amiro-lld / source / L3G4200D / v1 / alld_L3G4200D_v1.c @ 6ef38c23
History | View | Annotate | Download (11.324 KB)
| 1 | d6728c5b | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 | d6728c5b | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
|
||
| 6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
|
| 7 | d6728c5b | Thomas Schöpping | the Free Software Foundation, either version 3 of the License, or
|
| 8 | (at your option) any later version.
|
||
| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
|
||
| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
| 13 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
|
| 14 | d6728c5b | Thomas Schöpping | |
| 15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
|
| 16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 | */
|
||
| 18 | |||
| 19 | 5e2f673b | Marc Rothmann | /**
|
| 20 | 1d5bcc82 | Thomas Schöpping | * @file alld_L3G4200D_v1.c
|
| 21 | 5e2f673b | Marc Rothmann | * @brief Gyroscope function implementations.
|
| 22 | *
|
||
| 23 | * @addtogroup lld_gyroscope
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | 1d5bcc82 | Thomas Schöpping | #include<alld_L3G4200D.h> |
| 28 | d6728c5b | Thomas Schöpping | |
| 29 | 1d5bcc82 | Thomas Schöpping | #if (defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1)) || defined(__DOXYGEN__) |
| 30 | d6728c5b | Thomas Schöpping | |
| 31 | #include <string.h> |
||
| 32 | |||
| 33 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 34 | /* LOCAL DEFINITIONS */
|
||
| 35 | /******************************************************************************/
|
||
| 36 | |||
| 37 | /******************************************************************************/
|
||
| 38 | /* EXPORTED VARIABLES */
|
||
| 39 | /******************************************************************************/
|
||
| 40 | |||
| 41 | /******************************************************************************/
|
||
| 42 | /* LOCAL TYPES */
|
||
| 43 | /******************************************************************************/
|
||
| 44 | |||
| 45 | /******************************************************************************/
|
||
| 46 | /* LOCAL VARIABLES */
|
||
| 47 | /******************************************************************************/
|
||
| 48 | |||
| 49 | /******************************************************************************/
|
||
| 50 | /* LOCAL FUNCTIONS */
|
||
| 51 | /******************************************************************************/
|
||
| 52 | |||
| 53 | /******************************************************************************/
|
||
| 54 | /* EXPORTED FUNCTIONS */
|
||
| 55 | /******************************************************************************/
|
||
| 56 | |||
| 57 | d6728c5b | Thomas Schöpping | /**
|
| 58 | * @brief Read the content of one or more registers.
|
||
| 59 | * @param[in] l3gd The L3G4200D driver to use.
|
||
| 60 | * @param[in] regaddr The address of the first register.
|
||
| 61 | * @param[out] data The data read from the registers.
|
||
| 62 | * @param[in] length Number of registers to read.
|
||
| 63 | *
|
||
| 64 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 65 | */
|
||
| 66 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, uint8_t* const data, const uint8_t length) |
| 67 | d6728c5b | Thomas Schöpping | {
|
| 68 | apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
||
| 69 | apalDbgAssert(data != NULL);
|
||
| 70 | |||
| 71 | uint8_t buffer[length+1];
|
||
| 72 | buffer[0] = regaddr | L3G4200D_LLD_SPI_READ | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
||
| 73 | apalExitStatus_t status = apalSPIExchange(l3gd->spid, buffer, buffer, length+1);
|
||
| 74 | memcpy(data, buffer+1, length);
|
||
| 75 | return status;
|
||
| 76 | } |
||
| 77 | |||
| 78 | /**
|
||
| 79 | * @brief Write to one or more registers.
|
||
| 80 | * @param[in] l3gd The L3G4200D driver to use.
|
||
| 81 | * @param[in] regaddr The address of the first register.
|
||
| 82 | * @param[in] data The data to be written to the registers.
|
||
| 83 | * @param[in] length Number of registers to write.
|
||
| 84 | *
|
||
| 85 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 86 | */
|
||
| 87 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_write_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, const uint8_t* const data, const uint8_t length) |
| 88 | d6728c5b | Thomas Schöpping | {
|
| 89 | apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
||
| 90 | apalDbgAssert(data != NULL);
|
||
| 91 | |||
| 92 | uint8_t buffer[length+1];
|
||
| 93 | buffer[0] = regaddr | L3G4200D_LLD_SPI_WRITE | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
||
| 94 | memcpy(buffer+1, data, length);
|
||
| 95 | return apalSPITransmit(l3gd->spid, buffer, length+1); |
||
| 96 | } |
||
| 97 | |||
| 98 | /**
|
||
| 99 | * @brief Read the sensor data of all 3 axes.
|
||
| 100 | * @param[in] l3gd The L3G4200D driver to use.
|
||
| 101 | * @param[out] data The sensor data.
|
||
| 102 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
|
||
| 103 | *
|
||
| 104 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 105 | */
|
||
| 106 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_all_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_cfg_t* const cfg) |
| 107 | d6728c5b | Thomas Schöpping | {
|
| 108 | apalDbgAssert(data != NULL);
|
||
| 109 | apalDbgAssert(cfg != NULL);
|
||
| 110 | |||
| 111 | uint8_t buffer[6];
|
||
| 112 | apalExitStatus_t status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 6);
|
||
| 113 | if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
|
||
| 114 | data[0] = (int16_t) (buffer[0] | (buffer[1] << 8)); |
||
| 115 | data[1] = (int16_t) (buffer[2] | (buffer[3] << 8)); |
||
| 116 | data[2] = (int16_t) (buffer[4] | (buffer[5] << 8)); |
||
| 117 | } else {
|
||
| 118 | data[0] = (int16_t) (buffer[1] | (buffer[0] << 8)); |
||
| 119 | data[1] = (int16_t) (buffer[3] | (buffer[2] << 8)); |
||
| 120 | data[2] = (int16_t) (buffer[5] | (buffer[4] << 8)); |
||
| 121 | } |
||
| 122 | return status;
|
||
| 123 | } |
||
| 124 | |||
| 125 | /**
|
||
| 126 | * @brief Read the sensor data of one axis.
|
||
| 127 | * @param[in] l3gd The L3G4200D driver to use.
|
||
| 128 | * @param[out] data The sensor data.
|
||
| 129 | * @param[in] axis The axis for which the data should be read.
|
||
| 130 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
|
||
| 131 | *
|
||
| 132 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 133 | */
|
||
| 134 | 21076167 | Thomas Schöpping | apalExitStatus_t 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) |
| 135 | d6728c5b | Thomas Schöpping | {
|
| 136 | apalDbgAssert(data != NULL);
|
||
| 137 | apalDbgAssert(cfg != NULL);
|
||
| 138 | |||
| 139 | apalExitStatus_t status = APAL_STATUS_SUCCESS; |
||
| 140 | uint8_t buffer[2];
|
||
| 141 | switch (axis) {
|
||
| 142 | case L3G4200D_LLD_X_AXIS:
|
||
| 143 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 2);
|
||
| 144 | break;
|
||
| 145 | case L3G4200D_LLD_Y_AXIS:
|
||
| 146 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Y_L, buffer, 2);
|
||
| 147 | break;
|
||
| 148 | case L3G4200D_LLD_Z_AXIS:
|
||
| 149 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Z_L, buffer, 2);
|
||
| 150 | break;
|
||
| 151 | default:
|
||
| 152 | return APAL_STATUS_INVALIDARGUMENTS;
|
||
| 153 | } |
||
| 154 | // entweder jedes mal endian abfragen oder config mit übergeben
|
||
| 155 | if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
|
||
| 156 | *data = (int16_t) (buffer[0] | (buffer[1] << 8)); |
||
| 157 | } else {
|
||
| 158 | *data = (int16_t) (buffer[1] | (buffer[0] << 8)); |
||
| 159 | } |
||
| 160 | return status;
|
||
| 161 | } |
||
| 162 | |||
| 163 | /**
|
||
| 164 | * @brief Read the current configuration
|
||
| 165 | * @param[in] l3gd The L3G4200D driver to use.
|
||
| 166 | * @param[out] cfg The current configuration.
|
||
| 167 | *
|
||
| 168 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 169 | */
|
||
| 170 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg) |
| 171 | d6728c5b | Thomas Schöpping | {
|
| 172 | apalDbgAssert(cfg != NULL);
|
||
| 173 | |||
| 174 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg->data, 5); |
||
| 175 | } |
||
| 176 | |||
| 177 | /**
|
||
| 178 | * @brief Write the a configuration
|
||
| 179 | * @param[in] l3gd The L3G4200D driver to use.
|
||
| 180 | * @param[in] cfg The new configuration.
|
||
| 181 | *
|
||
| 182 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 183 | */
|
||
| 184 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg) |
| 185 | d6728c5b | Thomas Schöpping | {
|
| 186 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg.data, 5); |
||
| 187 | } |
||
| 188 | |||
| 189 | /**
|
||
| 190 | * @brief Read the interrupt configuration of one of the interrupts.
|
||
| 191 | * @param[in] spid The SPI driver to use.
|
||
| 192 | * @param[out] cfg The current interrupt configuration.
|
||
| 193 | *
|
||
| 194 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 195 | */
|
||
| 196 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg) |
| 197 | d6728c5b | Thomas Schöpping | {
|
| 198 | apalDbgAssert(cfg != NULL);
|
||
| 199 | |||
| 200 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg->data, 9); |
||
| 201 | } |
||
| 202 | |||
| 203 | /**
|
||
| 204 | * @brief Write the interrupt configuration.
|
||
| 205 | * @param[in] spid The SPI driver to use.
|
||
| 206 | * @param[in] cfg The current new configuration.
|
||
| 207 | *
|
||
| 208 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 209 | */
|
||
| 210 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg) |
| 211 | d6728c5b | Thomas Schöpping | {
|
| 212 | apalExitStatus_t status = l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg.data, 1);
|
||
| 213 | if (status != APAL_STATUS_OK) {
|
||
| 214 | return status;
|
||
| 215 | } |
||
| 216 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_TSH_XH, &cfg.data[2], 7); |
||
| 217 | } |
||
| 218 | |||
| 219 | /**
|
||
| 220 | * @brief Read the status register.
|
||
| 221 | * @param[in] spid The SPI driver to use.
|
||
| 222 | * @param[out] status The current status register.
|
||
| 223 | *
|
||
| 224 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 225 | */
|
||
| 226 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status) |
| 227 | d6728c5b | Thomas Schöpping | {
|
| 228 | apalDbgAssert(status != NULL);
|
||
| 229 | |||
| 230 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_STATUS_REG, status, 1); |
||
| 231 | } |
||
| 232 | |||
| 233 | /**
|
||
| 234 | * @brief Read the fifo ctrl register.
|
||
| 235 | * @param[in] spid The SPI driver to use.
|
||
| 236 | * @param[out] fifo The current fifo ctrl register.
|
||
| 237 | *
|
||
| 238 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 239 | */
|
||
| 240 | inline apalExitStatus_t
|
||
| 241 | l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
||
| 242 | {
|
||
| 243 | apalDbgAssert(fifo != NULL);
|
||
| 244 | |||
| 245 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, fifo, 1); |
||
| 246 | } |
||
| 247 | |||
| 248 | /**
|
||
| 249 | * @brief Write the fifo ctrl register.
|
||
| 250 | * @param[in] spid The SPI driver to use.
|
||
| 251 | * @param[in] fifo The new fifo ctrl register.
|
||
| 252 | *
|
||
| 253 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 254 | */
|
||
| 255 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo) |
| 256 | d6728c5b | Thomas Schöpping | {
|
| 257 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, &fifo, 1); |
||
| 258 | } |
||
| 259 | |||
| 260 | /**
|
||
| 261 | * @brief Read the fifo src register.
|
||
| 262 | * @param[in] spid The SPI driver to use.
|
||
| 263 | * @param[out] fifo The current fifo src register.
|
||
| 264 | *
|
||
| 265 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 266 | */
|
||
| 267 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
| 268 | d6728c5b | Thomas Schöpping | {
|
| 269 | apalDbgAssert(fifo != NULL);
|
||
| 270 | |||
| 271 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_SRC_REG, fifo, 1); |
||
| 272 | } |
||
| 273 | |||
| 274 | /**
|
||
| 275 | * @brief Read the interrupt src register.
|
||
| 276 | * @param[in] spid The SPI driver to use.
|
||
| 277 | * @param[out] cfg The current fifo src register.
|
||
| 278 | *
|
||
| 279 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 280 | */
|
||
| 281 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg) |
| 282 | d6728c5b | Thomas Schöpping | {
|
| 283 | apalDbgAssert(cfg != NULL);
|
||
| 284 | |||
| 285 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_SRC, cfg, 1); |
||
| 286 | } |
||
| 287 | |||
| 288 | 1d5bcc82 | Thomas Schöpping | #endif /* defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1) */ |
| 289 | 5e2f673b | Marc Rothmann | |
| 290 | /** @} */ |