small changes and many new sensors

2023-10-30 14:30:02 +01:00
parent 07917fe5ba
commit aad07c1b0a
21 changed files with 1642 additions and 297 deletions
--- a/ext/sens/LIS3MDL.h
+++ b/ext/sens/LIS3MDL.h
@@ -0,0 +1,123 @@
+#pragma once
+
+
+#include "../../Platforms.h"
+#include "../../Debug.h"
+
+/**
+ * LIS3MDL 3-axis magnetometer module
+ * https://www.st.com/resource/en/datasheet/lis3mdl.pdf
+ */
+template <typename I2C> class LIS3MDL {
+
+	I2C& i2c;
+	
+	static constexpr const char* NAME		= "LIS3MDL";
+
+	static constexpr uint8_t ADDR7			= 0b0011100;
+	
+	static constexpr uint8_t CTRL_REG1	= 0x20;
+	static constexpr uint8_t CTRL_REG2	= 0x21;
+	static constexpr uint8_t CTRL_REG3	= 0x22;
+	static constexpr uint8_t CTRL_REG4	= 0x23;
+	static constexpr uint8_t CTRL_REG5	= 0x24;
+
+	static constexpr uint8_t REG_X		= 0x28;	//0x28(L= + 0x29(H)
+	static constexpr uint8_t REG_Y		= 0x2A;	//0x2A(L) + 0x2B(H)
+	static constexpr uint8_t REG_Z		= 0x2C;	//0x2C(L) + 0x2D(H)
+	
+	
+
+public:
+
+	struct Magnetometer {
+		int16_t x;
+		int16_t y;
+		int16_t z;
+	};
+	
+	struct Acceleromter {
+		int16_t x;
+		int16_t y;
+		int16_t z;
+	};
+	
+	enum class Resolution : uint8_t {
+		GAUSS_4 = 0b00,
+		GAUSS_8 = 0b01,
+		GAUSS_12 = 0b10,
+		GAUSS_16 = 0b11,
+	};
+	
+	enum class AxisMode : uint8_t {
+		LOW_POWER = 0b00,
+		MEDIUM_PERFORMANCE = 0b01,
+		HIGH_PERFORMANCE = 0b10,
+		ULTRA_HIGH_PERFORMANCE = 0b11,
+	};
+	
+	enum class SamplingRate : uint8_t {
+		HZ_0_625,
+		HZ_1_25,
+		HZ_2_5,
+		HZ_5,
+		HZ_10,
+		HZ_20,
+		HZ_40,
+		HZ_80,
+	};
+	
+	enum class OperationMode : uint8_t {
+		CONTINUOUS = 0b00,
+		SINGLE = 0b01,
+		OFF = 0b11,
+	};
+	
+public:
+
+	LIS3MDL(I2C& i2c, uint8_t addrOffset = 0) : i2c(i2c){
+
+	}
+
+
+	bool isPresent() {
+		return i2c.query(ADDR7);
+	}
+
+	
+
+	void setResolution(Resolution res) {
+		getAndSet(CTRL_REG2, 0b01100000, (uint8_t)res << 5);
+	}
+	
+	void setAxisMode(AxisMode mode) {
+		getAndSet(CTRL_REG1, 0b01100000, (uint8_t)mode << 5);	// x and y
+		getAndSet(CTRL_REG4, 0b00001100, (uint8_t)mode << 2);	// z
+	}
+
+	void setSamplingRate(SamplingRate rate) {
+		getAndSet(CTRL_REG1, 0b00011100, (uint8_t)rate << 2);
+	}
+
+	void setOperationMode(OperationMode mode) {
+		getAndSet(CTRL_REG3, 0b00000011, (uint8_t)mode << 0);
+	}
+
+	Magnetometer getMagnetometer() {
+		uint8_t res[6];
+		i2c.readReg(ADDR7, REG_X, 6, res);
+		Magnetometer mag;
+		mag.x = ((res[0] << 0) | (res[1] << 8));
+		mag.y = ((res[2] << 0) | (res[3] << 8));
+		mag.z = ((res[4] << 0) | (res[5] << 8));
+		return mag;
+	}
+
+	void getAndSet(uint8_t reg, uint8_t setMask, uint8_t setVal) {
+		uint8_t tmp = i2c.readReg8(ADDR7, reg);
+		tmp = (tmp & ~setMask) | setVal;
+		i2c.writeReg8(ADDR7, reg, tmp);
+	}
+	
+};
+