amiro-lld / source / alld_l3g4200d.c @ ef078306
History | View | Annotate | Download (11.3 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 alld_l3g4200d.c
|
||
21 | * @brief Gyroscope function implementations.
|
||
22 | *
|
||
23 | * @addtogroup lld_gyroscope
|
||
24 | * @{
|
||
25 | */
|
||
26 | |||
27 | d6728c5b | Thomas Schöpping | #include<alld_l3g4200d.h> |
28 | |||
29 | #if defined(AMIROLLD_CFG_USE_L3G4200D) || defined(__DOXYGEN__)
|
||
30 | |||
31 | #include <string.h> |
||
32 | |||
33 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
34 | /* LOCAL DEFINITIONS */
|
||
35 | /******************************************************************************/
|
||
36 | |||
37 | /******************************************************************************/
|
||
38 | /* EXPORTED VARIABLES */
|
||
39 | /******************************************************************************/
|
||
40 | |||
41 | /******************************************************************************/
|
||
42 | /* LOCAL TYPES */
|
||
43 | /******************************************************************************/
|
||
44 | |||
45 | /******************************************************************************/
|
||
46 | /* LOCAL VARIABLES */
|
||
47 | /******************************************************************************/
|
||
48 | |||
49 | /******************************************************************************/
|
||
50 | /* LOCAL FUNCTIONS */
|
||
51 | /******************************************************************************/
|
||
52 | |||
53 | /******************************************************************************/
|
||
54 | /* EXPORTED FUNCTIONS */
|
||
55 | /******************************************************************************/
|
||
56 | |||
57 | d6728c5b | Thomas Schöpping | /**
|
58 | * @brief Read the content of one or more registers.
|
||
59 | * @param[in] l3gd The L3G4200D driver to use.
|
||
60 | * @param[in] regaddr The address of the first register.
|
||
61 | * @param[out] data The data read from the registers.
|
||
62 | * @param[in] length Number of registers to read.
|
||
63 | *
|
||
64 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
65 | */
|
||
66 | inline apalExitStatus_t
|
||
67 | l3g4200d_lld_read_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, uint8_t* const data, const uint8_t length) |
||
68 | { |
||
69 | apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
||
70 | apalDbgAssert(data != NULL);
|
||
71 | |||
72 | uint8_t buffer[length+1];
|
||
73 | buffer[0] = regaddr | L3G4200D_LLD_SPI_READ | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
||
74 | apalExitStatus_t status = apalSPIExchange(l3gd->spid, buffer, buffer, length+1);
|
||
75 | memcpy(data, buffer+1, length);
|
||
76 | return status;
|
||
77 | } |
||
78 | |||
79 | /**
|
||
80 | * @brief Write to one or more registers.
|
||
81 | * @param[in] l3gd The L3G4200D driver to use.
|
||
82 | * @param[in] regaddr The address of the first register.
|
||
83 | * @param[in] data The data to be written to the registers.
|
||
84 | * @param[in] length Number of registers to write.
|
||
85 | *
|
||
86 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
87 | */
|
||
88 | inline apalExitStatus_t
|
||
89 | l3g4200d_lld_write_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, const uint8_t* const data, const uint8_t length) |
||
90 | { |
||
91 | apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
||
92 | apalDbgAssert(data != NULL);
|
||
93 | |||
94 | uint8_t buffer[length+1];
|
||
95 | buffer[0] = regaddr | L3G4200D_LLD_SPI_WRITE | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
||
96 | memcpy(buffer+1, data, length);
|
||
97 | return apalSPITransmit(l3gd->spid, buffer, length+1); |
||
98 | } |
||
99 | |||
100 | /**
|
||
101 | * @brief Read the sensor data of all 3 axes.
|
||
102 | * @param[in] l3gd The L3G4200D driver to use.
|
||
103 | * @param[out] data The sensor data.
|
||
104 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
|
||
105 | *
|
||
106 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
107 | */
|
||
108 | inline apalExitStatus_t
|
||
109 | l3g4200d_lld_read_all_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_cfg_t* const cfg) |
||
110 | { |
||
111 | apalDbgAssert(data != NULL);
|
||
112 | apalDbgAssert(cfg != NULL);
|
||
113 | |||
114 | uint8_t buffer[6];
|
||
115 | apalExitStatus_t status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 6);
|
||
116 | if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
|
||
117 | data[0] = (int16_t) (buffer[0] | (buffer[1] << 8)); |
||
118 | data[1] = (int16_t) (buffer[2] | (buffer[3] << 8)); |
||
119 | data[2] = (int16_t) (buffer[4] | (buffer[5] << 8)); |
||
120 | } else {
|
||
121 | data[0] = (int16_t) (buffer[1] | (buffer[0] << 8)); |
||
122 | data[1] = (int16_t) (buffer[3] | (buffer[2] << 8)); |
||
123 | data[2] = (int16_t) (buffer[5] | (buffer[4] << 8)); |
||
124 | } |
||
125 | return status;
|
||
126 | } |
||
127 | |||
128 | /**
|
||
129 | * @brief Read the sensor data of one axis.
|
||
130 | * @param[in] l3gd The L3G4200D driver to use.
|
||
131 | * @param[out] data The sensor data.
|
||
132 | * @param[in] axis The axis for which the data should be read.
|
||
133 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
|
||
134 | *
|
||
135 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
136 | */
|
||
137 | inline apalExitStatus_t
|
||
138 | 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) |
||
139 | { |
||
140 | apalDbgAssert(data != NULL);
|
||
141 | apalDbgAssert(cfg != NULL);
|
||
142 | |||
143 | apalExitStatus_t status = APAL_STATUS_SUCCESS; |
||
144 | uint8_t buffer[2];
|
||
145 | switch (axis) {
|
||
146 | case L3G4200D_LLD_X_AXIS:
|
||
147 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 2);
|
||
148 | break;
|
||
149 | case L3G4200D_LLD_Y_AXIS:
|
||
150 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Y_L, buffer, 2);
|
||
151 | break;
|
||
152 | case L3G4200D_LLD_Z_AXIS:
|
||
153 | status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Z_L, buffer, 2);
|
||
154 | break;
|
||
155 | default:
|
||
156 | return APAL_STATUS_INVALIDARGUMENTS;
|
||
157 | } |
||
158 | // entweder jedes mal endian abfragen oder config mit übergeben
|
||
159 | if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
|
||
160 | *data = (int16_t) (buffer[0] | (buffer[1] << 8)); |
||
161 | } else {
|
||
162 | *data = (int16_t) (buffer[1] | (buffer[0] << 8)); |
||
163 | } |
||
164 | return status;
|
||
165 | } |
||
166 | |||
167 | /**
|
||
168 | * @brief Read the current configuration
|
||
169 | * @param[in] l3gd The L3G4200D driver to use.
|
||
170 | * @param[out] cfg The current configuration.
|
||
171 | *
|
||
172 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
173 | */
|
||
174 | inline apalExitStatus_t
|
||
175 | l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg) |
||
176 | { |
||
177 | apalDbgAssert(cfg != NULL);
|
||
178 | |||
179 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg->data, 5); |
||
180 | } |
||
181 | |||
182 | /**
|
||
183 | * @brief Write the a configuration
|
||
184 | * @param[in] l3gd The L3G4200D driver to use.
|
||
185 | * @param[in] cfg The new configuration.
|
||
186 | *
|
||
187 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
188 | */
|
||
189 | inline apalExitStatus_t
|
||
190 | l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg) |
||
191 | { |
||
192 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg.data, 5); |
||
193 | } |
||
194 | |||
195 | /**
|
||
196 | * @brief Read the interrupt configuration of one of the interrupts.
|
||
197 | * @param[in] spid The SPI driver to use.
|
||
198 | * @param[out] cfg The current interrupt configuration.
|
||
199 | *
|
||
200 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
201 | */
|
||
202 | inline apalExitStatus_t
|
||
203 | l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg) |
||
204 | { |
||
205 | apalDbgAssert(cfg != NULL);
|
||
206 | |||
207 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg->data, 9); |
||
208 | } |
||
209 | |||
210 | /**
|
||
211 | * @brief Write the interrupt configuration.
|
||
212 | * @param[in] spid The SPI driver to use.
|
||
213 | * @param[in] cfg The current new configuration.
|
||
214 | *
|
||
215 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
216 | */
|
||
217 | inline apalExitStatus_t
|
||
218 | l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg) |
||
219 | { |
||
220 | apalExitStatus_t status = l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg.data, 1);
|
||
221 | if (status != APAL_STATUS_OK) {
|
||
222 | return status;
|
||
223 | } |
||
224 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_TSH_XH, &cfg.data[2], 7); |
||
225 | } |
||
226 | |||
227 | /**
|
||
228 | * @brief Read the status register.
|
||
229 | * @param[in] spid The SPI driver to use.
|
||
230 | * @param[out] status The current status register.
|
||
231 | *
|
||
232 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
233 | */
|
||
234 | inline apalExitStatus_t
|
||
235 | l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status) |
||
236 | { |
||
237 | apalDbgAssert(status != NULL);
|
||
238 | |||
239 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_STATUS_REG, status, 1); |
||
240 | } |
||
241 | |||
242 | /**
|
||
243 | * @brief Read the fifo ctrl register.
|
||
244 | * @param[in] spid The SPI driver to use.
|
||
245 | * @param[out] fifo The current fifo ctrl register.
|
||
246 | *
|
||
247 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
248 | */
|
||
249 | inline apalExitStatus_t
|
||
250 | l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
||
251 | { |
||
252 | apalDbgAssert(fifo != NULL);
|
||
253 | |||
254 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, fifo, 1); |
||
255 | } |
||
256 | |||
257 | /**
|
||
258 | * @brief Write the fifo ctrl register.
|
||
259 | * @param[in] spid The SPI driver to use.
|
||
260 | * @param[in] fifo The new fifo ctrl register.
|
||
261 | *
|
||
262 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
263 | */
|
||
264 | inline apalExitStatus_t
|
||
265 | l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo) |
||
266 | { |
||
267 | return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, &fifo, 1); |
||
268 | } |
||
269 | |||
270 | /**
|
||
271 | * @brief Read the fifo src register.
|
||
272 | * @param[in] spid The SPI driver to use.
|
||
273 | * @param[out] fifo The current fifo src register.
|
||
274 | *
|
||
275 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
276 | */
|
||
277 | inline apalExitStatus_t
|
||
278 | l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
||
279 | { |
||
280 | apalDbgAssert(fifo != NULL);
|
||
281 | |||
282 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_SRC_REG, fifo, 1); |
||
283 | } |
||
284 | |||
285 | /**
|
||
286 | * @brief Read the interrupt src register.
|
||
287 | * @param[in] spid The SPI driver to use.
|
||
288 | * @param[out] cfg The current fifo src register.
|
||
289 | *
|
||
290 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
291 | */
|
||
292 | inline apalExitStatus_t
|
||
293 | l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg) |
||
294 | { |
||
295 | apalDbgAssert(cfg != NULL);
|
||
296 | |||
297 | return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_SRC, cfg, 1); |
||
298 | } |
||
299 | |||
300 | #endif /* defined(AMIROLLD_CFG_USE_L3G4200D) */ |
||
301 | 5e2f673b | Marc Rothmann | |
302 | /** @} */ |