amiro-lld / drivers / P9221R / v1 / alld_P9221R.c @ e7af07e7
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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file alld_P9221R.c
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*
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* @brief Power Monitor function implementations
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*
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* @addtogroup lld_power
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* @{
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*/
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#include <alld_P9221R.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Read the value of one or more of the registers.
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* @param[in] i2cd i2c driver
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* @param[in] PRd p9221r driver
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* @param[in] addr register address
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* @param[out] data register content
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* @param[in] num number of subsequent registers to read
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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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) |
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{
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apalDbgAssert(p9221r != NULL);
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apalDbgAssert(p9221r->i2cd != NULL);
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apalDbgAssert(data != NULL);
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uint8_t tx[2] = {(addr & 0xFF00) >> 8, addr & 0x00FF}; |
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apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), tx, 2, data, num, timeout);
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return status;
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} |
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/**
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* @brief Write the value of one or more of the registers.
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* @param[in] i2cd i2c driver
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* @param[in] PRd p9221r driver
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* @param[in] addr register address
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* @param[in] data data to write
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* @param[in] num number of subsequent registers to read
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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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) |
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{
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apalDbgAssert(p9221r != NULL);
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apalDbgAssert(p9221r->i2cd != NULL);
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apalDbgAssert(data != NULL);
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uint8_t buffer[1+2*num]; |
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buffer[0] = addr;
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for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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buffer[dataIdx*2+1] = data[dataIdx] >> 8; |
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buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu); |
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} |
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return apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), buffer, 1+2*num, NULL, 0, timeout); |
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} |
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/**
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* @brief Read the x_alignment.
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* @param[in] i2cd i2c driver
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* @param[in] PRd p9221r driver
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* @param[out] x_alignment alignment register content
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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apalExitStatus_t p9221r_lld_read_x_alignment(const P9221RDriver* const p9221r, int8_t* const x_alignment, const apalTime_t timeout) |
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{
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uint8_t addr[2] = {(P9221R_LLD_REGISTER_ALIGNMENT_X & 0xFF00) >> 8, P9221R_LLD_REGISTER_ALIGNMENT_X & 0x00FF}; |
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apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), addr, 2, (uint8_t*)x_alignment, 2, timeout); // TODO check if implicit cast is ok (uint) |
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return status;
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} |
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/**
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* @brief Read the y_alignment.
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* @param[in] i2cd i2c driver
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* @param[in] PRd p9221r driver
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* @param[out] y_alignment alignment register content
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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apalExitStatus_t p9221r_lld_read_y_alignment(const P9221RDriver* const p9221r, int8_t* const y_alignment, const apalTime_t timeout) |
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{
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uint8_t addr[2] = {(P9221R_LLD_REGISTER_ALIGNMENT_Y & 0xFF00) >> 8, P9221R_LLD_REGISTER_ALIGNMENT_Y & 0x00FF}; |
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apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), addr, 2, (uint8_t*)y_alignment, 2, timeout); // TODO check if implicit cast is ok (uint) |
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return status;
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} |
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/**
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* @brief Read the voltage.
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* @param[in] i2cd i2c driver
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* @param[in] PRd p9221r driver
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* @param[out] voltage voltage register content
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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apalExitStatus_t p9221r_lld_read_voltage(const P9221RDriver* const p9221r, float* const voltage, const apalTime_t timeout) |
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{
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uint8_t addr[2] = {(P9221R_LLD_REGISTER_OUTPUT_VOLTAGE_LSB & 0xFF00) >> 8, P9221R_LLD_REGISTER_OUTPUT_VOLTAGE_LSB & 0x00FF}; |
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uint8_t buffer[2];
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uint16_t value; |
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apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), addr, 2, buffer, 2, timeout); |
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value = ((buffer[1] & 0x0F) << 8) | buffer[0]; // 4MSB are in buffer[1] so we shift and mask, 8LSB are in buffer[0] |
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*voltage = (((float) value) * 6 * 2.1f)/4095.0f; |
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return status;
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} |
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/**
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* @brief Read the current.
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* @param[in] i2cd i2c driver
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* @param[in] PRd p9221r driver
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* @param[out] current register content
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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apalExitStatus_t p9221r_lld_read_current(const P9221RDriver* const p9221r, float* const current, const apalTime_t timeout) |
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{
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uint8_t addr[2] = {(P9221R_LLD_REGISTER_IOUT_CURRENT_LSB & 0xFF00) >> 8, P9221R_LLD_REGISTER_IOUT_CURRENT_LSB & 0x00FF}; |
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uint8_t buffer[2];
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uint16_t value; |
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apalExitStatus_t status = apalI2CMasterTransmit(p9221r->i2cd, (P9221R_LLD_I2C_ADDR_FIXED | p9221r->addr), addr, 2, buffer, 2, timeout); |
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value = (buffer[1] << 8) | buffer[0]; // 8MSB are in buffer[1] so we shift, 8LSB are in buffer[0] |
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*current = (((float) value) * 2 * 2.1f)/4095.0f; |
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return status;
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} |
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/** @} */
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