From fc22d63063f99a0821190b9f099c65e969444438 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 register within idle mode,
modified writeRegister readability, modified some comments
---
.vscode/settings.json | 4 +++-
src/shared/sensors/LIS2MDL/LIS2MDL.cpp | 25 +++++++++++--------------
src/shared/sensors/LIS2MDL/LIS2MDL.h | 13 ++++++-------
3 files changed, 20 insertions(+), 22 deletions(-)
diff --git a/.vscode/settings.json b/.vscode/settings.json
index d9a4771ae..b90bff8b4 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -302,9 +302,11 @@
"velnord",
"vout",
"vsense",
+ "WSPI",
"Xbee",
"xnord",
- "yned"
+ "yned",
+ "Zyxda"
],
"cSpell.language": "en",
"cSpell.enabled": true
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
index 7d92b0163..15bab0173 100644
--- a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
+++ b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
@@ -46,9 +46,9 @@ bool LIS2MDL::init()
}
{
- // The 4WSPI enabled, I2C_DIS is disabled and selfTest is disabled.
+ // selfTest is disabled
SPITransaction spi(mSlave);
- spi.writeRegister(CFG_REG_C, (1 << 2) | (1 << 5));
+ spi.writeRegister(CFG_REG_C, ENABLE_4WSPI | I2C_DISABLE);
}
{
@@ -95,12 +95,11 @@ bool LIS2MDL::selfTest()
// Set configuration for selfTest procedure. selfTest still not enabled
{
SPITransaction spi(mSlave);
- // Continuous mode, odr = 100 Hz, enable temperature compensation
- spi.writeRegister(CFG_REG_A, 140);
- // Offset cancellation
- spi.writeRegister(CFG_REG_B, spi.readRegister(CFG_REG_B) | (1 << 1));
- // BDU enabled
- spi.writeRegister(CFG_REG_C, spi.readRegister(CFG_REG_C) | (1 << 4));
+ spi.writeRegister(CFG_REG_A,
+ ENABLE_TEMPERATURE_COMP | ODR_100_HZ | MD_CONTINUOUS);
+ spi.writeRegister(CFG_REG_B,
+ spi.readRegister(CFG_REG_B) | OFFSET_CANCELLATION);
+ spi.writeRegister(CFG_REG_C, spi.readRegister(CFG_REG_C) | ENABLE_BDU);
}
miosix::Thread::sleep(20);
@@ -121,7 +120,8 @@ bool LIS2MDL::selfTest()
{
// selfTest is enabled
SPITransaction spi(mSlave);
- spi.writeRegister(CFG_REG_C, spi.readRegister(CFG_REG_C) | (1 << 1));
+ spi.writeRegister(CFG_REG_C,
+ spi.readRegister(CFG_REG_C) | ENABLE_SELF_TEST);
}
miosix::Thread::sleep(60);
@@ -150,11 +150,8 @@ bool LIS2MDL::selfTest()
{
// Disable selfTest
SPITransaction spi(mSlave);
- spi.writeRegister(CFG_REG_C, spi.readRegister(CFG_REG_C) & ~(1 << 1));
- // Set idle mode
- uint16_t reg = spi.readRegister(CFG_REG_A);
- reg |= 0b11;
- spi.writeRegister(CFG_REG_A, reg);
+ spi.writeRegister(CFG_REG_C,
+ spi.readRegister(CFG_REG_C) & ~ENABLE_SELF_TEST);
}
return true;
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDL.h b/src/shared/sensors/LIS2MDL/LIS2MDL.h
index c65c07b97..0bde9df3e 100644
--- a/src/shared/sensors/LIS2MDL/LIS2MDL.h
+++ b/src/shared/sensors/LIS2MDL/LIS2MDL.h
@@ -157,13 +157,12 @@ private:
static constexpr float LSB_PER_GAUSS_MIN = 0.001395;
static constexpr float LSB_PER_GAUSS_MAX = 0.001605;
- static constexpr uint32_t ENABLE_TEMPERATURE = 0x80;
- static constexpr uint32_t ENABLE_SELF_TEST = 0x02;
- static constexpr uint32_t ENABLE_BDU = 0x10;
- static constexpr uint32_t ENABLE_INT_PIN = 0x01;
- static constexpr uint32_t ENABLE_INT_X = 0x80;
- static constexpr uint32_t ENABLE_INT_Y = 0x40;
- static constexpr uint32_t ENABLE_INT_Z = 0x20;
+ static constexpr uint32_t ENABLE_TEMPERATURE_COMP = (1 << 7);
+ static constexpr uint32_t ENABLE_SELF_TEST = (1 << 1);
+ static constexpr uint32_t ENABLE_BDU = (1 << 4);
+ static constexpr uint32_t ENABLE_4WSPI = (1 << 2);
+ static constexpr uint32_t OFFSET_CANCELLATION = (1 << 1);
+ static constexpr uint32_t I2C_DISABLE = (1 << 5);
PrintLogger logger = Logging::getLogger("lis2mdl");
};
--
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