Statistics
| Branch: | Tag: | Revision:

amiro-lld / drivers / L3G4200D / v1 / alld_L3G4200D.c @ f69ec051

History | View | Annotate | Download (11.2 KB)

1
/*
2
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2020  Thomas Schöpping et al.
4

5
This program is free software: you can redistribute it and/or modify
6
it under the terms of the GNU Lesser General Public License as published by
7
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
GNU Lesser General Public License for more details.
14

15
You should have received a copy of the GNU Lesser General Public License
16
along with this program.  If not, see <http://www.gnu.org/licenses/>.
17
*/
18

    
19
/**
20
 * @file    alld_L3G4200D.c
21
 * @brief   Gyroscope function implementations.
22
 *
23
 * @addtogroup lld_gyroscope
24
 * @{
25
 */
26

    
27
#include<alld_L3G4200D.h>
28
#include <string.h>
29

    
30
/******************************************************************************/
31
/* LOCAL DEFINITIONS                                                          */
32
/******************************************************************************/
33

    
34
/******************************************************************************/
35
/* EXPORTED VARIABLES                                                         */
36
/******************************************************************************/
37

    
38
/******************************************************************************/
39
/* LOCAL TYPES                                                                */
40
/******************************************************************************/
41

    
42
/******************************************************************************/
43
/* LOCAL VARIABLES                                                            */
44
/******************************************************************************/
45

    
46
/******************************************************************************/
47
/* LOCAL FUNCTIONS                                                            */
48
/******************************************************************************/
49

    
50
/******************************************************************************/
51
/* EXPORTED FUNCTIONS                                                         */
52
/******************************************************************************/
53

    
54
/**
55
 * @brief Read the content of one or more registers.
56
 * @param[in]   l3gd      The L3G4200D driver to use.
57
 * @param[in]   regaddr   The address of the first register.
58
 * @param[out]  data      The data read from the registers.
59
 * @param[in]   length    Number of registers to read.
60
 *
61
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
62
 */
63
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
{
65
  apalDbgAssert(l3gd != NULL && l3gd->spid != NULL);
66
  apalDbgAssert(data != NULL);
67

    
68
  uint8_t buffer[length+1];
69
  buffer[0] = regaddr | L3G4200D_LLD_SPI_READ | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0);
70
  apalExitStatus_t status = apalSPIExchange(l3gd->spid, buffer, buffer, length+1);
71
  memcpy(data, buffer+1, length);
72
  return status;
73
}
74

    
75
/**
76
 * @brief Write to one or more registers.
77
 * @param[in]   l3gd      The L3G4200D driver to use.
78
 * @param[in]   regaddr   The address of the first register.
79
 * @param[in]   data      The data to be written to the registers.
80
 * @param[in]   length    Number of registers to write.
81
 *
82
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
83
 */
84
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
{
86
  apalDbgAssert(l3gd != NULL && l3gd->spid != NULL);
87
  apalDbgAssert(data != NULL);
88

    
89
  uint8_t buffer[length+1];
90
  buffer[0] = regaddr | L3G4200D_LLD_SPI_WRITE | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0);
91
  memcpy(buffer+1, data, length);
92
  return apalSPITransmit(l3gd->spid, buffer, length+1);
93
}
94

    
95
/**
96
 * @brief Read the sensor data of all 3 axes.
97
 * @param[in]   l3gd      The L3G4200D driver to use.
98
 * @param[out]  data      The sensor data.
99
 * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
100
 *
101
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
102
 */
103
apalExitStatus_t l3g4200d_lld_read_all_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_cfg_t* const cfg)
104
{
105
  apalDbgAssert(data != NULL);
106
  apalDbgAssert(cfg != NULL);
107

    
108
  uint8_t buffer[6];
109
  apalExitStatus_t status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 6);
110
  if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
111
    data[0] = (int16_t) (buffer[0] | (buffer[1] << 8));
112
    data[1] = (int16_t) (buffer[2] | (buffer[3] << 8));
113
    data[2] = (int16_t) (buffer[4] | (buffer[5] << 8));
114
  } else {
115
    data[0] = (int16_t) (buffer[1] | (buffer[0] << 8));
116
    data[1] = (int16_t) (buffer[3] | (buffer[2] << 8));
117
    data[2] = (int16_t) (buffer[5] | (buffer[4] << 8));
118
  }
119
  return status;
120
}
121

    
122
/**
123
 * @brief Read the sensor data of one axis.
124
 * @param[in]   l3gd      The L3G4200D driver to use.
125
 * @param[out]  data      The sensor data.
126
 * @param[in]   axis      The axis for which the data should be read.
127
 * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
128
 *
129
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
130
 */
131
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
{
133
  apalDbgAssert(data != NULL);
134
  apalDbgAssert(cfg != NULL);
135

    
136
  apalExitStatus_t status = APAL_STATUS_SUCCESS;
137
  uint8_t buffer[2];
138
  switch (axis) {
139
    case L3G4200D_LLD_X_AXIS:
140
      status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 2);
141
      break;
142
    case L3G4200D_LLD_Y_AXIS:
143
      status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Y_L, buffer, 2);
144
      break;
145
    case L3G4200D_LLD_Z_AXIS:
146
      status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Z_L, buffer, 2);
147
      break;
148
    default:
149
      return APAL_STATUS_INVALIDARGUMENTS;
150
  }
151
  // entweder jedes mal endian abfragen oder config mit übergeben
152
  if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
153
    *data = (int16_t) (buffer[0] | (buffer[1] << 8));
154
  } else {
155
    *data = (int16_t) (buffer[1] | (buffer[0] << 8));
156
  }
157
  return status;
158
}
159

    
160
/**
161
 * @brief Read the current configuration
162
 * @param[in]   l3gd      The L3G4200D driver to use.
163
 * @param[out]  cfg       The current configuration.
164
 *
165
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
166
 */
167
apalExitStatus_t l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg)
168
{
169
  apalDbgAssert(cfg != NULL);
170

    
171
  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg->data, 5);
172
}
173

    
174
/**
175
 * @brief Write the a configuration
176
 * @param[in]   l3gd      The L3G4200D driver to use.
177
 * @param[in]   cfg       The new configuration.
178
 *
179
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
180
 */
181
apalExitStatus_t l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg)
182
{
183
  return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg.data, 5);
184
}
185

    
186
/**
187
 * @brief Read the interrupt configuration of one of the interrupts.
188
 * @param[in]   spid        The SPI driver to use.
189
 * @param[out]  cfg         The current interrupt configuration.
190
 *
191
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
192
 */
193
apalExitStatus_t l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg)
194
{
195
  apalDbgAssert(cfg != NULL);
196

    
197
  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg->data, 9);
198
}
199

    
200
/**
201
 * @brief Write the interrupt configuration.
202
 * @param[in]   spid        The SPI driver to use.
203
 * @param[in]   cfg         The current new configuration.
204
 *
205
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
206
 */
207
apalExitStatus_t l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg)
208
{
209
  apalExitStatus_t status = l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg.data, 1);
210
  if (status != APAL_STATUS_OK) {
211
    return status;
212
  }
213
  return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_TSH_XH, &cfg.data[2], 7);
214
}
215

    
216
/**
217
 * @brief Read the status register.
218
 * @param[in]   spid        The SPI driver to use.
219
 * @param[out]  status      The current status register.
220
 *
221
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
222
 */
223
apalExitStatus_t l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status)
224
{
225
  apalDbgAssert(status != NULL);
226

    
227
  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_STATUS_REG, status, 1);
228
}
229

    
230
/**
231
 * @brief Read the fifo ctrl register.
232
 * @param[in]   spid        The SPI driver to use.
233
 * @param[out]  fifo        The current fifo ctrl register.
234
 *
235
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
236
 */
237
inline apalExitStatus_t
238
l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo)
239
{
240
  apalDbgAssert(fifo != NULL);
241

    
242
  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, fifo, 1);
243
}
244

    
245
/**
246
 * @brief Write the fifo ctrl register.
247
 * @param[in]   spid        The SPI driver to use.
248
 * @param[in]   fifo        The new fifo ctrl register.
249
 *
250
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
251
 */
252
apalExitStatus_t l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo)
253
{
254
  return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, &fifo, 1);
255
}
256

    
257
/**
258
 * @brief Read the fifo src register.
259
 * @param[in]   spid        The SPI driver to use.
260
 * @param[out]  fifo        The current fifo src register.
261
 *
262
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
263
 */
264
apalExitStatus_t l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo)
265
{
266
  apalDbgAssert(fifo != NULL);
267

    
268
  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_SRC_REG, fifo, 1);
269
}
270

    
271
/**
272
 * @brief Read the interrupt src register.
273
 * @param[in]   spid        The SPI driver to use.
274
 * @param[out]  cfg         The current fifo src register.
275
 *
276
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
277
 */
278
apalExitStatus_t l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg)
279
{
280
  apalDbgAssert(cfg != NULL);
281

    
282
  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_SRC, cfg, 1);
283
}
284

    
285
/** @} */
286