amiro-lld / drivers / L3G4200D / v1 / alld_L3G4200D.c @ bb7c5348
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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 | 9466e34d | Thomas Schöpping | * @file alld_L3G4200D.c
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| 21 | 5e2f673b | Marc Rothmann | * @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 | 1d5bcc82 | Thomas Schöpping | #include<alld_L3G4200D.h> |
| 28 | d6728c5b | Thomas Schöpping | #include <string.h> |
| 29 | |||
| 30 | ef078306 | Thomas Schöpping | /******************************************************************************/
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| 31 | /* LOCAL DEFINITIONS */
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| 32 | /******************************************************************************/
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| 33 | |||
| 34 | /******************************************************************************/
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| 35 | /* EXPORTED VARIABLES */
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| 36 | /******************************************************************************/
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| 37 | |||
| 38 | /******************************************************************************/
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| 39 | /* LOCAL TYPES */
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| 40 | /******************************************************************************/
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| 41 | |||
| 42 | /******************************************************************************/
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| 43 | /* LOCAL VARIABLES */
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| 44 | /******************************************************************************/
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| 45 | |||
| 46 | /******************************************************************************/
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| 47 | /* LOCAL FUNCTIONS */
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| 48 | /******************************************************************************/
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| 49 | |||
| 50 | /******************************************************************************/
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| 51 | /* EXPORTED FUNCTIONS */
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| 52 | /******************************************************************************/
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| 53 | |||
| 54 | d6728c5b | Thomas Schöpping | /**
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| 55 | * @brief Read the content of one or more registers.
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| 56 | * @param[in] l3gd The L3G4200D driver to use.
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| 57 | * @param[in] regaddr The address of the first register.
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| 58 | * @param[out] data The data read from the registers.
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| 59 | * @param[in] length Number of registers to read.
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| 60 | *
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| 61 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 62 | */
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| 63 | 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) |
| 64 | d6728c5b | Thomas Schöpping | {
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| 65 | apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
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| 66 | apalDbgAssert(data != NULL);
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| 67 | |||
| 68 | uint8_t buffer[length+1];
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| 69 | buffer[0] = regaddr | L3G4200D_LLD_SPI_READ | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
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| 70 | apalExitStatus_t status = apalSPIExchange(l3gd->spid, buffer, buffer, length+1);
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| 71 | memcpy(data, buffer+1, length);
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| 72 | return status;
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| 73 | } |
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| 74 | |||
| 75 | /**
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| 76 | * @brief Write to one or more registers.
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| 77 | * @param[in] l3gd The L3G4200D driver to use.
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| 78 | * @param[in] regaddr The address of the first register.
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| 79 | * @param[in] data The data to be written to the registers.
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| 80 | * @param[in] length Number of registers to write.
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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 | 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) |
| 85 | d6728c5b | Thomas Schöpping | {
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| 86 | apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
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| 87 | apalDbgAssert(data != NULL);
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| 88 | |||
| 89 | uint8_t buffer[length+1];
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| 90 | buffer[0] = regaddr | L3G4200D_LLD_SPI_WRITE | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
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| 91 | memcpy(buffer+1, data, length);
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| 92 | return apalSPITransmit(l3gd->spid, buffer, length+1); |
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| 93 | } |
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| 94 | |||
| 95 | /**
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| 96 | * @brief Read the sensor data of all 3 axes.
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| 97 | * @param[in] l3gd The L3G4200D driver to use.
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| 98 | * @param[out] data The sensor data.
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| 99 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
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| 100 | *
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| 101 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 102 | */
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| 103 | 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) |
| 104 | d6728c5b | Thomas Schöpping | {
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| 105 | apalDbgAssert(data != NULL);
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| 106 | apalDbgAssert(cfg != NULL);
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| 107 | |||
| 108 | uint8_t buffer[6];
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| 109 | apalExitStatus_t status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 6);
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| 110 | if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
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| 111 | data[0] = (int16_t) (buffer[0] | (buffer[1] << 8)); |
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| 112 | data[1] = (int16_t) (buffer[2] | (buffer[3] << 8)); |
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| 113 | data[2] = (int16_t) (buffer[4] | (buffer[5] << 8)); |
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| 114 | } else {
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| 115 | data[0] = (int16_t) (buffer[1] | (buffer[0] << 8)); |
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| 116 | data[1] = (int16_t) (buffer[3] | (buffer[2] << 8)); |
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| 117 | data[2] = (int16_t) (buffer[5] | (buffer[4] << 8)); |
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| 118 | } |
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| 119 | return status;
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| 120 | } |
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| 121 | |||
| 122 | /**
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| 123 | * @brief Read the sensor data of one axis.
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| 124 | * @param[in] l3gd The L3G4200D driver to use.
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| 125 | * @param[out] data The sensor data.
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| 126 | * @param[in] axis The axis for which the data should be read.
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| 127 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
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| 128 | *
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| 129 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 130 | */
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| 131 | 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) |
| 132 | d6728c5b | Thomas Schöpping | {
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| 133 | apalDbgAssert(data != NULL);
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| 134 | apalDbgAssert(cfg != NULL);
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| 135 | |||
| 136 | apalExitStatus_t status = APAL_STATUS_SUCCESS; |
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| 137 | uint8_t buffer[2];
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| 138 | switch (axis) {
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| 139 | case L3G4200D_LLD_X_AXIS:
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| 140 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 2);
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| 141 | break;
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| 142 | case L3G4200D_LLD_Y_AXIS:
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| 143 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Y_L, buffer, 2);
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| 144 | break;
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| 145 | case L3G4200D_LLD_Z_AXIS:
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| 146 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Z_L, buffer, 2);
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| 147 | break;
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| 148 | default:
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| 149 | return APAL_STATUS_INVALIDARGUMENTS;
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| 150 | } |
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| 151 | // entweder jedes mal endian abfragen oder config mit übergeben
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| 152 | if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
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| 153 | *data = (int16_t) (buffer[0] | (buffer[1] << 8)); |
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| 154 | } else {
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| 155 | *data = (int16_t) (buffer[1] | (buffer[0] << 8)); |
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| 156 | } |
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| 157 | return status;
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| 158 | } |
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| 159 | |||
| 160 | /**
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| 161 | * @brief Read the current configuration
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| 162 | * @param[in] l3gd The L3G4200D driver to use.
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| 163 | * @param[out] cfg The current configuration.
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| 164 | *
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| 165 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 166 | */
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| 167 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg) |
| 168 | d6728c5b | Thomas Schöpping | {
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| 169 | apalDbgAssert(cfg != NULL);
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| 170 | |||
| 171 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg->data, 5); |
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| 172 | } |
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| 173 | |||
| 174 | /**
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| 175 | * @brief Write the a configuration
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| 176 | * @param[in] l3gd The L3G4200D driver to use.
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| 177 | * @param[in] cfg The new configuration.
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| 178 | *
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| 179 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 180 | */
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| 181 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg) |
| 182 | d6728c5b | Thomas Schöpping | {
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| 183 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg.data, 5); |
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| 184 | } |
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| 185 | |||
| 186 | /**
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| 187 | * @brief Read the interrupt configuration of one of the interrupts.
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| 188 | * @param[in] spid The SPI driver to use.
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| 189 | * @param[out] cfg The current interrupt 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 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg) |
| 194 | d6728c5b | Thomas Schöpping | {
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| 195 | apalDbgAssert(cfg != NULL);
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| 196 | |||
| 197 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg->data, 9); |
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| 198 | } |
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| 199 | |||
| 200 | /**
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| 201 | * @brief Write the interrupt configuration.
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| 202 | * @param[in] spid The SPI driver to use.
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| 203 | * @param[in] cfg The current new configuration.
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| 204 | *
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| 205 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 206 | */
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| 207 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg) |
| 208 | d6728c5b | Thomas Schöpping | {
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| 209 | apalExitStatus_t status = l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg.data, 1);
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| 210 | if (status != APAL_STATUS_OK) {
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| 211 | return status;
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| 212 | } |
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| 213 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_TSH_XH, &cfg.data[2], 7); |
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| 214 | } |
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| 215 | |||
| 216 | /**
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| 217 | * @brief Read the status register.
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| 218 | * @param[in] spid The SPI driver to use.
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| 219 | * @param[out] status The current status register.
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| 220 | *
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| 221 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 222 | */
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| 223 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status) |
| 224 | d6728c5b | Thomas Schöpping | {
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| 225 | apalDbgAssert(status != NULL);
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| 226 | |||
| 227 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_STATUS_REG, status, 1); |
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| 228 | } |
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| 229 | |||
| 230 | /**
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| 231 | * @brief Read the fifo ctrl register.
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| 232 | * @param[in] spid The SPI driver to use.
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| 233 | * @param[out] fifo The current fifo ctrl register.
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| 234 | *
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| 235 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 236 | */
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| 237 | inline apalExitStatus_t
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| 238 | l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
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| 239 | {
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| 240 | apalDbgAssert(fifo != NULL);
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| 241 | |||
| 242 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, fifo, 1); |
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| 243 | } |
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| 244 | |||
| 245 | /**
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| 246 | * @brief Write the fifo ctrl register.
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| 247 | * @param[in] spid The SPI driver to use.
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| 248 | * @param[in] fifo The new fifo ctrl register.
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| 249 | *
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| 250 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 251 | */
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| 252 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo) |
| 253 | d6728c5b | Thomas Schöpping | {
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| 254 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, &fifo, 1); |
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| 255 | } |
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| 256 | |||
| 257 | /**
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| 258 | * @brief Read the fifo src register.
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| 259 | * @param[in] spid The SPI driver to use.
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| 260 | * @param[out] fifo The current fifo src register.
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| 261 | *
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| 262 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 263 | */
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| 264 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
| 265 | d6728c5b | Thomas Schöpping | {
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| 266 | apalDbgAssert(fifo != NULL);
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| 267 | |||
| 268 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_SRC_REG, fifo, 1); |
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| 269 | } |
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| 270 | |||
| 271 | /**
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| 272 | * @brief Read the interrupt src register.
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| 273 | * @param[in] spid The SPI driver to use.
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| 274 | * @param[out] cfg The current fifo src register.
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| 275 | *
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| 276 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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| 277 | */
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| 278 | 21076167 | Thomas Schöpping | apalExitStatus_t l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg) |
| 279 | d6728c5b | Thomas Schöpping | {
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| 280 | apalDbgAssert(cfg != NULL);
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| 281 | |||
| 282 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_SRC, cfg, 1); |
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| 283 | } |
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| 284 | |||
| 285 | 5e2f673b | Marc Rothmann | /** @} */
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