at(lis2mdl): Implement Arduino driver. #4#190
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Pull request overview
This PR adds a new Arduino driver library for the LIS2MDL 3‑axis magnetometer and introduces both native (MockWire) and on-device hardware validation tests to exercise the new API.
Changes:
- Added the
LIS2MDLdriver implementation and register constants. - Added a native unit test suite for register/config behavior and math helpers.
- Added a hardware test suite for basic plausibility/stability checks on real boards.
Reviewed changes
Copilot reviewed 6 out of 6 changed files in this pull request and generated 25 comments.
Show a summary per file
| File | Description |
|---|---|
| tests/native/test_lis2mdl/test_main.cpp | Native/mock unit tests for the new LIS2MDL driver API. |
| tests/hardware/test_lis2mdl/test_main.cpp | Hardware validation tests for LIS2MDL on STeaMi boards. |
| lib/lis2mdl/src/LIS2MDL.h | Public driver API, types, and calibration/heading interfaces. |
| lib/lis2mdl/src/LIS2MDL.cpp | Driver implementation (I2C register IO, modes, readings, calibration, heading, power/reset). |
| lib/lis2mdl/src/LIS2MDL_const.h | LIS2MDL register addresses and conversion constants. |
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| constexpr uint8_t ADDR = LIS2MDL_I2C_ADDR; | ||
| constexpr uint8_t WHO_AM_I_VAL = LIS2MDL_WHO_AM_I_VAL; | ||
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| RUN_TEST(test_read_all_returns_all_channels); | ||
| RUN_TEST(test_read_one_shot_returns_magnetic_field); | ||
| RUN_TEST(test_read_one_shot_returns_zeros_on_timeout); | ||
| RUN_TEST(test_temperature_raw_is_signed); | ||
| RUN_TEST(test_set_temp_offset_shifts_reading); |
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| #include <Arduino.h> | ||
| #include <LIS2MDL.h> | ||
| #include <Wire.h> | ||
| #include <unity.h> | ||
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| TEST_ASSERT_TRUE_MESSAGE(avgMag > 5.0f, "magnitude trop faible"); | ||
| TEST_ASSERT_TRUE_MESSAGE(fabs(mag1 - avgMag) < tolerance, "lecture 1 instable"); | ||
| TEST_ASSERT_TRUE_MESSAGE(fabs(mag2 - avgMag) < tolerance, "lecture 2 instable"); | ||
| TEST_ASSERT_TRUE_MESSAGE(fabs(mag3 - avgMag) < tolerance, "lecture 3 instable"); |
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| constexpr uint8_t ADDR = LIS2MDL_I2C_ADDR; | ||
| constexpr uint8_t WHO_AM_I_VAL = LIS2MDL_WHO_AM_I_VAL; | ||
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| void LIS2MDL::setMode(const char* mode) { | ||
| uint8_t md = 0b00; | ||
| if (strcmp(mode, "single") == 0) { | ||
| md = 0b01; | ||
| } else if (strcmp(mode, "powerdown") == 0) { | ||
| md = 0b11; | ||
| } | ||
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| uint8_t reg = readReg(LIS2MDL_CFG_REG_A); | ||
| reg = (reg & ~0b11) | md; | ||
| writeReg(LIS2MDL_CFG_REG_A, reg); | ||
| } |
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| void LIS2MDL::powerOn(const char* mode) { | ||
| // Power on the sensor: 'continuous' (default) or 'single'. | ||
| uint8_t md; | ||
| if (mode == "single") { | ||
| md = 0b01; | ||
| } else { | ||
| md = 0b00; | ||
| } | ||
| uint8_t r = readReg(LIS2MDL_CFG_REG_A); | ||
| r = (r & ~0b11) | md; | ||
| writeReg(LIS2MDL_CFG_REG_A, r); | ||
| } |
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| CalibrationQuality LIS2MDL::calibrateQuality(uint16_t samplesCheck, uint16_t delayMs) { | ||
| /* Evaluates the quality of the current calibration over a short sample. | ||
| Returns a dict with useful metrics: center (mean), anisotropy, XY radius dispersion. | ||
| (Move the board a bit while flat during the measurement.)*/ | ||
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| float xs[samplesCheck], ys[samplesCheck], zs[samplesCheck]; | ||
| for (uint16_t i = 0; i < samplesCheck; i++) { | ||
| CalibratedField cal = calibratedField(); |
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| void LIS2MDL::readRegisters(uint8_t startAddr, uint8_t length, uint8_t* buffer) { | ||
| // Dump of consecutive registers (useful for debugging). | ||
| _wire->beginTransmission(_address); | ||
| _wire->write(startAddr); | ||
| _wire->endTransmission(false); | ||
| _wire->requestFrom(_address, length); | ||
| for (uint8_t i = 0; i < length && _wire->available(); i++) { | ||
| buffer[i] = _wire->read(); | ||
| } | ||
| } |
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| struct Vec3i { | ||
| int16_t x, y, z; | ||
| }; | ||
| struct Vec3f { | ||
| float x, y, z; | ||
| }; |
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Summary
Adds a full driver for the LIS2MDL 3-axis magnetometer, including native mock tests and hardware validation tests. Closes #4
Close #36
Close #24
Changes
LIS2MDL.h,LIS2MDL.cpp, andLIS2MDL_const.himplementing the full driver APImagneticField,magneticFieldUt,calibratedField,magnitudeUt)temperature,setTempOffset,calibrateTemperature)setContinuous,triggerOneShot,readOneShot)calibrateMinmax2d,calibrateMinmax3d,calibrateApply,calibrateQuality)headingFlatOnly,headingWithTiltCompensation)readHwOffsets,setHwOffsets)powerOn,powerOff,softReset,reboot)Checklist
make lintpasses (clang-format)make buildpasses (PlatformIO)make test-nativepasses (if native tests exist)make test-hardwarepasses on a connected STeaMi (if hardware tests exist)