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Commit 943fa0ba authored by Alberto Nidasio's avatar Alberto Nidasio
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[LIS2MDL] Updated comments and removed interrupt signals generation functionality

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src/shared/sensors/LIS2MDL/LIS2MDL.h
+ 13
− 60
View file @ 943fa0ba
......@@ -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.
*
* 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
* @brief Divide the temperature sampling rate.
*
* 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
......
src/shared/sensors/LIS3MDL/LIS3MDL.cpp
+ 2
− 32
View file @ 943fa0ba
......@@ -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)
{
......
src/shared/sensors/LIS3MDL/LIS3MDL.h
+ 24
− 81
View file @ 943fa0ba
......@@ -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
*/
OperativeMode xyMode = OM_ULTRA_HIGH_POWER;
/**
* Operative mode for z axis.
*
* @see LIS3MDL::OM
*/
OperativeMode zMode = OM_ULTRA_HIGH_POWER;
/**
* 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
......@@ -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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