ST_LSM9DS1_MAG_Registers.hpp
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/****************************************************************************
*
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ST_LSM9DS1_MAG_registers.hpp
*
* ST LSM9DS1 magnetometer registers.
*
*/
#pragma once
#include <cstdint>
namespace ST_LSM9DS1_MAG
{
// TODO: move to a central header
static constexpr uint8_t Bit0 = (1 << 0);
static constexpr uint8_t Bit1 = (1 << 1);
static constexpr uint8_t Bit2 = (1 << 2);
static constexpr uint8_t Bit3 = (1 << 3);
static constexpr uint8_t Bit4 = (1 << 4);
static constexpr uint8_t Bit5 = (1 << 5);
static constexpr uint8_t Bit6 = (1 << 6);
static constexpr uint8_t Bit7 = (1 << 7);
static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10 MHz SPI clock frequency
static constexpr uint8_t RW_BIT_READ = Bit7;
static constexpr uint8_t MS_BIT_AUTO_INCREMENT = Bit6;
static constexpr uint8_t Device_identification = 0b00111101; // Who I am ID
static constexpr uint32_t M_ODR = 80; // Magnetometer output data rate
enum class Register : uint8_t {
WHO_AM_I_M = 0x0F,
CTRL_REG1_M = 0x20,
CTRL_REG2_M = 0x21,
CTRL_REG3_M = 0x22,
CTRL_REG4_M = 0x23,
CTRL_REG5_M = 0x24,
STATUS_REG_M = 0x27,
OUT_X_L_M = 0x28,
OUT_X_H_M = 0x29,
OUT_Y_L_M = 0x2A,
OUT_Y_H_M = 0x2B,
OUT_Z_L_M = 0x2C,
OUT_Z_H_M = 0x2D,
};
// CTRL_REG1_M
enum CTRL_REG1_M_BIT : uint8_t {
TEMP_COMP = Bit7, // Temperature compensation enable.
OM_ULTRA_HIGH_PERFORMANCE = Bit6 | Bit5, // X and Y axes operative mode selection.
DO_80HZ = Bit4 | Bit3 | Bit2, // 80 Hz Output data rate selection.
FAST_ODR = Bit1,
ST = Bit0, // Self-test enable.
};
// CTRL_REG2_M
enum CTRL_REG2_M_BIT : uint8_t {
FS_16_GAUSS = Bit6 | Bit5, // Full-scale selection ± 16 gauss
SOFT_RST = Bit2,
};
// CTRL_REG3_M
enum CTRL_REG3_M_BIT : uint8_t {
I2C_DISABLE = Bit7,
SIM = Bit2, // SPI Serial Interface mode selection.
MD_CONTINUOUS_MODE = Bit1 | Bit0, // Continuous-conversion mode
};
// CTRL_REG4_M
enum CTRL_REG4_M_BIT : uint8_t {
OMZ_ULTRA_HIGH_PERFORMANCE = Bit4 | Bit3, // Ultra-high performance mode
};
// CTRL_REG5_M
enum CTRL_REG5_M_BIT : uint8_t {
BDU = Bit6, // Block data update for magnetic data.
};
// STATUS_REG_M
enum STATUS_REG_M_BIT : uint8_t {
ZYXOR = Bit7, // X, Y and Z-axis data overrun.
ZYXDA = Bit3, // X, Y and Z-axis new data available.
};
} // namespace ST_LSM9DS1_MAG