LIS3MDL Class Reference

Class to interface with the LIS3MDL magnetometer. More...

#include <IMU.h>

Public Member Functions
	LIS3MDL (TwoWire &i2c, uint8_t address=0x1E)
	Header for LIS3MDL object. More...
void	config_reg1 (bool temp_en=0, OM OMXY=LPM, uint8_t DOR=5, bool FAST_ODR=0, bool ST=0)
	Header to configure register 1. More...
void	config_reg2 (FS FULL_SCALE=GAUSS_4, bool REBOOT=0, bool SOFT_RST=0)
	Header to configure register 2. More...
void	config_reg3 (bool LP=0, bool SIM=0, MD SYS_OP_MODE=CONTINUOUS_CONVERSION)
	Header to configure register 3. More...
void	config_reg4 (OM OMZ=LPM, BLE Endian_Data_Selec=LSB)
	Header to configure register 4. More...
void	config_reg5 (bool FAST_READ=0, bool BDU=1)
	Header to configure register 5. More...
void	read_xyz_mag (int16_t &MAG_X, int16_t &MAG_Y, int16_t &MAG_Z)
	Header to read all magnetometer data at once. More...

Protected Types
enum	OM { LPM = 0b00 , MPM = 0b01 , HPM =0b10 , UHPM = 0b11 }
enum	FS { GAUSS_4 = 0b00 , GAUSS_8 = 0b01 , GAUSS_12 = 0b10 , GAUSS_16 = 0b11 }
enum	MD { CONTINUOUS_CONVERSION = 0b00 , SINGLE_CONVERSION = 0b01 , POWER_DOWN = 0b11 }
enum	BLE { LSB = 0b1 , MSB = 0b1 }

Protected Member Functions
void	writeRegister (byte Register, byte RegData)
	Header function to write to registers. More...
uint8_t	readRegister (byte Register)
	Header function to read from registers. More...

Protected Attributes
uint8_t	_LIS3MDLAddress = 0x1E
	Initialize I2C.
const byte	_CTRL_REG1 = 0x20
	"CTRL_REG1" address
const byte	_CTRL_REG2 = 0x21
	"CTRL_REG2" address
const byte	_CTRL_REG3 = 0x22
	"CTRL_REG3" address
const byte	_CTRL_REG4 = 0x23
	"CTRL_REG4" address
const byte	_CTRL_REG5 = 0x24
	"CTRL_REG5" address
const byte	_STATUS_REG = 0x27
	"STATUS_REG" address
const byte	_OUT_X_L = 0x28
	"OUT_X_L" address for X-axis data output LSB
const byte	_OUT_X_H = 0x29
	"OUT_X_H" address for X-axis data output MSB
const byte	_OUT_Y_L = 0x2A
	"OUT_Y_L" address for Y-axis data output LSB
const byte	_OUT_Y_H = 0x2B
	"OUT_Y_H" address for Y-axis data output MSB
const byte	_OUT_Z_L = 0x2C
	"OUT_Z_L" address for Z-axis data output LSB
const byte	_OUT_Z_H = 0x2D
	"OUT_Z_H" address for Z-axis data output MSB
const byte	_INT_CFG = 0x30
	"INT_CFG" address
const byte	_INT_THS_L = 0x32
	"INT_THS_L" address LSB
const byte	_INT_THS_H = 0x33
	"INT_THS_H" address MSB
TwoWire *	p_i2c
	Initialize I2C.

Detailed Description

Class to interface with the LIS3MDL magnetometer.

Constructor & Destructor Documentation

LIS3MDL()

LIS3MDL::LIS3MDL	(	TwoWire &	i2c,
		uint8_t	address = 0x1E
	)

Header for LIS3MDL object.

Constructor for LIS3MDL object, which operates with the magnetometer.

Parameters

i2c	Default two wire method, default set to Wire
address	Address for i2c communication, default set to 0x1E

Member Function Documentation

config_reg1()

void LIS3MDL::config_reg1	(	bool	temp_en = 0,
		OM	OMXY = LPM,
		uint8_t	DOR = 5,
		bool	FAST_ODR = 0,
		bool	ST = 0
	)

Header to configure register 1.

Function to configure Register 1.

Parameters

temp_en	Bool to enable temp sensor or not
OMXY	Set operating mode of XY sensors
DOR	Set data output rate
FAST_ODR	Bool to enable fast output data rate
ST	Bool to enable, disable ST

config_reg2()

void LIS3MDL::config_reg2	(	FS	FULL_SCALE = GAUSS_4,
		bool	REBOOT = 0,
		bool	SOFT_RST = 0
	)

Header to configure register 2.

Function to configure Register 2.

Parameters

FULL_SCALE	Sets the full scale value
REBOOT	Bool to reboot memory content
SOFT_RST	Bool to configure registers and user register reset function

config_reg3()

void LIS3MDL::config_reg3	(	bool	LP = 0,
		bool	SIM = 0,
		MD	SYS_OP_MODE = CONTINUOUS_CONVERSION
	)

Header to configure register 3.

Function to configure Register 3.

Parameters

LP	Set Low-power mode configuration
SIM	Set SPI serial interface mode configuration
SYS_OP_MODE	Set system operating mode selection

config_reg4()

void LIS3MDL::config_reg4	(	OM	OMZ = LPM,
		BLE	Endian_Data_Selec = LSB
	)

Header to configure register 4.

Function to configure Register 4.

Parameters

OMZ	Z-axis operative mode selection
Endian_Data_Selec	Big/little endian data selection

config_reg5()

void LIS3MDL::config_reg5	(	bool	FAST_READ = 0,
		bool	BDU = 1
	)

Header to configure register 5.

Function to configure Register 5.

Parameters

FAST_READ	Enable or disable fast read
BDU	Sets block data update for magnetic data

read_xyz_mag()

void LIS3MDL::read_xyz_mag	(	int16_t &	MAG_X,
		int16_t &	MAG_Y,
		int16_t &	MAG_Z
	)

Header to read all magnetometer data at once.

Reads the data for X, Y, and Z magnetometer data.

Parameters

MAG_X	Reference parameter for X-reading for magnetometer.
MAG_Y	Reference parameter for Y-reading for magnetometer.
MAG_Z	Reference parameter for Z-reading for magnetometer.

readRegister()

uint8_t LIS3MDL::readRegister ( byte  Register )

protected

Header function to read from registers.

Reads from register.

Parameters

Register

Register to read from

Returns

Reading from register

writeRegister()

void LIS3MDL::writeRegister ( byte  Register, byte  RegData  )

protected

Header function to write to registers.

Writes to register.

Parameters

Register	Register address to write to
RegData	Data to write to address

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The documentation for this class was generated from the following files:

• doxygen staging/IMU.h
• doxygen staging/IMU.cpp