diff --git a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
index 9017aaa365ce084fa2e52e955cab6a972234fc37..e18bb65a83dfb0e1badd8c470e0774936da5fc8d 100644
--- a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
+++ b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
@@ -60,19 +60,20 @@ bool LIS2MDL::init()
{
SPITransaction spi(slave);
- spi.writeRegister(CFG_REG_C, ENABLE_4WSPI | I2C_DISABLE);
+ spi.writeRegister(CFG_REG_C,
+ LIS2MDLDefs::ENABLE_4WSPI | LIS2MDLDefs::I2C_DISABLE);
}
{
SPITransaction spi(slave);
uint8_t res = spi.readRegister(WHO_AM_I);
- if (res != WHO_AM_I_VALUE)
+ if (res != LIS2MDLDefs::WHO_AM_I_VALUE)
{
LOG_ERR(logger,
"WHO_AM_I value differs from expectation: read 0x{:x} "
"but expected 0x{:x}",
- res, WHO_AM_I_VALUE);
+ res, LIS2MDLDefs::WHO_AM_I_VALUE);
lastError = INVALID_WHOAMI;
return false;
}
@@ -105,11 +106,12 @@ bool LIS2MDL::selfTest()
// 1. Set configuration for selfTest procedure. selfTest still not enabled
{
SPITransaction spi(slave);
- 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);
+ spi.writeRegister(CFG_REG_A, LIS2MDLDefs::ENABLE_TEMPERATURE_COMP |
+ ODR_100_HZ | MD_CONTINUOUS);
+ spi.writeRegister(CFG_REG_B, spi.readRegister(CFG_REG_B) |
+ LIS2MDLDefs::OFFSET_CANCELLATION);
+ spi.writeRegister(
+ CFG_REG_C, spi.readRegister(CFG_REG_C) | LIS2MDLDefs::ENABLE_BDU);
}
// Wait for power up, ~20ms for a stable output
@@ -134,8 +136,8 @@ bool LIS2MDL::selfTest()
// 3. Enable self-test
{
SPITransaction spi(slave);
- spi.writeRegister(CFG_REG_C,
- spi.readRegister(CFG_REG_C) | ENABLE_SELF_TEST);
+ spi.writeRegister(CFG_REG_C, spi.readRegister(CFG_REG_C) |
+ LIS2MDLDefs::ENABLE_SELF_TEST);
}
// Wait 60ms (suggested in AN)
@@ -221,8 +223,8 @@ LIS2MDLData LIS2MDL::sampleImpl()
{
int16_t outTemp = spi.readRegister16(TEMP_OUT_L_REG);
newData.temperatureTimestamp = TimestampTimer::getTimestamp();
- newData.temperature = DEG_PER_LSB * outTemp;
- newData.temperature += REFERENCE_TEMPERATURE;
+ newData.temperature = LIS2MDLDefs::DEG_PER_LSB * outTemp;
+ newData.temperature += LIS2MDLDefs::REFERENCE_TEMPERATURE;
}
else
{
@@ -237,9 +239,9 @@ LIS2MDLData LIS2MDL::sampleImpl()
int16_t outZ = values[5] << 8 | values[4];
newData.magneticFieldTimestamp = TimestampTimer::getTimestamp();
- newData.magneticFieldX = GAUSS_PER_LSB * outX;
- newData.magneticFieldY = GAUSS_PER_LSB * outY;
- newData.magneticFieldZ = GAUSS_PER_LSB * outZ;
+ newData.magneticFieldX = LIS2MDLDefs::GAUSS_PER_LSB * outX;
+ newData.magneticFieldY = LIS2MDLDefs::GAUSS_PER_LSB * outY;
+ newData.magneticFieldZ = LIS2MDLDefs::GAUSS_PER_LSB * outZ;
return newData;
}
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDL.h b/src/shared/sensors/LIS2MDL/LIS2MDL.h
index 7e781f9557c2cea4ad0d446bf33d32ea50e7c8b1..f96f5c6ef14a6c2cd09957a051960a22bea4d75a 100644
--- a/src/shared/sensors/LIS2MDL/LIS2MDL.h
+++ b/src/shared/sensors/LIS2MDL/LIS2MDL.h
@@ -27,6 +27,7 @@
#include <sensors/Sensor.h>
#include "LIS2MDLData.h"
+#include "LIS2MDLDefs.h"
namespace Boardcore
{
@@ -141,21 +142,6 @@ private:
TEMP_OUT_H_REG = 0x6f,
};
- static constexpr uint32_t WHO_AM_I_VALUE = 0x40;
- static constexpr uint32_t CONTINUOS_CONVERSION = 0x0;
-
- static constexpr float REFERENCE_TEMPERATURE = 25;
- static constexpr float DEG_PER_LSB = 0.125;
-
- static constexpr float GAUSS_PER_LSB = 0.0015;
-
- 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");
};
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDLDefs.h b/src/shared/sensors/LIS2MDL/LIS2MDLDefs.h
new file mode 100644
index 0000000000000000000000000000000000000000..fb41a3d58fb6b2ac01ff66937cf1b8067dcddf3c
--- /dev/null
+++ b/src/shared/sensors/LIS2MDL/LIS2MDLDefs.h
@@ -0,0 +1,47 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Fabrizio Monti
+ *
+ * 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 <stdint.h>
+
+namespace Boardcore
+{
+
+namespace LIS2MDLDefs
+{
+static constexpr uint32_t WHO_AM_I_VALUE = 0x40;
+static constexpr uint32_t CONTINUOS_CONVERSION = 0x0;
+
+static constexpr float REFERENCE_TEMPERATURE = 25;
+static constexpr float DEG_PER_LSB = 0.125;
+
+static constexpr float GAUSS_PER_LSB = 0.0015;
+
+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;
+} // namespace LIS2MDLDefs
+} // namespace Boardcore
\ No newline at end of file