amiro-lld / source / alld_hmc5883l.c @ 9e45662e
History | View | Annotate | Download (8.81 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 | * @file
|
||
21 | * @brief Compass function implementations.
|
||
22 | *
|
||
23 | * @addtogroup lld_compass
|
||
24 | * @{
|
||
25 | */
|
||
26 | |||
27 | d6728c5b | Thomas Schöpping | #include <alld_hmc5883l.h> |
28 | |||
29 | #if defined(AMIROLLD_CFG_USE_HMC5883L) || defined(__DOXYGEN__)
|
||
30 | |||
31 | #include <string.h> |
||
32 | |||
33 | /**
|
||
34 | * @brief Reads the registers starting from idetification register A.
|
||
35 | * @param[in] hmcd The HMC5883L driver to use.
|
||
36 | * @param[out] rxbuffer The data read from the identification registers.
|
||
37 | * @param[in] num Number of registers to read.
|
||
38 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
39 | *
|
||
40 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
41 | */
|
||
42 | inline apalExitStatus_t
|
||
43 | hmc5883l_lld_check(const HMC5883LDriver* const hmcd, uint8_t* const rxbuffer, const uint8_t num, const apalTime_t timeout) |
||
44 | { |
||
45 | apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL); |
||
46 | apalDbgAssert(rxbuffer != NULL);
|
||
47 | |||
48 | uint8_t txbuffer = HMC5883L_LLD_REGISTER_IDENTIFICATION_A; |
||
49 | return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,&txbuffer,1,rxbuffer,num,timeout); |
||
50 | } |
||
51 | |||
52 | /**
|
||
53 | * @brief Write data to consecutive registers.
|
||
54 | * @param[in] hmcd The HMC5883L driver to use.
|
||
55 | * @param[in] regaddr Address of first register.
|
||
56 | * @param[in] data Bytes to write to the registers.
|
||
57 | * @param[in] num Number of registers to write.
|
||
58 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
59 | *
|
||
60 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
61 | */
|
||
62 | inline apalExitStatus_t
|
||
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) |
||
64 | { |
||
65 | apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL); |
||
66 | apalDbgAssert(data != NULL);
|
||
67 | |||
68 | uint8_t buffer[num+1];
|
||
69 | buffer[0] = regaddr;
|
||
70 | memcpy(buffer+1, data, num);
|
||
71 | return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,buffer,num+1,NULL,0,timeout); |
||
72 | } |
||
73 | |||
74 | /**
|
||
75 | * @brief Write data to one registers.
|
||
76 | * @param[in] hmcd The HMC5883L driver to use.
|
||
77 | * @param[in] regaddr Address of the register.
|
||
78 | * @param[in] data Data to write ti the register.
|
||
79 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
80 | *
|
||
81 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
82 | */
|
||
83 | inline apalExitStatus_t
|
||
84 | hmc5883l_lld_set_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t data, const apalTime_t timeout) |
||
85 | { |
||
86 | apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL); |
||
87 | |||
88 | uint8_t buffer[2];
|
||
89 | buffer[0] = regaddr;
|
||
90 | buffer[1] = data;
|
||
91 | return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,buffer,2,NULL,0,timeout); |
||
92 | } |
||
93 | |||
94 | /**
|
||
95 | * @brief Read data from consecutive registers.
|
||
96 | * @param[in] hmcd The HMC5883L driver to use.
|
||
97 | * @param[in] regaddr Address of first register.
|
||
98 | * @param[out] data Bytes to read from the registers.
|
||
99 | * @param[in] num Number of registers to read.
|
||
100 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
101 | *
|
||
102 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
103 | */
|
||
104 | inline apalExitStatus_t
|
||
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) |
||
106 | { |
||
107 | apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL); |
||
108 | apalDbgAssert(data != NULL);
|
||
109 | |||
110 | return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,(uint8_t*)®addr,1,data,num,timeout); |
||
111 | } |
||
112 | |||
113 | /**
|
||
114 | * @brief Read sensor data.
|
||
115 | * @param[in] hmcd The HMC5883L driver to use.
|
||
116 | * @param[out] data Sensor data.
|
||
117 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
118 | *
|
||
119 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
120 | */
|
||
121 | inline apalExitStatus_t
|
||
122 | hmc5883l_lld_read_data(const HMC5883LDriver* const hmcd, uint16_t* const data, const apalTime_t timeout) |
||
123 | { |
||
124 | apalDbgAssert(data != NULL);
|
||
125 | |||
126 | uint8_t buffer[6];
|
||
127 | apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB, buffer, 6, timeout);
|
||
128 | data[0] = ((uint16_t)buffer[0] << 8) | buffer[1]; |
||
129 | data[1] = ((uint16_t)buffer[2] << 8) | buffer[3]; |
||
130 | data[2] = ((uint16_t)buffer[4] << 8) | buffer[5]; |
||
131 | for (uint8_t dataIdx = 0; dataIdx < 3; dataIdx++) { |
||
132 | if (data[dataIdx] >> 15) { |
||
133 | data[dataIdx] = -1 * ~(data[dataIdx] - 1); |
||
134 | } |
||
135 | } |
||
136 | return status;
|
||
137 | } |
||
138 | |||
139 | /**
|
||
140 | * @brief Read the status register.
|
||
141 | * @param[in] hmcd The HMC5883L driver to use.
|
||
142 | * @param[out] status Content of status register,
|
||
143 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
144 | *
|
||
145 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
146 | */
|
||
147 | inline apalExitStatus_t
|
||
148 | hmc5883l_lld_read_status(const HMC5883LDriver* const hmcd, uint8_t* const status, const apalTime_t timeout) |
||
149 | { |
||
150 | apalDbgAssert(status != NULL);
|
||
151 | |||
152 | return hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_STATUS, status, 1, timeout); |
||
153 | } |
||
154 | |||
155 | /**
|
||
156 | * @brief Read the configuration of the hmc5883l.
|
||
157 | * @param[in] hmcd The HMC5883L driver to use.
|
||
158 | * @param[out] cfg Structure representing the current configuration.
|
||
159 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
160 | *
|
||
161 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
162 | */
|
||
163 | inline apalExitStatus_t
|
||
164 | hmc5883l_lld_read_config(const HMC5883LDriver* const hmcd, hmc5883l_lld_config_t* const cfg, const apalTime_t timeout) |
||
165 | { |
||
166 | apalDbgAssert(cfg != NULL);
|
||
167 | |||
168 | uint8_t conf[3];
|
||
169 | apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_CONFIG_A, conf, 3, timeout);
|
||
170 | cfg->avg = conf[0] & (3 << 5); |
||
171 | cfg->outrate = conf[0] & (7 << 2); |
||
172 | cfg->mbias = conf[0] & 3; |
||
173 | cfg->gain = conf[1] & (7 << 5); |
||
174 | cfg->highspeed = conf[2] >> 7; |
||
175 | cfg->mode = conf[2] & 3; |
||
176 | return status;
|
||
177 | } |
||
178 | |||
179 | /**
|
||
180 | * @brief Write a configuration to the hmc5883l.
|
||
181 | * @param[in] hmcd The HMC5883L driver to use.
|
||
182 | * @param[in] cfg Structure representing the new configuration.
|
||
183 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
184 | *
|
||
185 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
186 | */
|
||
187 | inline apalExitStatus_t
|
||
188 | hmc5883l_lld_write_config(const HMC5883LDriver* const hmcd, const hmc5883l_lld_config_t cfg, const apalTime_t timeout) |
||
189 | { |
||
190 | uint8_t conf[3];
|
||
191 | conf[0] = cfg.avg | cfg.outrate | cfg.mbias;
|
||
192 | conf[1] = cfg.gain;
|
||
193 | conf[2] = (cfg.highspeed << 7) | cfg.mode; |
||
194 | return hmc5883l_lld_write_register(hmcd, HMC5883L_LLD_REGISTER_CONFIG_A, conf, 3, timeout); |
||
195 | } |
||
196 | |||
197 | /**
|
||
198 | * @brief Read the lock bit of the status register.
|
||
199 | * @param[in] hmcd The HMC5883L driver to use.
|
||
200 | * @param[in] lock Status of the lock bit.
|
||
201 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
202 | *
|
||
203 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
204 | */
|
||
205 | inline apalExitStatus_t
|
||
206 | hmc5883l_lld_read_lock(const HMC5883LDriver* const hmcd, uint8_t* const lock, const apalTime_t timeout) |
||
207 | { |
||
208 | apalDbgAssert(lock != NULL);
|
||
209 | |||
210 | apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_STATUS, lock, 1, timeout);
|
||
211 | *lock >>= 1;
|
||
212 | return status;
|
||
213 | } |
||
214 | |||
215 | /**
|
||
216 | * @brief Read the rdy bit of the status register.
|
||
217 | * @param[in] hmcd The HMC5883L driver to use.
|
||
218 | * @param[in] rdy Status of the rdy bit.
|
||
219 | * @param[in] timeout Timeout for the function to return (in microseconds).
|
||
220 | *
|
||
221 | * @return The return status indicates whether the function call was successfull or a timeout occured.
|
||
222 | */
|
||
223 | inline apalExitStatus_t
|
||
224 | hmc5883l_lld_read_rdy(const HMC5883LDriver* const hmcd, uint8_t* const rdy, const apalTime_t timeout) |
||
225 | { |
||
226 | apalDbgAssert(rdy != NULL);
|
||
227 | |||
228 | apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_STATUS, rdy, 1, timeout);
|
||
229 | *rdy &= 1;
|
||
230 | return status;
|
||
231 | } |
||
232 | |||
233 | #endif /* defined(AMIROLLD_CFG_USE_HMC5883L) */ |
||
234 | 5e2f673b | Marc Rothmann | |
235 | /** @} */ |