amiro-lld / source / alld_l3g4200d.c @ 5e2f673b
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1 | d6728c5b | Thomas Schöpping | /*
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2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
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7 | d6728c5b | Thomas Schöpping | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
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14 | d6728c5b | Thomas Schöpping | |
15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
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16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 5e2f673b | Marc Rothmann | /**
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20 | * @file alld_l3g4200d.c
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21 | * @brief Gyroscope function implementations.
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22 | *
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23 | * @addtogroup lld_gyroscope
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24 | * @{
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25 | */
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26 | |||
27 | d6728c5b | Thomas Schöpping | #include<alld_l3g4200d.h> |
28 | |||
29 | #if defined(AMIROLLD_CFG_USE_L3G4200D) || defined(__DOXYGEN__)
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30 | |||
31 | #include <string.h> |
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32 | |||
33 | /**
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34 | * @brief Read the content of one or more registers.
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35 | * @param[in] l3gd The L3G4200D driver to use.
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36 | * @param[in] regaddr The address of the first register.
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37 | * @param[out] data The data read from the registers.
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38 | * @param[in] length Number of registers to read.
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39 | *
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40 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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41 | */
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42 | inline apalExitStatus_t
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43 | l3g4200d_lld_read_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, uint8_t* const data, const uint8_t length) |
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44 | { |
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45 | apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
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46 | apalDbgAssert(data != NULL);
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47 | |||
48 | uint8_t buffer[length+1];
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49 | buffer[0] = regaddr | L3G4200D_LLD_SPI_READ | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
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50 | apalExitStatus_t status = apalSPIExchange(l3gd->spid, buffer, buffer, length+1);
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51 | memcpy(data, buffer+1, length);
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52 | return status;
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53 | } |
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54 | |||
55 | /**
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56 | * @brief Write to one or more registers.
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57 | * @param[in] l3gd The L3G4200D driver to use.
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58 | * @param[in] regaddr The address of the first register.
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59 | * @param[in] data The data to be written to the registers.
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60 | * @param[in] length Number of registers to write.
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61 | *
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62 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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63 | */
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64 | inline apalExitStatus_t
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65 | l3g4200d_lld_write_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, const uint8_t* const data, const uint8_t length) |
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66 | { |
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67 | apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
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68 | apalDbgAssert(data != NULL);
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69 | |||
70 | uint8_t buffer[length+1];
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71 | buffer[0] = regaddr | L3G4200D_LLD_SPI_WRITE | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
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72 | memcpy(buffer+1, data, length);
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73 | return apalSPITransmit(l3gd->spid, buffer, length+1); |
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74 | } |
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75 | |||
76 | /**
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77 | * @brief Read the sensor data of all 3 axes.
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78 | * @param[in] l3gd The L3G4200D driver to use.
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79 | * @param[out] data The sensor data.
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80 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
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81 | *
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82 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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83 | */
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84 | inline apalExitStatus_t
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85 | l3g4200d_lld_read_all_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_cfg_t* const cfg) |
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86 | { |
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87 | apalDbgAssert(data != NULL);
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88 | apalDbgAssert(cfg != NULL);
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89 | |||
90 | uint8_t buffer[6];
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91 | apalExitStatus_t status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 6);
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92 | if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
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93 | data[0] = (int16_t) (buffer[0] | (buffer[1] << 8)); |
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94 | data[1] = (int16_t) (buffer[2] | (buffer[3] << 8)); |
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95 | data[2] = (int16_t) (buffer[4] | (buffer[5] << 8)); |
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96 | } else {
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97 | data[0] = (int16_t) (buffer[1] | (buffer[0] << 8)); |
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98 | data[1] = (int16_t) (buffer[3] | (buffer[2] << 8)); |
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99 | data[2] = (int16_t) (buffer[5] | (buffer[4] << 8)); |
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100 | } |
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101 | return status;
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102 | } |
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103 | |||
104 | /**
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105 | * @brief Read the sensor data of one axis.
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106 | * @param[in] l3gd The L3G4200D driver to use.
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107 | * @param[out] data The sensor data.
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108 | * @param[in] axis The axis for which the data should be read.
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109 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
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110 | *
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111 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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112 | */
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113 | inline apalExitStatus_t
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114 | l3g4200d_lld_read_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_axis_t axis, const l3g4200d_lld_cfg_t* const cfg) |
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115 | { |
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116 | apalDbgAssert(data != NULL);
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117 | apalDbgAssert(cfg != NULL);
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118 | |||
119 | apalExitStatus_t status = APAL_STATUS_SUCCESS; |
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120 | uint8_t buffer[2];
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121 | switch (axis) {
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122 | case L3G4200D_LLD_X_AXIS:
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123 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 2);
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124 | break;
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125 | case L3G4200D_LLD_Y_AXIS:
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126 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Y_L, buffer, 2);
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127 | break;
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128 | case L3G4200D_LLD_Z_AXIS:
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129 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Z_L, buffer, 2);
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130 | break;
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131 | default:
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132 | return APAL_STATUS_INVALIDARGUMENTS;
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133 | } |
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134 | // entweder jedes mal endian abfragen oder config mit übergeben
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135 | if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
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136 | *data = (int16_t) (buffer[0] | (buffer[1] << 8)); |
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137 | } else {
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138 | *data = (int16_t) (buffer[1] | (buffer[0] << 8)); |
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139 | } |
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140 | return status;
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141 | } |
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142 | |||
143 | /**
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144 | * @brief Read the current configuration
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145 | * @param[in] l3gd The L3G4200D driver to use.
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146 | * @param[out] cfg The current configuration.
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147 | *
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148 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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149 | */
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150 | inline apalExitStatus_t
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151 | l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg) |
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152 | { |
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153 | apalDbgAssert(cfg != NULL);
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154 | |||
155 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg->data, 5); |
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156 | } |
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157 | |||
158 | /**
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159 | * @brief Write the a configuration
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160 | * @param[in] l3gd The L3G4200D driver to use.
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161 | * @param[in] cfg The new configuration.
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162 | *
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163 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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164 | */
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165 | inline apalExitStatus_t
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166 | l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg) |
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167 | { |
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168 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg.data, 5); |
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169 | } |
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170 | |||
171 | /**
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172 | * @brief Read the interrupt configuration of one of the interrupts.
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173 | * @param[in] spid The SPI driver to use.
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174 | * @param[out] cfg The current interrupt configuration.
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175 | *
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176 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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177 | */
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178 | inline apalExitStatus_t
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179 | l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg) |
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180 | { |
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181 | apalDbgAssert(cfg != NULL);
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182 | |||
183 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg->data, 9); |
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184 | } |
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185 | |||
186 | /**
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187 | * @brief Write the interrupt configuration.
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188 | * @param[in] spid The SPI driver to use.
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189 | * @param[in] cfg The current new configuration.
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190 | *
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191 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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192 | */
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193 | inline apalExitStatus_t
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194 | l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg) |
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195 | { |
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196 | apalExitStatus_t status = l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg.data, 1);
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197 | if (status != APAL_STATUS_OK) {
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198 | return status;
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199 | } |
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200 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_TSH_XH, &cfg.data[2], 7); |
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201 | } |
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202 | |||
203 | /**
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204 | * @brief Read the status register.
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205 | * @param[in] spid The SPI driver to use.
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206 | * @param[out] status The current status register.
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207 | *
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208 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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209 | */
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210 | inline apalExitStatus_t
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211 | l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status) |
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212 | { |
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213 | apalDbgAssert(status != NULL);
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214 | |||
215 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_STATUS_REG, status, 1); |
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216 | } |
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217 | |||
218 | /**
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219 | * @brief Read the fifo ctrl register.
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220 | * @param[in] spid The SPI driver to use.
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221 | * @param[out] fifo The current fifo ctrl register.
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222 | *
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223 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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224 | */
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225 | inline apalExitStatus_t
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226 | l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
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227 | { |
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228 | apalDbgAssert(fifo != NULL);
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229 | |||
230 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, fifo, 1); |
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231 | } |
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232 | |||
233 | /**
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234 | * @brief Write the fifo ctrl register.
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235 | * @param[in] spid The SPI driver to use.
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236 | * @param[in] fifo The new fifo ctrl register.
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237 | *
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238 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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239 | */
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240 | inline apalExitStatus_t
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241 | l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo) |
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242 | { |
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243 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, &fifo, 1); |
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244 | } |
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245 | |||
246 | /**
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247 | * @brief Read the fifo src register.
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248 | * @param[in] spid The SPI driver to use.
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249 | * @param[out] fifo The current fifo src register.
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250 | *
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251 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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252 | */
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253 | inline apalExitStatus_t
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254 | l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
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255 | { |
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256 | apalDbgAssert(fifo != NULL);
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257 | |||
258 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_SRC_REG, fifo, 1); |
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259 | } |
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260 | |||
261 | /**
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262 | * @brief Read the interrupt src register.
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263 | * @param[in] spid The SPI driver to use.
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264 | * @param[out] cfg The current fifo src register.
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265 | *
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266 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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267 | */
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268 | inline apalExitStatus_t
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269 | l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg) |
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270 | { |
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271 | apalDbgAssert(cfg != NULL);
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272 | |||
273 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_SRC, cfg, 1); |
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274 | } |
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275 | |||
276 | #endif /* defined(AMIROLLD_CFG_USE_L3G4200D) */ |
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277 | 5e2f673b | Marc Rothmann | |
278 | /** @} */ |