mirror of
https://github.com/oopuuu/zTC1.git
synced 2025-12-19 00:13:21 +08:00
264 lines
7.2 KiB
C
264 lines
7.2 KiB
C
/**
|
|
******************************************************************************
|
|
* @file lsm9ds1_mag.c
|
|
* @author William Xu
|
|
* @version V1.0.0
|
|
* @date 21-May-2015
|
|
* @brief
|
|
******************************************************************************
|
|
*
|
|
* UNPUBLISHED PROPRIETARY SOURCE CODE
|
|
* Copyright (c) 2016 MXCHIP Inc.
|
|
*
|
|
* The contents of this file may not be disclosed to third parties, copied or
|
|
* duplicated in any form, in whole or in part, without the prior written
|
|
* permission of MXCHIP Corporation.
|
|
******************************************************************************
|
|
*/
|
|
|
|
/* Includes ------------------------------------------------------------------*/
|
|
#include "lsm9ds1.h"
|
|
|
|
#define lsm9ds1_mag_log(M, ...) custom_log("LSM9DS1_MAG", M, ##__VA_ARGS__)
|
|
#define lsm9ds1_mag_log_trace() custom_log_trace("LSM9DS1_MAG")
|
|
|
|
|
|
/* Address registers */
|
|
#define REG_WHOAMI_ADDR (0x0F)
|
|
#define CTRL_REG1_M (0x20)
|
|
#define CTRL_REG2_M (0x21)
|
|
#define CTRL_REG3_M (0x22)
|
|
#define CTRL_REG4_M (0x23)
|
|
#define CTRL_REG5_M (0x24)
|
|
#define INT_CFG_M (0x30)
|
|
#define INT_THS_L (0x32)
|
|
#define INT_THS_H (0x33)
|
|
|
|
#define REG_MAG_OUT_X_L_ADDR (0x28) /** Mag. data low address register */
|
|
#define REG_MAG_OUT_X_H_ADDR (0x29)
|
|
#define REG_MAG_OUT_Y_L_ADDR (0x2A)
|
|
#define REG_MAG_OUT_Y_H_ADDR (0x2B)
|
|
#define REG_MAG_OUT_Z_L_ADDR (0x2C)
|
|
#define REG_MAG_OUT_Z_H_ADDR (0x2D)
|
|
|
|
/* Sensitivity */
|
|
#define SENSITIVITY_MAG_4G 146156 /** ngauss/LSB */
|
|
#define SENSITIVITY_MAG_8G 292312 /** ngauss/LSB */
|
|
#define SENSITIVITY_MAG_12G 430000 /** ngauss/LSB */
|
|
#define SENSITIVITY_MAG_16G 584454 /** ngauss/LSB */
|
|
|
|
/* Magnetic sensor mode */
|
|
#define CTRL_REG3_M_MD_MASK (0x03)
|
|
#define CTRL_REG3_M_MD_OFF (0x02)
|
|
#define CTRL_REG3_M_MD_CONTINUOUS (0x00)
|
|
#define CTRL_REG3_M_MD_SINGLE (0x01)
|
|
|
|
/* X and Y axis operative mode selection */
|
|
#define X_Y_PERFORMANCE_MASK (0x60)
|
|
#define X_Y_LOW_PERFORMANCE (0x00)
|
|
#define X_Y_MEDIUM_PERFORMANCE (0x20)
|
|
#define X_Y_HIGH_PERFORMANCE (0x40)
|
|
#define X_Y_ULTRA_HIGH_PERFORMANCE (0x60)
|
|
|
|
/* Z axis operative mode selection */
|
|
#define Z_PERFORMANCE_MASK (0x0c)
|
|
#define Z_LOW_PERFORMANCE (0x00)
|
|
#define Z_MEDIUM_PERFORMANCE (0x04)
|
|
#define Z_HIGH_PERFORMANCE (0x08)
|
|
#define Z_ULTRA_HIGH_PERFORMANCE (0x0c)
|
|
|
|
/* Default values loaded in probe function */
|
|
#define DEF_ZERO (0x00)
|
|
|
|
#define WHOIAM_VALUE (0x3D)
|
|
#define CTRL_REG1_M_DEF (0x60)
|
|
#define CTRL_REG2_M_DEF DEF_ZERO
|
|
#define CTRL_REG3_M_DEF CTRL_REG3_M_MD_CONTINUOUS
|
|
#define CTRL_REG4_M_DEF DEF_ZERO
|
|
#define CTRL_REG5_M_DEF (0x40)
|
|
#define INT_CFG_M_DEF DEF_ZERO
|
|
#define INT_THS_H_DEF DEF_ZERO
|
|
#define INT_THS_L_DEF DEF_ZERO
|
|
|
|
/* I2C device */
|
|
mico_i2c_device_t lsm9ds1_mag_i2c_device = {
|
|
LSM9DS1_I2C_PORT, 0x1C, I2C_ADDRESS_WIDTH_7BIT, I2C_STANDARD_SPEED_MODE
|
|
};
|
|
|
|
static OSStatus LSM9DS1_MAG_IO_Init(void)
|
|
{
|
|
// I2C init
|
|
MicoI2cFinalize(&lsm9ds1_mag_i2c_device); // in case error
|
|
MicoI2cInitialize(&lsm9ds1_mag_i2c_device);
|
|
|
|
if( false == MicoI2cProbeDevice(&lsm9ds1_mag_i2c_device, 5) ){
|
|
lsm9ds1_mag_log("LSM9DS1_MAG_ERROR: no i2c device found!");
|
|
return kNotInitializedErr;
|
|
}
|
|
return kNoErr;
|
|
}
|
|
|
|
|
|
/* \Brief: The function is used as I2C bus write
|
|
* \Return : Status of the I2C write
|
|
* \param dev_addr : The device address of the sensor
|
|
* \param reg_addr : Address of the first register, will data is going to be written
|
|
* \param reg_data : It is a value hold in the array,
|
|
* will be used for write the value into the register
|
|
* \param cnt : The no of byte of data to be write
|
|
*/
|
|
static OSStatus LSM9DS1_MAG_IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
|
|
{
|
|
mico_i2c_message_t lsm9ds1_mag_i2c_msg = {NULL, NULL, 0, 0, 0, false};
|
|
OSStatus iError = kNoErr;
|
|
uint8_t array[8];
|
|
uint8_t stringpos;
|
|
array[0] = RegisterAddr;
|
|
for (stringpos = 0; stringpos < NumByteToWrite; stringpos++) {
|
|
array[stringpos + 1] = *(pBuffer + stringpos);
|
|
}
|
|
|
|
iError = MicoI2cBuildTxMessage(&lsm9ds1_mag_i2c_msg, array, NumByteToWrite + 1, 3);
|
|
iError = MicoI2cTransfer(&lsm9ds1_mag_i2c_device, &lsm9ds1_mag_i2c_msg, 1);
|
|
if(kNoErr != iError){
|
|
iError = kWriteErr;
|
|
}
|
|
|
|
return kNoErr;
|
|
}
|
|
|
|
/* \Brief: The function is used as I2C bus read
|
|
* \Return : Status of the I2C read
|
|
* \param dev_addr : The device address of the sensor
|
|
* \param reg_addr : Address of the first register, will data is going to be read
|
|
* \param reg_data : This data read from the sensor, which is hold in an array
|
|
* \param cnt : The no of byte of data to be read
|
|
*/
|
|
static OSStatus LSM9DS1_MAG_IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
|
|
{
|
|
mico_i2c_message_t lsm9ds1_mag_i2c_msg = {NULL, NULL, 0, 0, 0, false};
|
|
OSStatus iError = kNoErr;
|
|
uint8_t array[8] = {0};
|
|
array[0] = RegisterAddr;
|
|
|
|
iError = MicoI2cBuildCombinedMessage(&lsm9ds1_mag_i2c_msg, array, pBuffer, 1, NumByteToRead, 3);
|
|
if(kNoErr != iError){
|
|
return kReadErr;
|
|
}
|
|
iError = MicoI2cTransfer(&lsm9ds1_mag_i2c_device, &lsm9ds1_mag_i2c_msg, 1);
|
|
if(kNoErr != iError){
|
|
return kReadErr;
|
|
}
|
|
return kNoErr;
|
|
}
|
|
|
|
static OSStatus LSM9DS1_MAG_POWER_ON(void)
|
|
{
|
|
OSStatus err = kNoErr;
|
|
uint8_t temp = 0;
|
|
|
|
temp = CTRL_REG1_M_DEF;
|
|
if((err = LSM9DS1_MAG_IO_Write(&temp, CTRL_REG1_M, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
temp = CTRL_REG3_M_DEF;
|
|
if((err = LSM9DS1_MAG_IO_Write(&temp, CTRL_REG3_M, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
temp = CTRL_REG5_M_DEF;
|
|
if((err = LSM9DS1_MAG_IO_Write(&temp, CTRL_REG5_M, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
return err;
|
|
}
|
|
|
|
static OSStatus LSM9DS1_MAG_POWER_OFF(void)
|
|
{
|
|
OSStatus err = kNoErr;
|
|
uint8_t temp = 0;
|
|
|
|
temp = CTRL_REG3_M_MD_OFF;
|
|
if((err = LSM9DS1_MAG_IO_Write(&temp, CTRL_REG3_M, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
return err;
|
|
}
|
|
|
|
static OSStatus LSM9DS1_MAG_Init(void)
|
|
{
|
|
OSStatus err = kNoErr;
|
|
|
|
if((err = LSM9DS1_MAG_IO_Init()) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
if((err = LSM9DS1_MAG_POWER_ON()) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
return err;
|
|
}
|
|
|
|
static OSStatus LSM9DS1_MAG_GET_XYZ(int16_t *MAG_X, int16_t *MAG_Y, int16_t *MAG_Z)
|
|
{
|
|
OSStatus err = kNoErr;
|
|
uint8_t temp[6] = {0};
|
|
|
|
if((err = LSM9DS1_MAG_IO_Read(&temp[0], REG_MAG_OUT_X_L_ADDR, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
if((err = LSM9DS1_MAG_IO_Read(&temp[1], REG_MAG_OUT_X_H_ADDR, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
*MAG_X = (int32_t)(((int16_t)temp[1] << 8) | (temp[0]));
|
|
|
|
if((err = LSM9DS1_MAG_IO_Read(&temp[2], REG_MAG_OUT_Y_L_ADDR, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
if((err = LSM9DS1_MAG_IO_Read(&temp[3], REG_MAG_OUT_Y_H_ADDR, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
*MAG_Y = (int32_t)(((int16_t)temp[3] << 8) | (temp[2]));
|
|
|
|
if((err = LSM9DS1_MAG_IO_Read(&temp[4], REG_MAG_OUT_Z_L_ADDR, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
if((err = LSM9DS1_MAG_IO_Read(&temp[5], REG_MAG_OUT_Z_H_ADDR, 1)) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
*MAG_Z = (int32_t)(((int16_t)temp[5] << 8) | (temp[4]));
|
|
|
|
return err;
|
|
}
|
|
|
|
OSStatus lsm9ds1_mag_sensor_init(void)
|
|
{
|
|
return LSM9DS1_MAG_Init();
|
|
}
|
|
|
|
OSStatus lsm9ds1_mag_read_data(int16_t *MAG_X, int16_t *MAG_Y, int16_t *MAG_Z)
|
|
{
|
|
return LSM9DS1_MAG_GET_XYZ(MAG_X, MAG_Y, MAG_Z);
|
|
}
|
|
|
|
OSStatus lsm9ds1_mag_sensor_deinit(void)
|
|
{
|
|
OSStatus err = kNoErr;
|
|
|
|
if((err = LSM9DS1_MAG_POWER_OFF()) != kNoErr){
|
|
return err;
|
|
}
|
|
|
|
return MicoI2cFinalize(&lsm9ds1_mag_i2c_device);
|
|
}
|