AMiRo-OS

#include <ch.hpp>

#include <hal.h>

#include <chdebug.h>

#include <amiro/bus/i2c/I2CParams.hpp>

#include <amiro/bus/i2c/I2CDriver.hpp>

#include <amiro/magneto/hmc5883l.hpp>

#include <amiro/Constants.h>

using namespace chibios_rt;

namespace amiro {

HMC5883L::~HMC5883L() {

}

HMC5883L::HMC5883L(I2CDriver *driver, const HMC5883LConfig *config)

    : BaseStaticThread<256>(),

      driver(driver),

      config(config) {

  this->txParams.addr = HMC5883L::SLA;

}

EvtSource*

HMC5883L::

getEventSource() {

  return &this->eventSource;

}

msg_t

HMC5883L::

main(void) {

  msg_t res;

  this->setName("Hmc5883l");

  /* exit if writing configuration fails */

  res = this->writeConf();

  if (res) {

    return RDY_RESET;

  }

  while (!this->shouldTerminate()) {

    this->updateSensorData();

    this->eventSource.broadcastFlags(0);

    this->waitAnyEventTimeout(ALL_EVENTS, CAN::UPDATE_PERIOD);

  }

  return RDY_OK;

}

int16_t

HMC5883L::

getMagnetization(const uint8_t axis) {

  int16_t returnBuffer;

  chSysLock();

  returnBuffer = this->data[axis];

  chSysUnlock();

  return returnBuffer;

}

int32_t

HMC5883L::

getMagnetizationGauss(const uint8_t axis) {

  int16_t magLsbBuffer = this->getMagnetization(axis);

  int32_t returnBuffer = 0;

  // The gains are taken from table 9 of the manual

  switch (this->config->ctrlB & GN_7_GA) {

    case HMC5883L::GN_0_GA:

      returnBuffer = int32_t(0.73 * 1000) * int32_t(magLsbBuffer);

      break;

    case HMC5883L::GN_1_GA:

      returnBuffer = int32_t(0.92 * 1000) * int32_t(magLsbBuffer);

      break;

    case HMC5883L::GN_2_GA:

      returnBuffer = int32_t(1.22 * 1000) * int32_t(magLsbBuffer);

      break;

    case HMC5883L::GN_3_GA:

      returnBuffer = int32_t(1.52 * 1000) * int32_t(magLsbBuffer);

      break;

    case HMC5883L::GN_4_GA:

      returnBuffer = int32_t(2.27 * 1000) * int32_t(magLsbBuffer);

      break;

    case HMC5883L::GN_5_GA:

      returnBuffer = int32_t(2.56 * 1000) * int32_t(magLsbBuffer);

      break;

    case HMC5883L::GN_6_GA:

      returnBuffer = int32_t(3.03 * 1000) * int32_t(magLsbBuffer);

      break;

    case HMC5883L::GN_7_GA:

      returnBuffer = int32_t(4.35 * 1000) * int32_t(magLsbBuffer);

      break;

  }

  return returnBuffer;

}

void

HMC5883L::

updateSensorData() {

  const uint8_t sizeOfRxData =  offsetof(HMC5883L::registers, yLsb)

                              - offsetof(HMC5883L::registers, xMsb)

                              + 1;

  uint8_t rxBuffer[sizeOfRxData];

  /*Address of data register*/

  uint8_t txBuffer = offsetof(HMC5883L::registers, xMsb); /* Address of XMSB */

  // Define the RXTX structure

  this->txParams.txbuf = &txBuffer;

  this->txParams.txbytes = sizeof(txBuffer);

  this->txParams.rxbuf = rxBuffer;

  this->txParams.rxbytes = sizeof(rxBuffer);

  this->driver->acquireBus();

  this->driver->masterTransmit(&this->txParams);

  this->driver->releaseBus();

  // Copy the bytes in the right order

  chSysLock(); // TODO: check if this is really necessary b/c it inserts a DMB!!

  data[HMC5883L::AXIS_X] = (rxBuffer[0] << 8) + rxBuffer[1];

  data[HMC5883L::AXIS_Z] = (rxBuffer[2] << 8) + rxBuffer[3];

  data[HMC5883L::AXIS_Y] = (rxBuffer[4] << 8) + rxBuffer[5];

  chSysUnlock();

}

uint8_t HMC5883L::getCheck() {

  I2CTxParams txStructure;

  msg_t res;

  const uint8_t txBuffer = offsetof(HMC5883L::registers, idA);

  const uint8_t sizeOfRxData = offsetof(HMC5883L::registers, idC) - offsetof(HMC5883L::registers, idA) + 1;

  uint8_t rxBuffer[sizeOfRxData];

  txStructure.addr = SLA;

  txStructure.txbuf = &txBuffer;

  txStructure.txbytes = sizeof(txBuffer);

  txStructure.rxbuf = rxBuffer;

  txStructure.rxbytes = sizeof(rxBuffer);

  // get the identifier

  this->driver->acquireBus();

  res = this->driver->masterTransmit(&txStructure);

  this->driver->releaseBus();

  // Check

  if (rxBuffer[0] == ID_IRA && rxBuffer[1] == ID_IRB && rxBuffer[2] == ID_IRC && res == RDY_OK) {

    return HMC5883L::CHECK_OK;

  } else {

    return HMC5883L::CHECK_FAIL;

  }

}

msg_t

HMC5883L::

writeConf() {

  uint8_t txBuffer[4];

  msg_t res;

  // write control config

  txBuffer[0] = offsetof(HMC5883L::registers, ctrlA);  /* Address of ctrlA */

  txBuffer[1] = this->config->ctrlA;

  txBuffer[2] = this->config->ctrlB;

  txBuffer[3] = this->config->mode;

  this->txParams.txbuf = txBuffer;

  this->txParams.txbytes = sizeof(txBuffer);

  this->txParams.rxbytes = 0;

  this->driver->acquireBus();

  res = this->driver->masterTransmit(&this->txParams);

  this->driver->releaseBus();

  return res;

}

} /* amiro */