amiro-lld / source / L3G4200D / v1 / alld_L3G4200D_v1.c @ ef5bc242
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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_L3G4200D_v1.c
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* @brief Gyroscope function implementations.
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*
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* @addtogroup lld_gyroscope
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* @{
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*/
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#include<alld_L3G4200D.h> |
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#if (defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1)) || defined(__DOXYGEN__) |
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#include <string.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 content of one or more registers.
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* @param[in] l3gd The L3G4200D driver to use.
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* @param[in] regaddr The address of the first register.
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* @param[out] data The data read from the registers.
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* @param[in] length Number of registers to read.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_read_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, uint8_t* const data, const uint8_t length) |
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{
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apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
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apalDbgAssert(data != NULL);
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uint8_t buffer[length+1];
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buffer[0] = regaddr | L3G4200D_LLD_SPI_READ | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
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apalExitStatus_t status = apalSPIExchange(l3gd->spid, buffer, buffer, length+1);
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memcpy(data, buffer+1, length);
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return status;
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} |
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/**
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* @brief Write to one or more registers.
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* @param[in] l3gd The L3G4200D driver to use.
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* @param[in] regaddr The address of the first register.
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* @param[in] data The data to be written to the registers.
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* @param[in] length Number of registers to write.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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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) |
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{
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apalDbgAssert(l3gd != NULL && l3gd->spid != NULL); |
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apalDbgAssert(data != NULL);
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uint8_t buffer[length+1];
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buffer[0] = regaddr | L3G4200D_LLD_SPI_WRITE | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0); |
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memcpy(buffer+1, data, length);
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return apalSPITransmit(l3gd->spid, buffer, length+1); |
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} |
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/**
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* @brief Read the sensor data of all 3 axes.
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* @param[in] l3gd The L3G4200D driver to use.
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* @param[out] data The sensor data.
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* @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_read_all_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_cfg_t* const cfg) |
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{
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apalDbgAssert(data != NULL);
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apalDbgAssert(cfg != NULL);
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uint8_t buffer[6];
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apalExitStatus_t status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 6);
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if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
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data[0] = (int16_t) (buffer[0] | (buffer[1] << 8)); |
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data[1] = (int16_t) (buffer[2] | (buffer[3] << 8)); |
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data[2] = (int16_t) (buffer[4] | (buffer[5] << 8)); |
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} else {
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data[0] = (int16_t) (buffer[1] | (buffer[0] << 8)); |
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data[1] = (int16_t) (buffer[3] | (buffer[2] << 8)); |
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data[2] = (int16_t) (buffer[5] | (buffer[4] << 8)); |
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} |
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return status;
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} |
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/**
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* @brief Read the sensor data of one axis.
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* @param[in] l3gd The L3G4200D driver to use.
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* @param[out] data The sensor data.
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* @param[in] axis The axis for which the data should be read.
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* @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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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) |
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{
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apalDbgAssert(data != NULL);
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apalDbgAssert(cfg != NULL);
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apalExitStatus_t status = APAL_STATUS_SUCCESS; |
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uint8_t buffer[2];
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switch (axis) {
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case L3G4200D_LLD_X_AXIS:
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status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 2);
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break;
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case L3G4200D_LLD_Y_AXIS:
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status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Y_L, buffer, 2);
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break;
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case L3G4200D_LLD_Z_AXIS:
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status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Z_L, buffer, 2);
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break;
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default:
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return APAL_STATUS_INVALIDARGUMENTS;
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} |
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// entweder jedes mal endian abfragen oder config mit übergeben
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if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
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*data = (int16_t) (buffer[0] | (buffer[1] << 8)); |
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} else {
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*data = (int16_t) (buffer[1] | (buffer[0] << 8)); |
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} |
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return status;
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} |
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/**
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* @brief Read the current configuration
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* @param[in] l3gd The L3G4200D driver to use.
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* @param[out] cfg The current configuration.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg) |
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{
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apalDbgAssert(cfg != NULL);
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return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg->data, 5); |
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} |
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/**
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* @brief Write the a configuration
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* @param[in] l3gd The L3G4200D driver to use.
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* @param[in] cfg The new configuration.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg) |
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{
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return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg.data, 5); |
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} |
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/**
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* @brief Read the interrupt configuration of one of the interrupts.
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* @param[in] spid The SPI driver to use.
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* @param[out] cfg The current interrupt configuration.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg) |
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{
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apalDbgAssert(cfg != NULL);
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return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg->data, 9); |
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} |
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/**
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* @brief Write the interrupt configuration.
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* @param[in] spid The SPI driver to use.
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* @param[in] cfg The current new configuration.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg) |
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{
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apalExitStatus_t status = l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg.data, 1);
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if (status != APAL_STATUS_OK) {
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return status;
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} |
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return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_TSH_XH, &cfg.data[2], 7); |
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} |
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/**
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* @brief Read the status register.
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* @param[in] spid The SPI driver to use.
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* @param[out] status The current status register.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status) |
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{
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apalDbgAssert(status != NULL);
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return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_STATUS_REG, status, 1); |
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} |
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/**
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* @brief Read the fifo ctrl register.
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* @param[in] spid The SPI driver to use.
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* @param[out] fifo The current fifo ctrl register.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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inline apalExitStatus_t
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l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
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{
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apalDbgAssert(fifo != NULL);
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return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, fifo, 1); |
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} |
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/**
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* @brief Write the fifo ctrl register.
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* @param[in] spid The SPI driver to use.
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* @param[in] fifo The new fifo ctrl register.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo) |
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{
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return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, &fifo, 1); |
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} |
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/**
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* @brief Read the fifo src register.
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* @param[in] spid The SPI driver to use.
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* @param[out] fifo The current fifo src register.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo) |
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{
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apalDbgAssert(fifo != NULL);
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return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_SRC_REG, fifo, 1); |
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} |
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/**
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* @brief Read the interrupt src register.
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* @param[in] spid The SPI driver to use.
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* @param[out] cfg The current fifo src register.
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*
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* @return The return status indicates whether the function call was succesfull or a timeout occurred.
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*/
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apalExitStatus_t l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg) |
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{
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apalDbgAssert(cfg != NULL);
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return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_SRC, cfg, 1); |
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} |
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#endif /* defined(AMIROLLD_CFG_L3G4200D) && (AMIROLLD_CFG_L3G4200D == 1) */ |
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/** @} */
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