amiro-lld / source / alld_hmc5883l.c @ 8c47f14b
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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 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | d6728c5b | Thomas Schöpping | |
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
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21 | * @brief Compass function implementations.
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22 | *
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23 | * @addtogroup lld_compass
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24 | * @{
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25 | */
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26 | |||
27 | d6728c5b | Thomas Schöpping | #include <alld_hmc5883l.h> |
28 | |||
29 | #if defined(AMIROLLD_CFG_USE_HMC5883L) || defined(__DOXYGEN__)
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30 | |||
31 | #include <string.h> |
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32 | |||
33 | /**
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34 | * @brief Reads the registers starting from idetification register A.
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35 | * @param[in] hmcd The HMC5883L driver to use.
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36 | * @param[out] rxbuffer The data read from the identification registers.
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37 | * @param[in] num Number of registers to read.
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38 | * @param[in] timeout Timeout for the function to return (in microseconds).
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39 | *
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40 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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41 | */
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42 | inline apalExitStatus_t
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43 | hmc5883l_lld_check(const HMC5883LDriver* const hmcd, uint8_t* const rxbuffer, const uint8_t num, const apalTime_t timeout) |
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44 | { |
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45 | apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL); |
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46 | apalDbgAssert(rxbuffer != NULL);
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47 | |||
48 | uint8_t txbuffer = HMC5883L_LLD_REGISTER_IDENTIFICATION_A; |
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49 | return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,&txbuffer,1,rxbuffer,num,timeout); |
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50 | } |
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51 | |||
52 | /**
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53 | * @brief Write data to consecutive registers.
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54 | * @param[in] hmcd The HMC5883L driver to use.
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55 | * @param[in] regaddr Address of first register.
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56 | * @param[in] data Bytes to write to the registers.
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57 | * @param[in] num Number of registers to write.
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58 | * @param[in] timeout Timeout for the function to return (in microseconds).
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59 | *
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60 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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61 | */
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62 | inline apalExitStatus_t
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63 | hmc5883l_lld_write_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
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64 | { |
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65 | apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL); |
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66 | apalDbgAssert(data != NULL);
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67 | |||
68 | uint8_t buffer[num+1];
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69 | buffer[0] = regaddr;
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70 | memcpy(buffer+1, data, num);
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71 | return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,buffer,num+1,NULL,0,timeout); |
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72 | } |
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73 | |||
74 | /**
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75 | * @brief Write data to one registers.
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76 | * @param[in] hmcd The HMC5883L driver to use.
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77 | * @param[in] regaddr Address of the register.
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78 | * @param[in] data Data to write ti the register.
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79 | * @param[in] timeout Timeout for the function to return (in microseconds).
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80 | *
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81 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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82 | */
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83 | inline apalExitStatus_t
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84 | hmc5883l_lld_set_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t data, const apalTime_t timeout) |
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85 | { |
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86 | apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL); |
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87 | |||
88 | uint8_t buffer[2];
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89 | buffer[0] = regaddr;
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90 | buffer[1] = data;
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91 | return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,buffer,2,NULL,0,timeout); |
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92 | } |
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93 | |||
94 | /**
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95 | * @brief Read data from consecutive registers.
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96 | * @param[in] hmcd The HMC5883L driver to use.
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97 | * @param[in] regaddr Address of first register.
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98 | * @param[out] data Bytes to read from the registers.
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99 | * @param[in] num Number of registers to read.
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100 | * @param[in] timeout Timeout for the function to return (in microseconds).
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101 | *
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102 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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103 | */
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104 | inline apalExitStatus_t
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105 | hmc5883l_lld_read_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
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106 | { |
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107 | apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL); |
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108 | apalDbgAssert(data != NULL);
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109 | |||
110 | return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,(uint8_t*)®addr,1,data,num,timeout); |
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111 | } |
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112 | |||
113 | /**
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114 | * @brief Read sensor data.
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115 | * @param[in] hmcd The HMC5883L driver to use.
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116 | * @param[out] data Sensor data.
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117 | * @param[in] timeout Timeout for the function to return (in microseconds).
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118 | *
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119 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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120 | */
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121 | inline apalExitStatus_t
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122 | hmc5883l_lld_read_data(const HMC5883LDriver* const hmcd, uint16_t* const data, const apalTime_t timeout) |
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123 | { |
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124 | apalDbgAssert(data != NULL);
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125 | |||
126 | uint8_t buffer[6];
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127 | apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB, buffer, 6, timeout);
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128 | data[0] = ((uint16_t)buffer[0] << 8) | buffer[1]; |
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129 | data[1] = ((uint16_t)buffer[2] << 8) | buffer[3]; |
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130 | data[2] = ((uint16_t)buffer[4] << 8) | buffer[5]; |
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131 | for (uint8_t dataIdx = 0; dataIdx < 3; dataIdx++) { |
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132 | if (data[dataIdx] >> 15) { |
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133 | data[dataIdx] = -1 * ~(data[dataIdx] - 1); |
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134 | } |
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135 | } |
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136 | return status;
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137 | } |
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138 | |||
139 | /**
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140 | * @brief Read the status register.
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141 | * @param[in] hmcd The HMC5883L driver to use.
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142 | * @param[out] status Content of status register,
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143 | * @param[in] timeout Timeout for the function to return (in microseconds).
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144 | *
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145 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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146 | */
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147 | inline apalExitStatus_t
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148 | hmc5883l_lld_read_status(const HMC5883LDriver* const hmcd, uint8_t* const status, const apalTime_t timeout) |
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149 | { |
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150 | apalDbgAssert(status != NULL);
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151 | |||
152 | return hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_STATUS, status, 1, timeout); |
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153 | } |
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154 | |||
155 | /**
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156 | * @brief Read the configuration of the hmc5883l.
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157 | * @param[in] hmcd The HMC5883L driver to use.
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158 | * @param[out] cfg Structure representing the current configuration.
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159 | * @param[in] timeout Timeout for the function to return (in microseconds).
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160 | *
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161 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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162 | */
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163 | inline apalExitStatus_t
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164 | hmc5883l_lld_read_config(const HMC5883LDriver* const hmcd, hmc5883l_lld_config_t* const cfg, const apalTime_t timeout) |
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165 | { |
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166 | apalDbgAssert(cfg != NULL);
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167 | |||
168 | uint8_t conf[3];
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169 | apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_CONFIG_A, conf, 3, timeout);
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170 | cfg->avg = conf[0] & (3 << 5); |
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171 | cfg->outrate = conf[0] & (7 << 2); |
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172 | cfg->mbias = conf[0] & 3; |
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173 | cfg->gain = conf[1] & (7 << 5); |
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174 | cfg->highspeed = conf[2] >> 7; |
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175 | cfg->mode = conf[2] & 3; |
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176 | return status;
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177 | } |
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178 | |||
179 | /**
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180 | * @brief Write a configuration to the hmc5883l.
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181 | * @param[in] hmcd The HMC5883L driver to use.
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182 | * @param[in] cfg Structure representing the new configuration.
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183 | * @param[in] timeout Timeout for the function to return (in microseconds).
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184 | *
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185 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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186 | */
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187 | inline apalExitStatus_t
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188 | hmc5883l_lld_write_config(const HMC5883LDriver* const hmcd, const hmc5883l_lld_config_t cfg, const apalTime_t timeout) |
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189 | { |
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190 | uint8_t conf[3];
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191 | conf[0] = cfg.avg | cfg.outrate | cfg.mbias;
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192 | conf[1] = cfg.gain;
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193 | conf[2] = (cfg.highspeed << 7) | cfg.mode; |
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194 | return hmc5883l_lld_write_register(hmcd, HMC5883L_LLD_REGISTER_CONFIG_A, conf, 3, timeout); |
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195 | } |
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196 | |||
197 | /**
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198 | * @brief Read the lock bit of the status register.
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199 | * @param[in] hmcd The HMC5883L driver to use.
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200 | * @param[in] lock Status of the lock bit.
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201 | * @param[in] timeout Timeout for the function to return (in microseconds).
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202 | *
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203 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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204 | */
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205 | inline apalExitStatus_t
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206 | hmc5883l_lld_read_lock(const HMC5883LDriver* const hmcd, uint8_t* const lock, const apalTime_t timeout) |
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207 | { |
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208 | apalDbgAssert(lock != NULL);
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209 | |||
210 | apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_STATUS, lock, 1, timeout);
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211 | *lock >>= 1;
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212 | return status;
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213 | } |
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214 | |||
215 | /**
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216 | * @brief Read the rdy bit of the status register.
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217 | * @param[in] hmcd The HMC5883L driver to use.
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218 | * @param[in] rdy Status of the rdy bit.
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219 | * @param[in] timeout Timeout for the function to return (in microseconds).
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220 | *
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221 | * @return The return status indicates whether the function call was successfull or a timeout occured.
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222 | */
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223 | inline apalExitStatus_t
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224 | hmc5883l_lld_read_rdy(const HMC5883LDriver* const hmcd, uint8_t* const rdy, const apalTime_t timeout) |
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225 | { |
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226 | apalDbgAssert(rdy != NULL);
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227 | |||
228 | apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_STATUS, rdy, 1, timeout);
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229 | *rdy &= 1;
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230 | return status;
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231 | } |
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232 | |||
233 | #endif /* defined(AMIROLLD_CFG_USE_HMC5883L) */ |
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234 | 5e2f673b | Marc Rothmann | |
235 | /** @} */ |