From 943fa0ba9af092438204e59b041e93b8c4c2099e Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Fri, 17 Mar 2023 17:25:37 +0100
Subject: [PATCH] [LIS2MDL] Updated comments and removed interrupt signals
generation functionality
---
src/shared/sensors/LIS2MDL/LIS2MDL.h | 73 +++--------------
src/shared/sensors/LIS3MDL/LIS3MDL.cpp | 34 +-------
src/shared/sensors/LIS3MDL/LIS3MDL.h | 105 ++++++-------------------
3 files changed, 39 insertions(+), 173 deletions(-)
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDL.h b/src/shared/sensors/LIS2MDL/LIS2MDL.h
index 03110470f..15cc0136b 100644
--- a/src/shared/sensors/LIS2MDL/LIS2MDL.h
+++ b/src/shared/sensors/LIS2MDL/LIS2MDL.h
@@ -32,27 +32,19 @@ namespace Boardcore
{
/**
- * Driver for LIS2MDL, a three-axis magnetic sensor.
+ * @brief Driver for LIS2MDL, a three-axis magnetic sensor.
*/
class LIS2MDL : public Sensor<LIS2MDLData>
{
public:
- /**
- * @brief Constants for Output Data Rate configuration.
- *
- */
enum ODR : uint8_t
{
- ODR_10_HZ = 0x00, //!< 10 Hz
- ODR_20_HZ = 0x01, //!< 20 Hz
- ODR_50_HZ = 0x02, //!< 50 Hz
- ODR_100_HZ = 0x03, //!< 100 Hz
+ ODR_10_HZ = 0x00, ///< 10 Hz
+ ODR_20_HZ = 0x01, ///< 20 Hz
+ ODR_50_HZ = 0x02, ///< 50 Hz
+ ODR_100_HZ = 0x03, ///< 100 Hz
};
- /**
- * @brief Mode of operation constants.
- *
- */
enum OperativeMode : uint8_t
{
MD_CONTINUOUS = 0x00,
@@ -62,65 +54,26 @@ public:
};
/**
- * @brief Sensor configuration
+ * @brief Sensor configuration.
*
- * This struct contains all the settings the user
- * is able to modify with the help of the driver.
- * They are applied in the constructor of LIS2MDL class
+ * This struct contains all the settings the user is able to modify with the
+ * help of the driver. They are applied in the constructor of LIS2MDL class
* and on each call of LIS2MDL::applyConfig()
*/
struct Config
{
Config() {}
- /**
- * @brief Data rate configuration
- *
- * Default: 10 Hz
- *
- * @see LIS2MDL::ODR
- */
- ODR odr = ODR_10_HZ;
- /**
- * @brief Mode of operation of the device
- * Default value: 11 - Idle mode 2
- *
- * @see LIS2MDL::OperativeMode
- */
+ ODR odr = ODR_10_HZ;
OperativeMode deviceMode = MD_IDLE1;
/**
- * Enables temperature sensor.
- * Default: true
- */
- bool enableTemperature = true;
-
- /**
- * @brief Sets the value of tempDivider.
+ * @brief Divide the temperature sampling rate.
*
- * With the given value you can instruct the driver to update
- * the temperature according to a different rate.
- * The temperature will be updated only once in `tempDivider` calls
- * to sampleImpl(), so for example:
- * 2 -> updated half the times,
- * 1 -> updated every time.
- */
- unsigned temperatureDivider = 1;
-
- /**
- * @brief Enables interrupts
- *
- * Whether are interrupts enabled respectively on the x, y and z axis.
- * If it is set to true on at least one axis, the interrupts will be
- * generated otherwise, they will be completely disabled by the driver.
- */
- bool enableInterrupt[3] = {false, false, false};
-
- /**
- * Absolute value of the threshold that triggers the interrupt
- * (expressed in gauss).
+ * This is used to limit the sampling of the temperature, use 0 to
+ * disable it completely.
*/
- float threshold = 0;
+ unsigned temperatureDivider = 0;
/**
* @brief BDU setting
diff --git a/src/shared/sensors/LIS3MDL/LIS3MDL.cpp b/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
index 095a2fee3..229947811 100644
--- a/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
+++ b/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
@@ -151,7 +151,7 @@ bool LIS3MDL::applyConfig(Config config)
currDiv = 0;
// CTRL_REG1
- if (config.enableTemperature)
+ if (config.temperatureDivider != 0)
{
reg = ENABLE_TEMPERATURE;
}
@@ -187,36 +187,6 @@ bool LIS3MDL::applyConfig(Config config)
spi.writeRegister(CTRL_REG5, reg);
err |= spi.readRegister(CTRL_REG5) != reg;
- // INT_CFG
- if (config.enableInterrupt[0])
- reg = ENABLE_INT_X;
- else
- reg = 0;
-
- if (config.enableInterrupt[1])
- reg |= ENABLE_INT_Y;
- if (config.enableInterrupt[2])
- reg |= ENABLE_INT_Z;
-
- // The interrupt of at least one axis is enabled
- if (reg)
- reg |= ENABLE_INT_PIN;
-
- reg |= 0x08;
- spi.writeRegister(INT_CFG, reg);
- err |= spi.readRegister(INT_CFG) != reg;
-
- // INT_THS
- uint16_t val = static_cast<uint16_t>(std::abs(config.threshold / mUnit));
- reg = static_cast<uint8_t>(0xff & val);
- spi.writeRegister(INT_THS_L, reg);
- err |= spi.readRegister(INT_THS_L) != reg;
-
- reg = static_cast<uint8_t>(val >> 8);
- reg &= 0x7f; // Remove MSB (according to the datasheet, it must be zero)
- spi.writeRegister(INT_THS_H, reg);
- err |= spi.readRegister(INT_THS_H) != reg;
-
// Set mUnit according to scale
updateUnit(config.scale);
@@ -253,7 +223,7 @@ LIS3MDLData LIS3MDL::sampleImpl()
int16_t val;
LIS3MDLData newData{};
- if (mConfig.enableTemperature)
+ if (mConfig.temperatureDivider != 0)
{
if (currDiv == 0)
{
diff --git a/src/shared/sensors/LIS3MDL/LIS3MDL.h b/src/shared/sensors/LIS3MDL/LIS3MDL.h
index 698432e93..efc9d1e25 100644
--- a/src/shared/sensors/LIS3MDL/LIS3MDL.h
+++ b/src/shared/sensors/LIS3MDL/LIS3MDL.h
@@ -46,19 +46,19 @@ public:
*/
enum ODR : uint8_t
{
- ODR_0_625_HZ = 0x00, //!< 0.625 Hz
- ODR_1_25_HZ = 0x04, //!< 1.25 Hz
- ODR_2_5_HZ = 0x08, //!< 2.5 Hz
- ODR_5_HZ = 0x0c, //!< 5 Hz
- ODR_10_HZ = 0x10, //!< 10 Hz
- ODR_20_HZ = 0x14, //!< 20 Hz
- ODR_40_HZ = 0x18, //!< 40 Hz
- ODR_80_HZ = 0x1c, //!< 80 Hz
-
- ODR_155_HZ = 0x62, //!< 155 Hz
- ODR_300_HZ = 0x42, //!< 300 Hz
- ODR_560_HZ = 0x22, //!< 560 Hz
- ODR_1000_HZ = 0x02, //!< 1000 Hz
+ ODR_0_625_HZ = 0x00, ///< 0.625 Hz
+ ODR_1_25_HZ = 0x04, ///< 1.25 Hz
+ ODR_2_5_HZ = 0x08, ///< 2.5 Hz
+ ODR_5_HZ = 0x0c, ///< 5 Hz
+ ODR_10_HZ = 0x10, ///< 10 Hz
+ ODR_20_HZ = 0x14, ///< 20 Hz
+ ODR_40_HZ = 0x18, ///< 40 Hz
+ ODR_80_HZ = 0x1c, ///< 80 Hz
+
+ ODR_155_HZ = 0x62, ///< 155 Hz
+ ODR_300_HZ = 0x42, ///< 300 Hz
+ ODR_560_HZ = 0x22, ///< 560 Hz
+ ODR_1000_HZ = 0x02, ///< 1000 Hz
/**
* Constant used by the driver: this bit
@@ -90,85 +90,28 @@ public:
};
/**
- * @brief Sensor configuration
+ * @brief Sensor configuration.
*
- * This struct contains all the settings the user
- * is able to modify with the help of the driver.
- * They are applied in the constructor of LIS3MDL class
+ * This struct contains all the settings the user is able to modify with the
+ * help of the driver. They are applied in the constructor of LIS3MDL class
* and on each call of LIS3MDL::applyConfig()
*/
struct Config
{
Config() {}
- /**
- * @brief Full scale setting.
- *
- * @see LIS3MDL::FullScale
- */
- FullScale scale = FS_8_GAUSS;
-
- /**
- * @brief Data rate configuration
- *
- * Default: 40 Hz
- *
- * Important: if ODR is set more than 80 Hz, operative mode of x and y
- * axis will be set accordingly.
- *
- * @see LIS3MDL::ODR
- */
- ODR odr = ODR_40_HZ;
-
- /**
- * @brief Operative mode for x and y axis.
- *
- * Note: if ODR is greater than 80 Hz, this setting will be ignored and
- * actual operative mode will be set depending of the chosen frequency.
- *
- * @see LIS3MDL::OperativeMode
- */
+ FullScale scale = FS_8_GAUSS;
+ ODR odr = ODR_40_HZ;
OperativeMode xyMode = OM_ULTRA_HIGH_POWER;
+ OperativeMode zMode = OM_ULTRA_HIGH_POWER;
/**
- * Operative mode for z axis.
+ * @brief Divide the temperature sampling rate.
*
- * @see LIS3MDL::OM
- */
- OperativeMode zMode = OM_ULTRA_HIGH_POWER;
-
- /**
- * Enables temperature sensor.
- * Default: true
- */
- bool enableTemperature = true;
-
- /**
- * @brief Sets the value of tempDivider.
- *
- * With the given value you can instruct the driver to update
- * the temperature according to a different rate.
- * The temperature will be updated only once in `tempDivider` calls
- * to sampleImpl(), so for example:
- * 2 -> updated half the times,
- * 1 -> updated every time.
- */
- unsigned temperatureDivider = 1;
-
- /**
- * @brief Enables interrupts
- *
- * Whether are interrupts enabled respectively on the x, y and z axis.
- * If it is set to true on at least one axis, the interrupts will be
- * generated otherwise, they will be completely disabled by the driver.
- */
- bool enableInterrupt[3] = {false, false, false};
-
- /**
- * Absolute value of the threshold that triggers the interrupt
- * (expressed in gauss).
+ * This is used to limit the sampling of the temperature, use 0 to
+ * disable it completely.
*/
- float threshold = 0;
+ unsigned temperatureDivider = 0;
/**
* @brief BDU setting
@@ -187,7 +130,7 @@ public:
bool selfTest() override;
/**
- * @brief Overwrites the sensor settings.
+ * @brief Overrides the sensor settings.
*
* Writes a certain config to the sensor registers. This method is
* automatically called in LIS3MDL::init() using as parameter the
--
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