LIS3MDL_Mag Class Reference

STMicroelectronics LIS3MDL magnetometer sensor class. More...

#include <lis3mdl_magnetometer.h>

Public Member Functions
	LIS3MDL_Mag (TwoWire *userWire=&SENSOR_I2C)
	I2C Sensor class for the LIS3MDL magnetometer. More...
	~LIS3MDL_Mag ()
bool	Initialize (LIS3MDL_MeasRange_t measRange=LIS3MDL_RANGE_4G)
	Initialize the LIS3MDL magnetometer and specify the measurement range. More...
bool	ReadSensor ()
	Read magnetometer registers and extract measurements. More...
float	GetMx ()
	Return X-magnetometer reading in [uT]. More...
float	GetMy ()
	Return Y-magnetometer reading in [uT]. More...
float	GetMz ()
	Return Z-magnetometer reading in [uT]. More...
float	GetTemperature ()
	Read temperature from the magnetometer sensor. More...

Public Attributes
uint32_t	prevMeasMicros
	Previous measurement micros() More...

Private Member Functions
void	I2Cwrite8 (uint8_t regOfInterest, uint8_t valToWrite)
	Write to device register over I2C. More...
uint8_t	I2Cread8 (uint8_t regOfInterest)
	Read register value from I2C device. More...

Private Attributes
float	_mx
	x-magnetometer reading [uT] More...
float	_my
	y-magnetometer reading [uT] More...
float	_mz
	z-magnetometer reading [uT] More...
TwoWire *	_SensorWire
	I2C/wire interface the sensor is on. More...
LIS3MDL_MeasRange_t	_range
	Sensor measurement range. More...

Detailed Description

STMicroelectronics LIS3MDL magnetometer sensor class.

Constructor & Destructor Documentation

LIS3MDL_Mag()

LIS3MDL_Mag::LIS3MDL_Mag

(

TwoWire *

userWire = &SENSOR_I2C

)

I2C Sensor class for the LIS3MDL magnetometer.

Parameters

userWire

I2C bus that the sensor is attached to.

~LIS3MDL_Mag()

LIS3MDL_Mag::~LIS3MDL_Mag ( )

inline

Member Function Documentation

GetMx()

float LIS3MDL_Mag::GetMx

(

)

Return X-magnetometer reading in [uT].

GetMy()

float LIS3MDL_Mag::GetMy

(

)

Return Y-magnetometer reading in [uT].

GetMz()

float LIS3MDL_Mag::GetMz

(

)

Return Z-magnetometer reading in [uT].

GetTemperature()

float LIS3MDL_Mag::GetTemperature

(

)

Read temperature from the magnetometer sensor.

Return as float in degrees C. Temperature ranges from -40C to +85C. ODR is the same as the mag's ODR.

Returns

Floating-point temperature in [C].

I2Cread8()

uint8_t LIS3MDL_Mag::I2Cread8 ( uint8_t  regOfInterest )

private

Read register value from I2C device.

Parameters

regOfInterest

Register address on device.

Returns

Value/data in register.

I2Cwrite8()

void LIS3MDL_Mag::I2Cwrite8 ( uint8_t  regOfInterest, uint8_t  valToWrite  )

private

Write to device register over I2C.

Parameters

regOfInterest	Register address on device.
valToWrite	Value to write to register.

Initialize()

bool LIS3MDL_Mag::Initialize

(

LIS3MDL_MeasRange_t

measRange = LIS3MDL_RANGE_4G

)

Initialize the LIS3MDL magnetometer and specify the measurement range.

Parameters

measRange

Magnetometer measurement range.

See also

LIS3MDL_MeasRange_t

ReadSensor()

bool LIS3MDL_Mag::ReadSensor

(

)

Read magnetometer registers and extract measurements.

Converts raw readings in Gauss [G] to microtesla [uT].

Returns

true if successful, false if invalid measurement range.

Member Data Documentation

_mx

float LIS3MDL_Mag::_mx

private

x-magnetometer reading [uT]

_my

float LIS3MDL_Mag::_my

private

y-magnetometer reading [uT]

_mz

float LIS3MDL_Mag::_mz

private

z-magnetometer reading [uT]

_range

LIS3MDL_MeasRange_t LIS3MDL_Mag::_range

private

Sensor measurement range.

_SensorWire

TwoWire* LIS3MDL_Mag::_SensorWire

private

I2C/wire interface the sensor is on.

prevMeasMicros

uint32_t LIS3MDL_Mag::prevMeasMicros

Previous measurement micros()

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

• include/sensor_drivers/lis3mdl_magnetometer.h
• src/sensor_drivers/lis3mdl_magnetometer.cpp