amiro-lld / drivers / P9221R / v1 / alld_P9221R.c @ 9be47646
History | View | Annotate | Download (6.245 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU Lesser General Public License as published by
|
| 7 |
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 |
GNU Lesser General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU Lesser General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file alld_P9221R.c
|
| 21 |
*
|
| 22 |
* @brief Power Monitor function implementations
|
| 23 |
*
|
| 24 |
* @addtogroup lld_power
|
| 25 |
* @{
|
| 26 |
*/
|
| 27 |
|
| 28 |
#include <alld_P9221R.h> |
| 29 |
|
| 30 |
/******************************************************************************/
|
| 31 |
/* LOCAL DEFINITIONS */
|
| 32 |
/******************************************************************************/
|
| 33 |
|
| 34 |
/******************************************************************************/
|
| 35 |
/* EXPORTED VARIABLES */
|
| 36 |
/******************************************************************************/
|
| 37 |
|
| 38 |
/******************************************************************************/
|
| 39 |
/* LOCAL TYPES */
|
| 40 |
/******************************************************************************/
|
| 41 |
|
| 42 |
/******************************************************************************/
|
| 43 |
/* LOCAL VARIABLES */
|
| 44 |
/******************************************************************************/
|
| 45 |
|
| 46 |
/******************************************************************************/
|
| 47 |
/* LOCAL FUNCTIONS */
|
| 48 |
/******************************************************************************/
|
| 49 |
|
| 50 |
/******************************************************************************/
|
| 51 |
/* EXPORTED FUNCTIONS */
|
| 52 |
/******************************************************************************/
|
| 53 |
|
| 54 |
/**
|
| 55 |
* @brief Read the value of one or more of the registers.
|
| 56 |
* @param[in] i2cd i2c driver
|
| 57 |
* @param[in] PRd p9221r driver
|
| 58 |
* @param[in] addr register address
|
| 59 |
* @param[out] data register content
|
| 60 |
* @param[in] num number of subsequent registers to read
|
| 61 |
* @param[in] timeout timeout
|
| 62 |
* @return An indicator whether the call was successfull
|
| 63 |
*/
|
| 64 |
apalExitStatus_t p9221r_lld_read_register(const P9221RDriver* const p9221r, const p9221r_lld_register_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
| 65 |
{
|
| 66 |
apalDbgAssert(p9221r != NULL);
|
| 67 |
apalDbgAssert(p9221r->i2cd != NULL);
|
| 68 |
apalDbgAssert(data != NULL);
|
| 69 |
|
| 70 |
uint8_t tx[2] = {(addr & 0xFF00) >> 8, addr & 0x00FF}; |
| 71 |
|
| 72 |
apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), tx, 2, data, num, timeout);
|
| 73 |
|
| 74 |
return status;
|
| 75 |
} |
| 76 |
|
| 77 |
/**
|
| 78 |
* @brief Write the value of one or more of the registers.
|
| 79 |
* @param[in] i2cd i2c driver
|
| 80 |
* @param[in] PRd p9221r driver
|
| 81 |
* @param[in] addr register address
|
| 82 |
* @param[in] data data to write
|
| 83 |
* @param[in] num number of subsequent registers to read
|
| 84 |
* @param[in] timeout timeout
|
| 85 |
* @return An indicator whether the call was successfull
|
| 86 |
*/
|
| 87 |
apalExitStatus_t p9221r_lld_write_register(const P9221RDriver* const p9221r, const p9221r_lld_register_t addr, const uint16_t* const data, const uint8_t num, const apalTime_t timeout) |
| 88 |
{
|
| 89 |
apalDbgAssert(p9221r != NULL);
|
| 90 |
apalDbgAssert(p9221r->i2cd != NULL);
|
| 91 |
apalDbgAssert(data != NULL);
|
| 92 |
|
| 93 |
uint8_t buffer[1+2*num]; |
| 94 |
buffer[0] = addr;
|
| 95 |
for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
| 96 |
buffer[dataIdx*2+1] = data[dataIdx] >> 8; |
| 97 |
buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu); |
| 98 |
} |
| 99 |
return apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), buffer, 1+2*num, NULL, 0, timeout); |
| 100 |
} |
| 101 |
|
| 102 |
/**
|
| 103 |
* @brief Read the alignment.
|
| 104 |
* @param[in] PRd p9221r driver
|
| 105 |
* @param[out] alignment alignment register content
|
| 106 |
* @param[in] timeout timeout
|
| 107 |
* @return An indicator whether the call was successfull
|
| 108 |
*/
|
| 109 |
apalExitStatus_t p9221r_lld_read_alignment(const P9221RDriver* const p9221r, int8_t* const alignment, const apalTime_t timeout) |
| 110 |
{
|
| 111 |
apalExitStatus_t status = p9221r_lld_read_register(p9221r, P9221R_LLD_REGISTER_ALIGNMENT_X, (uint8_t*) alignment, 2, timeout);
|
| 112 |
|
| 113 |
return status;
|
| 114 |
} |
| 115 |
|
| 116 |
/**
|
| 117 |
* @brief Read the voltage.
|
| 118 |
* @param[in] i2cd i2c driver
|
| 119 |
* @param[in] PRd p9221r driver
|
| 120 |
* @param[out] voltage voltage register content
|
| 121 |
* @param[in] timeout timeout
|
| 122 |
* @return An indicator whether the call was successfull
|
| 123 |
*/
|
| 124 |
apalExitStatus_t p9221r_lld_read_voltage(const P9221RDriver* const p9221r, float* const voltage, const apalTime_t timeout) |
| 125 |
{
|
| 126 |
uint8_t buffer[2];
|
| 127 |
uint16_t value; |
| 128 |
|
| 129 |
apalExitStatus_t status = p9221r_lld_read_register(p9221r, P9221R_LLD_I2C_ADDR_FIXED, buffer, 2, timeout);
|
| 130 |
|
| 131 |
value = ((buffer[1] & 0x0F) << 8) | buffer[0]; // 4MSB are in buffer[1] so we shift and mask, 8LSB are in buffer[0] |
| 132 |
*voltage = (((float) value) * 6 * 2.1f)/4095.0f; |
| 133 |
|
| 134 |
return status;
|
| 135 |
} |
| 136 |
|
| 137 |
/**
|
| 138 |
* @brief Read the current.
|
| 139 |
* @param[in] i2cd i2c driver
|
| 140 |
* @param[in] PRd p9221r driver
|
| 141 |
* @param[out] current register content
|
| 142 |
* @param[in] timeout timeout
|
| 143 |
* @return An indicator whether the call was successfull
|
| 144 |
*/
|
| 145 |
apalExitStatus_t p9221r_lld_read_current(const P9221RDriver* const p9221r, float* const current, const apalTime_t timeout) |
| 146 |
{
|
| 147 |
uint8_t buffer[2];
|
| 148 |
uint16_t value; |
| 149 |
|
| 150 |
apalExitStatus_t status = p9221r_lld_read_register(p9221r, P9221R_LLD_REGISTER_IOUT_CURRENT_LSB, buffer, 2, timeout);
|
| 151 |
value = (buffer[1] << 8) | buffer[0]; // 8MSB are in buffer[1] so we shift, 8LSB are in buffer[0] |
| 152 |
*current = (((float) value) * 2 * 2.1f)/4095.0f; |
| 153 |
|
| 154 |
return status;
|
| 155 |
} |
| 156 |
|
| 157 |
/** @} */
|
| 158 |
|