I2C bus upgrade (#432)
This commit is contained in:
Zaltora
Ruslan V. Uss
parent
d100f42b1f
commit
b83c2629b9
56 changed files with 909 additions and 804 deletions
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@ -6,10 +6,8 @@
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* BSD Licensed as described in the file LICENSE
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*/
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#include "hmc5883l.h"
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#include <i2c/i2c.h>
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#include <espressif/esp_common.h>
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#define ADDR 0x1e
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#define REG_CR_A 0x00
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#define REG_CR_B 0x01
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@ -54,112 +52,112 @@ static const float gain_values [] = {
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static float current_gain;
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static hmc5883l_operating_mode_t current_mode;
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static inline void write_register(uint8_t reg, uint8_t val)
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static inline void write_register(i2c_dev_t* dev, uint8_t reg, uint8_t val)
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{
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i2c_slave_write(ADDR, ®, &val, 1);
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i2c_slave_write(dev->bus, dev->addr, ®, &val, 1);
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}
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static inline uint8_t read_register(uint8_t reg)
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static inline uint8_t read_register(i2c_dev_t* dev, uint8_t reg)
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{
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uint8_t res;
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i2c_slave_read(ADDR, ®, &res, 1);
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i2c_slave_read(dev->bus, dev->addr, ®, &res, 1);
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return res;
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}
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static inline void update_register(uint8_t reg, uint8_t mask, uint8_t val)
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static inline void update_register(i2c_dev_t* dev, uint8_t reg, uint8_t mask, uint8_t val)
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{
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write_register(reg, (read_register(reg) & mask) | val);
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write_register(dev, reg, (read_register(dev, reg) & mask) | val);
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}
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bool hmc5883l_init()
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bool hmc5883l_init(i2c_dev_t* dev)
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{
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if (hmc5883l_get_id() != HMC5883L_ID)
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if (hmc5883l_get_id(dev) != HMC5883L_ID)
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return false;
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current_gain = gain_values[hmc5883l_get_gain()];
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current_mode = hmc5883l_get_operating_mode();
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current_gain = gain_values[hmc5883l_get_gain(dev)];
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current_mode = hmc5883l_get_operating_mode(dev);
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return true;
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}
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uint32_t hmc5883l_get_id()
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uint32_t hmc5883l_get_id(i2c_dev_t* dev)
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{
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uint32_t res = 0;
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uint8_t reg = REG_ID_A;
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i2c_slave_read(ADDR, ®, (uint8_t *)&res, 3);
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i2c_slave_read(dev->bus, dev->addr, ®, (uint8_t *)&res, 3);
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return res;
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}
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hmc5883l_operating_mode_t hmc5883l_get_operating_mode()
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hmc5883l_operating_mode_t hmc5883l_get_operating_mode(i2c_dev_t* dev)
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{
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uint8_t res = read_register(REG_MODE) & MASK_MD;
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uint8_t res = read_register(dev, REG_MODE) & MASK_MD;
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return res == 0 ? HMC5883L_MODE_CONTINUOUS : HMC5883L_MODE_SINGLE;
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}
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void hmc5883l_set_operating_mode(hmc5883l_operating_mode_t mode)
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void hmc5883l_set_operating_mode(i2c_dev_t* dev, hmc5883l_operating_mode_t mode)
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{
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write_register(REG_MODE, mode);
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write_register(dev, REG_MODE, mode);
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current_mode = mode;
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}
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hmc5883l_samples_averaged_t hmc5883l_get_samples_averaged()
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hmc5883l_samples_averaged_t hmc5883l_get_samples_averaged(i2c_dev_t* dev)
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{
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return (read_register(REG_CR_A) & MASK_MA) >> BIT_MA;
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return (read_register(dev, REG_CR_A) & MASK_MA) >> BIT_MA;
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}
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void hmc5883l_set_samples_averaged(hmc5883l_samples_averaged_t samples)
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void hmc5883l_set_samples_averaged(i2c_dev_t* dev, hmc5883l_samples_averaged_t samples)
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{
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update_register(REG_CR_A, MASK_MA, samples << BIT_MA);
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update_register(dev, REG_CR_A, MASK_MA, samples << BIT_MA);
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}
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hmc5883l_data_rate_t hmc5883l_get_data_rate()
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hmc5883l_data_rate_t hmc5883l_get_data_rate(i2c_dev_t* dev)
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{
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return (read_register(REG_CR_A) & MASK_DO) >> BIT_DO;
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return (read_register(dev, REG_CR_A) & MASK_DO) >> BIT_DO;
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}
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void hmc5883l_set_data_rate(hmc5883l_data_rate_t rate)
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void hmc5883l_set_data_rate(i2c_dev_t* dev, hmc5883l_data_rate_t rate)
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{
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update_register(REG_CR_A, MASK_DO, rate << BIT_DO);
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update_register(dev, REG_CR_A, MASK_DO, rate << BIT_DO);
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}
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hmc5883l_bias_t hmc5883l_get_bias()
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hmc5883l_bias_t hmc5883l_get_bias(i2c_dev_t* dev)
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{
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return read_register(REG_CR_A) & MASK_MS;
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return read_register(dev, REG_CR_A) & MASK_MS;
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}
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void hmc5883l_set_bias(hmc5883l_bias_t bias)
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void hmc5883l_set_bias(i2c_dev_t* dev, hmc5883l_bias_t bias)
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{
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update_register(REG_CR_A, MASK_MS, bias);
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update_register(dev, REG_CR_A, MASK_MS, bias);
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}
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hmc5883l_gain_t hmc5883l_get_gain()
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hmc5883l_gain_t hmc5883l_get_gain(i2c_dev_t* dev)
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{
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return read_register(REG_CR_B) >> BIT_GN;
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return read_register(dev, REG_CR_B) >> BIT_GN;
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}
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void hmc5883l_set_gain(hmc5883l_gain_t gain)
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void hmc5883l_set_gain(i2c_dev_t* dev, hmc5883l_gain_t gain)
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{
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write_register(REG_CR_B, gain << BIT_GN);
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write_register(dev, REG_CR_B, gain << BIT_GN);
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current_gain = gain_values[gain];
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}
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bool hmc5883l_data_is_locked()
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bool hmc5883l_data_is_locked(i2c_dev_t* dev)
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{
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return read_register(REG_STAT) & MASK_DL;
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return read_register(dev, REG_STAT) & MASK_DL;
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}
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bool hmc5883l_data_is_ready()
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bool hmc5883l_data_is_ready(i2c_dev_t* dev)
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{
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return read_register(REG_STAT) & MASK_DR;
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return read_register(dev, REG_STAT) & MASK_DR;
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}
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bool hmc5883l_get_raw_data(hmc5883l_raw_data_t *data)
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bool hmc5883l_get_raw_data(i2c_dev_t* dev, hmc5883l_raw_data_t *data)
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{
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if (current_mode == HMC5883L_MODE_SINGLE)
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{
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// overwrite mode register for measurement
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hmc5883l_set_operating_mode(current_mode);
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hmc5883l_set_operating_mode(dev, current_mode);
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// wait for data
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uint32_t start = sdk_system_get_time();
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while (!hmc5883l_data_is_ready())
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while (!hmc5883l_data_is_ready(dev))
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{
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if (timeout_expired(start, MEASUREMENT_TIMEOUT))
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return false;
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@ -167,7 +165,7 @@ bool hmc5883l_get_raw_data(hmc5883l_raw_data_t *data)
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}
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uint8_t buf[6];
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uint8_t reg = REG_DX_H;
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i2c_slave_read(ADDR, ®, buf, 6);
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i2c_slave_read(dev->bus, dev->addr, ®, buf, 6);
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data->x = ((int16_t)buf[REG_DX_H - REG_DX_H] << 8) | buf[REG_DX_L - REG_DX_H];
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data->y = ((int16_t)buf[REG_DY_H - REG_DX_H] << 8) | buf[REG_DY_L - REG_DX_H];
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data->z = ((int16_t)buf[REG_DZ_H - REG_DX_H] << 8) | buf[REG_DZ_L - REG_DX_H];
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@ -181,11 +179,11 @@ void hmc5883l_raw_to_mg(const hmc5883l_raw_data_t *raw, hmc5883l_data_t *mg)
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mg->z = raw->z * current_gain;
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}
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bool hmc5883l_get_data(hmc5883l_data_t *data)
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bool hmc5883l_get_data(i2c_dev_t* dev, hmc5883l_data_t *data)
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{
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hmc5883l_raw_data_t raw;
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if (!hmc5883l_get_raw_data(&raw))
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if (!hmc5883l_get_raw_data(dev, &raw))
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return false;
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hmc5883l_raw_to_mg(&raw, data);
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return true;
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@ -10,12 +10,15 @@
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#include <stdint.h>
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#include <stdbool.h>
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#include <i2c/i2c.h>
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#define HMC5883L_ADDR 0x1e
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#define HMC5883L_ID 0x00333448 // "H43"
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/**
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@ -101,82 +104,82 @@ typedef struct
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* \brief Init device
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* \return false if error occured
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*/
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bool hmc5883l_init();
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bool hmc5883l_init(i2c_dev_t* dev);
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/**
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* \brief Get device ID
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* Always returns 0x00333448 if IC functioning properly.
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* \return Device ID
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*/
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uint32_t hmc5883l_get_id();
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uint32_t hmc5883l_get_id(i2c_dev_t* dev);
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/**
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* \brief Get operating mode
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* \return Measurement mode
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*/
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hmc5883l_operating_mode_t hmc5883l_get_operating_mode();
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hmc5883l_operating_mode_t hmc5883l_get_operating_mode(i2c_dev_t* dev);
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/**
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* \brief Set operating mode
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* \param mode Measurement mode
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*/
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void hmc5883l_set_operating_mode(hmc5883l_operating_mode_t mode);
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void hmc5883l_set_operating_mode(i2c_dev_t* dev, hmc5883l_operating_mode_t mode);
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/**
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* \brief Get number of samples averaged per measurement output
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* \return Number of samples
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*/
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hmc5883l_samples_averaged_t hmc5883l_get_samples_averaged();
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hmc5883l_samples_averaged_t hmc5883l_get_samples_averaged(i2c_dev_t* dev);
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/**
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* \brief Set number of samples averaged per measurement output
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* \param samples Number of samples
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*/
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void hmc5883l_set_samples_averaged(hmc5883l_samples_averaged_t samples);
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void hmc5883l_set_samples_averaged(i2c_dev_t* dev, hmc5883l_samples_averaged_t samples);
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/**
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* \brief Get data output rate in continuous measurement mode
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* \return Data output rate
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*/
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hmc5883l_data_rate_t hmc5883l_get_data_rate();
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hmc5883l_data_rate_t hmc5883l_get_data_rate(i2c_dev_t* dev);
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/**
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* \brief Set data output rate in continuous measurement mode
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* \param rate Data output rate
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*/
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void hmc5883l_set_data_rate(hmc5883l_data_rate_t rate);
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void hmc5883l_set_data_rate(i2c_dev_t* dev, hmc5883l_data_rate_t rate);
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/**
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* \brief Get measurement mode (bias of the axes)
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* See datasheet for self test description
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* \return Bias
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*/
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hmc5883l_bias_t hmc5883l_get_bias();
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hmc5883l_bias_t hmc5883l_get_bias(i2c_dev_t* dev);
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/**
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* \brief Set measurement mode (bias of the axes)
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* See datasheet for self test description
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* \param bias Bias
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*/
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void hmc5883l_set_bias(hmc5883l_bias_t bias);
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void hmc5883l_set_bias(i2c_dev_t* dev, hmc5883l_bias_t bias);
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/**
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* \brief Get device gain
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* \return Current gain
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*/
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hmc5883l_gain_t hmc5883l_get_gain();
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hmc5883l_gain_t hmc5883l_get_gain(i2c_dev_t* dev);
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/**
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* \brief Set device gain
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* \param gain Gain
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*/
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void hmc5883l_set_gain(hmc5883l_gain_t gain);
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void hmc5883l_set_gain(i2c_dev_t* dev, hmc5883l_gain_t gain);
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/**
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* \brief Get data state
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* \return true when data is written to all six data registers
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*/
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bool hmc5883l_data_is_ready();
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bool hmc5883l_data_is_ready(i2c_dev_t* dev);
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/**
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* \brief Get lock state.
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@ -188,14 +191,14 @@ bool hmc5883l_data_is_ready();
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* 4. power is reset.
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* \return true when data registers is locked
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*/
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bool hmc5883l_data_is_locked();
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bool hmc5883l_data_is_locked(i2c_dev_t* dev);
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/**
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* \brief Get raw magnetic data
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* \param data Pointer to the struct to write raw data
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* \return false if error occured in single measurement mode, always true in continuous mode
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*/
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bool hmc5883l_get_raw_data(hmc5883l_raw_data_t *data);
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bool hmc5883l_get_raw_data(i2c_dev_t* dev, hmc5883l_raw_data_t *data);
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/**
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* \brief Convert raw magnetic data to milligausses
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@ -209,7 +212,7 @@ void hmc5883l_raw_to_mg(const hmc5883l_raw_data_t *raw, hmc5883l_data_t *mg);
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* \param data Pointer to the struct to write data
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* \return false if error occured in single measurement mode, always true in continuous mode
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*/
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bool hmc5883l_get_data(hmc5883l_data_t *data);
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bool hmc5883l_get_data(i2c_dev_t* dev, hmc5883l_data_t *data);
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#ifdef __cplusplus
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}
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