensors/LIS2MDL/LIS2MDL.cpp | 50 +++++++++++++++++---------
2 files changed, 39 insertions(+), 18 deletions(-)
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 68d8988bc..d9a4771ae 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -168,6 +168,8 @@
"FOVR",
"Gatttr",
"getdetahstate",
+ "Ghirardini",
+ "Giulia",
"GNSS",
"Gpio",
"GPIOA",
@@ -231,6 +233,9 @@
"NMEKF",
"nord",
"NVIC",
+ "OUTX",
+ "OUTY",
+ "OUTZ",
"peripehral",
"Piazzolla",
"PINC",
@@ -303,4 +308,4 @@
],
"cSpell.language": "en",
"cSpell.enabled": true
-}
+}
\ No newline at end of file
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
index c17d3417f..73986dca2 100644
--- a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
+++ b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
@@ -48,7 +48,7 @@ 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
- // must be disabled.
+ // disabled. selfTest bit still not enabled.
SPITransaction spi(mSlave);
spi.writeRegister(CFG_REG_C, (1 << 2) | (1 << 5));
}
@@ -93,13 +93,21 @@ bool LIS2MDL::selfTest()
float avgX = 0.f, avgY = 0.f, avgZ = 0.f;
+ // Set configuration for selfTest procedure. selfTest still not enabled
{
- // selfTest is enabled
SPITransaction spi(mSlave);
- uint16_t temp = spi.readRegister(CFG_REG_C) | (1 << 1);
- spi.writeRegister(CFG_REG_C, temp);
+ // CFG_REG_A: 10001100
+ // continuous mode, odr = 100 Hz, enable temperature compensation
+ spi.writeRegister(CFG_REG_A, 140);
+ // CFG_REG_B: 00000010
+ // 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
+ spi.writeRegister(CFG_REG_C, spi.readRegister(CFG_REG_C) | (1 << 4));
}
- miosix::Thread::sleep(1);
+ miosix::Thread::sleep(20);
for (int i = 0; i < NUM_SAMPLES; ++i)
{
@@ -115,11 +123,16 @@ bool LIS2MDL::selfTest()
avgY /= NUM_SAMPLES;
avgZ /= NUM_SAMPLES;
+ {
+ // selfTest is enabled
+ SPITransaction spi(mSlave);
+ spi.writeRegister(CFG_REG_C, spi.readRegister(CFG_REG_C) | (1 << 1));
+ }
+ miosix::Thread::sleep(60);
+
// Deltas: absolute difference between the values measured before and after
float deltas[3];
- miosix::Thread::sleep(SLEEP_TIME);
-
LIS2MDLData lastData = sampleImpl();
deltas[0] = std::abs(lastData.magneticFieldX - avgX);
deltas[1] = std::abs(lastData.magneticFieldY - avgY);
@@ -127,17 +140,10 @@ bool LIS2MDL::selfTest()
bool passed = true;
for (int j = 0; j < 3; ++j)
- if (deltas[j] < (deltaRange[j][0] - t) ||
+ if (deltas[j] < (deltaRange[j][0] - t) &&
deltas[j] > (deltaRange[j][1] + t))
passed = false;
- {
- // Disable selfTest
- SPITransaction spi(mSlave);
- uint16_t temp = spi.readRegister(CFG_REG_C) & ~(1 << 1);
- spi.writeRegister(CFG_REG_C, temp);
- }
-
// reset configuration, then return
applyConfig(mConfig);
@@ -147,6 +153,15 @@ bool LIS2MDL::selfTest()
return false;
}
+ {
+ // Disable 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)));
+ }
+
return true;
}
@@ -175,8 +190,9 @@ LIS2MDLData LIS2MDL::sampleImpl()
}
SPITransaction spi(mSlave);
-
- if (!spi.readRegister(STATUS_REG))
+ // check STATUS_REG to see if new data is available. If Zyxda = 1 (true) a
+ // new set of data is available.
+ if (!(spi.readRegister(STATUS_REG) | (1 << 4)))
{
lastError = NO_NEW_DATA;
return lastSample;
--
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