amiro-os / components / magneto / hmc5883l.cpp @ b8b3a9c9
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#include <ch.hpp> |
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#include <hal.h> |
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#include <chdebug.h> |
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#include <amiro/bus/i2c/I2CParams.hpp> |
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#include <amiro/bus/i2c/I2CDriver.hpp> |
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#include <amiro/magneto/hmc5883l.hpp> |
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#include <amiro/Constants.h> |
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using namespace chibios_rt; |
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namespace amiro {
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HMC5883L::~HMC5883L() { |
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} |
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HMC5883L::HMC5883L(I2CDriver *driver, const HMC5883LConfig *config)
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: BaseStaticThread<256>(),
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driver(driver), |
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config(config) { |
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this->txParams.addr = HMC5883L::SLA;
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} |
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EvtSource* |
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HMC5883L:: |
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getEventSource() { |
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return &this->eventSource; |
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} |
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msg_t |
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HMC5883L:: |
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main(void) {
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msg_t res; |
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this->setName("Hmc5883l"); |
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/* exit if writing configuration fails */
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res = this->writeConf();
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if (res) {
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return RDY_RESET;
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} |
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while (!this->shouldTerminate()) { |
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this->updateSensorData();
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this->eventSource.broadcastFlags(0); |
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this->waitAnyEventTimeout(ALL_EVENTS, CAN::UPDATE_PERIOD);
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} |
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return RDY_OK;
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} |
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int16_t |
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HMC5883L:: |
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getMagnetization(const uint8_t axis) {
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int16_t returnBuffer; |
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chSysLock(); |
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returnBuffer = this->data[axis];
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chSysUnlock(); |
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return returnBuffer;
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} |
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int32_t |
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HMC5883L:: |
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getMagnetizationGauss(const uint8_t axis) {
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int16_t magLsbBuffer = this->getMagnetization(axis);
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int32_t returnBuffer = 0;
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// The gains are taken from table 9 of the manual
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switch (this->config->ctrlB & GN_7_GA) { |
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case HMC5883L::GN_0_GA:
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returnBuffer = int32_t(0.73 * 1000) * int32_t(magLsbBuffer); |
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break;
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case HMC5883L::GN_1_GA:
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returnBuffer = int32_t(0.92 * 1000) * int32_t(magLsbBuffer); |
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break;
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case HMC5883L::GN_2_GA:
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returnBuffer = int32_t(1.22 * 1000) * int32_t(magLsbBuffer); |
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break;
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case HMC5883L::GN_3_GA:
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returnBuffer = int32_t(1.52 * 1000) * int32_t(magLsbBuffer); |
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break;
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case HMC5883L::GN_4_GA:
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returnBuffer = int32_t(2.27 * 1000) * int32_t(magLsbBuffer); |
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break;
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case HMC5883L::GN_5_GA:
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returnBuffer = int32_t(2.56 * 1000) * int32_t(magLsbBuffer); |
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break;
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case HMC5883L::GN_6_GA:
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returnBuffer = int32_t(3.03 * 1000) * int32_t(magLsbBuffer); |
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break;
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case HMC5883L::GN_7_GA:
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returnBuffer = int32_t(4.35 * 1000) * int32_t(magLsbBuffer); |
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break;
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} |
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return returnBuffer;
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} |
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void
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HMC5883L:: |
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updateSensorData() { |
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const uint8_t sizeOfRxData = offsetof(HMC5883L::registers, yLsb)
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- offsetof(HMC5883L::registers, xMsb) |
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+ 1;
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uint8_t rxBuffer[sizeOfRxData]; |
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/*Address of data register*/
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uint8_t txBuffer = offsetof(HMC5883L::registers, xMsb); /* Address of XMSB */
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// Define the RXTX structure
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this->txParams.txbuf = &txBuffer;
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this->txParams.txbytes = sizeof(txBuffer); |
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this->txParams.rxbuf = rxBuffer;
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this->txParams.rxbytes = sizeof(rxBuffer); |
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this->driver->acquireBus();
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this->driver->masterTransmit(&this->txParams); |
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this->driver->releaseBus();
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// Copy the bytes in the right order
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chSysLock(); // TODO: check if this is really necessary b/c it inserts a DMB!!
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data[HMC5883L::AXIS_X] = (rxBuffer[0] << 8) + rxBuffer[1]; |
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data[HMC5883L::AXIS_Z] = (rxBuffer[2] << 8) + rxBuffer[3]; |
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data[HMC5883L::AXIS_Y] = (rxBuffer[4] << 8) + rxBuffer[5]; |
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chSysUnlock(); |
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} |
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uint8_t HMC5883L::getCheck() { |
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I2CTxParams txStructure; |
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msg_t res; |
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const uint8_t txBuffer = offsetof(HMC5883L::registers, idA);
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const uint8_t sizeOfRxData = offsetof(HMC5883L::registers, idC) - offsetof(HMC5883L::registers, idA) + 1; |
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uint8_t rxBuffer[sizeOfRxData]; |
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txStructure.addr = SLA; |
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txStructure.txbuf = &txBuffer; |
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txStructure.txbytes = sizeof(txBuffer);
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txStructure.rxbuf = rxBuffer; |
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txStructure.rxbytes = sizeof(rxBuffer);
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// get the identifier
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this->driver->acquireBus();
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res = this->driver->masterTransmit(&txStructure);
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this->driver->releaseBus();
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// Check
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if (rxBuffer[0] == ID_IRA && rxBuffer[1] == ID_IRB && rxBuffer[2] == ID_IRC && res == RDY_OK) { |
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return HMC5883L::CHECK_OK;
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} else {
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return HMC5883L::CHECK_FAIL;
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} |
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} |
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msg_t |
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HMC5883L:: |
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writeConf() { |
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uint8_t txBuffer[4];
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msg_t res; |
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// write control config
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txBuffer[0] = offsetof(HMC5883L::registers, ctrlA); /* Address of ctrlA */ |
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txBuffer[1] = this->config->ctrlA; |
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txBuffer[2] = this->config->ctrlB; |
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txBuffer[3] = this->config->mode; |
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this->txParams.txbuf = txBuffer;
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this->txParams.txbytes = sizeof(txBuffer); |
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this->txParams.rxbytes = 0; |
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this->driver->acquireBus();
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res = this->driver->masterTransmit(&this->txParams); |
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this->driver->releaseBus();
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return res;
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} |
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} /* amiro */
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