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author | Uladzimir Pylinski <barthess@yandex.ru> | 2015-04-17 09:29:14 +0300 |
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committer | Uladzimir Pylinski <barthess@yandex.ru> | 2015-04-17 09:29:14 +0300 |
commit | 9f7ac7abf94b4b5be86cf4b70b74954000657205 (patch) | |
tree | 54ff8b236254ede0ce532fd4a138430edb373295 /os/various/devices_lib/mems/lis3mdl.c | |
parent | 50398ec98ef7f07ec3adbdfa5d9f9829f092df59 (diff) | |
parent | a67bba56af1bfc5f8c24c03ef6c9c411518e802e (diff) | |
download | ChibiOS-Contrib-9f7ac7abf94b4b5be86cf4b70b74954000657205.tar.gz ChibiOS-Contrib-9f7ac7abf94b4b5be86cf4b70b74954000657205.tar.bz2 ChibiOS-Contrib-9f7ac7abf94b4b5be86cf4b70b74954000657205.zip |
Merge pull request #6 from RoccoMarco/master
Reorganized devices_lib folder
Diffstat (limited to 'os/various/devices_lib/mems/lis3mdl.c')
-rw-r--r-- | os/various/devices_lib/mems/lis3mdl.c | 151 |
1 files changed, 151 insertions, 0 deletions
diff --git a/os/various/devices_lib/mems/lis3mdl.c b/os/various/devices_lib/mems/lis3mdl.c new file mode 100644 index 0000000..99b71e4 --- /dev/null +++ b/os/various/devices_lib/mems/lis3mdl.c @@ -0,0 +1,151 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lis3mdl.c + * @brief LIS3MDL MEMS interface module through I2C code. + * + * @addtogroup lis3mdl + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "lis3mdl.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic sub-register value. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] message pointer to message + * @return register value. + */ +uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message) { + + uint8_t txbuf, rxbuf[2]; +#if defined(STM32F103_MCUCONF) + txbuf = LSM303DLHC_SUB_MSB | sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE); + } + return rxbuf[0]; +#else + txbuf = sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE); + } + return rxbuf[0]; +#endif +} + +/** + * @brief Writes a value into a register. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] value the value to be written + * @param[out] message pointer to message + */ +void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message) { + + uint8_t txbuf[2]; + uint8_t rxbuf; + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lis3mdlWriteRegister(), reserved register"); + case LIS3MDL_SUB_WHO_AM_I: + case LIS3MDL_SUB_STATUS_REG: + case LIS3MDL_SUB_OUT_X_L: + case LIS3MDL_SUB_OUT_X_H: + case LIS3MDL_SUB_OUT_Y_L: + case LIS3MDL_SUB_OUT_Y_H: + case LIS3MDL_SUB_OUT_Z_L: + case LIS3MDL_SUB_OUT_Z_H: + case LIS3MDL_SUB_INT_SOURCE: + case LIS3MDL_SUB_INT_THS_L: + case LIS3MDL_SUB_INT_THS_H: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LIS3MDL_SUB_CTRL_REG1: + case LIS3MDL_SUB_CTRL_REG2: + case LIS3MDL_SUB_CTRL_REG3: + case LIS3MDL_SUB_CTRL_REG4: + case LIS3MDL_SUB_CTRL_REG5: + case LIS3MDL_SUB_INT_CFG: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } +} +/** @} */ |