From 0994a557a73b344673a105eaa2eaedb8a370418b Mon Sep 17 00:00:00 2001
From: Benjamin Carrick <benjamin.carrick@posteo.de>
Date: Mon, 6 Jul 2020 21:33:11 +0200
Subject: [PATCH] Example for the LIS3MDL driver on the Nucleo F042K6

---
 examples/nucleo_f042k6/lis3mdl/main.cpp    | 73 ++++++++++++++++++++++
 examples/nucleo_f042k6/lis3mdl/project.xml | 11 ++++
 2 files changed, 84 insertions(+)
 create mode 100644 examples/nucleo_f042k6/lis3mdl/main.cpp
 create mode 100644 examples/nucleo_f042k6/lis3mdl/project.xml

diff --git a/examples/nucleo_f042k6/lis3mdl/main.cpp b/examples/nucleo_f042k6/lis3mdl/main.cpp
new file mode 100644
index 0000000000..461a11c476
--- /dev/null
+++ b/examples/nucleo_f042k6/lis3mdl/main.cpp
@@ -0,0 +1,73 @@
+/*
+ * Copyright (c) 2020, Benjamin Carrick
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include <modm/board.hpp>
+#include <modm/driver/inertial/lis3mdl.hpp>
+
+using namespace Board;
+using namespace std::chrono_literals;
+
+using I2cSda	= GpioA10;
+using I2cScl	= GpioA9;
+
+int
+main()
+{
+	Board::initialize();
+	LedD13::setOutput();
+
+	MODM_LOG_INFO << "LIS3MDL demo" << modm::endl;
+
+	I2cMaster1::connect<I2cSda::Sda, I2cScl::Scl>();
+	I2cMaster1::initialize<SystemClock, 400_kBd>();
+
+	// Create a sensor object with the adress of the sensor built onto the Pololu AltIMU-10 v5
+	modm::Lis3mdl<I2cMaster1> sensor(0x1E);
+
+	// Turn on and configure the magnetometer
+	bool success = RF_CALL_BLOCKING(sensor.configure(modm::lis3mdl::DataRate::Rate_5_Hz,
+													 modm::lis3mdl::Scale::Scale_8_gauss));
+
+
+	if(!success)
+	{
+		MODM_LOG_INFO << "Sensor could not be configured!" << modm::endl;
+	}
+
+	// Set the sensor to continous acquistion and turn on the temperature sensing
+	success = RF_CALL_BLOCKING(sensor.setMode(modm::lis3mdl::OperationMode::Continous));
+	if(!success)
+	{
+		MODM_LOG_INFO << "Sensor could not be started!" << modm::endl;
+	}
+
+	modm::Vector3f magVector;
+
+	while (true)
+	{
+		//Read the sensor data and print it out
+		success = RF_CALL_BLOCKING(sensor.readMagnetometer(magVector));
+
+		if(success)
+		{
+			MODM_LOG_INFO << "Magnetic Vector:" << modm::endl;
+			MODM_LOG_INFO << "X: "<< magVector.x << " gauss" << modm::endl;
+			MODM_LOG_INFO << "Y: "<< magVector.y << " gauss" << modm::endl;
+			MODM_LOG_INFO << "Z: "<< magVector.z << " gauss" << modm::endl;
+			MODM_LOG_INFO  << modm::endl;
+		}
+		else
+		{
+			MODM_LOG_INFO << "Sensor could not be read!" << modm::endl;
+		}
+		modm::delay(1s);
+	}
+	return 0;
+}
diff --git a/examples/nucleo_f042k6/lis3mdl/project.xml b/examples/nucleo_f042k6/lis3mdl/project.xml
new file mode 100644
index 0000000000..e03311dcad
--- /dev/null
+++ b/examples/nucleo_f042k6/lis3mdl/project.xml
@@ -0,0 +1,11 @@
+<library>
+  <extends>modm:nucleo-f042k6</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_f042k6/lis3mdl</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:driver:lis3mdl</module>
+    <module>modm:platform:i2c:1</module>
+  </modules>
+</library>