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628 lines
20 KiB
C
628 lines
20 KiB
C
/*
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ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lis3mdl.c
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* @brief LIS3MDL MEMS interface module code.
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*
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* @addtogroup LIS3MDL
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* @ingroup EX_ST
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* @{
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*/
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#include "hal.h"
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#include "lis3mdl.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief Reads registers value using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] reg first sub-register address
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* @param[out] rxbuf pointer to an output buffer
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* @param[in] n number of consecutive register to read
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* @return the operation status.
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* @notapi
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*/
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msg_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
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uint8_t* rxbuf, size_t n) {
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uint8_t txbuf = reg;
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if(n > 1)
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txbuf |= LIS3MDL_SUB_MS;
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return i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, n,
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TIME_INFINITE);
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}
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/**
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* @brief Writes a value into a register using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] txbuf buffer containing sub-address value in first position
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* and values to write
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* @param[in] n size of txbuf less one (not considering the first
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* element)
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* @return the operation status.
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* @notapi
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*/
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msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t* txbuf,
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uint8_t n) {
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if (n > 1)
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(*txbuf) |= LIS3MDL_SUB_MS;
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return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,
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TIME_INFINITE);
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}
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#endif /* LIS3MDL_USE_I2C */
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/**
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* @brief Return the number of axes of the BaseCompass.
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*
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* @param[in] ip pointer to @p BaseCompass interface
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*
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* @return the number of axes.
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*/
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static size_t comp_get_axes_number(void *ip) {
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osalDbgCheck(ip != NULL);
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return LIS3MDL_COMP_NUMBER_OF_AXES;
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}
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/**
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* @brief Retrieves raw data from the BaseCompass.
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* @note This data is retrieved from MEMS register without any algebraical
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* manipulation.
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* @note The axes array must be at least the same size of the
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* BaseCompass axes number.
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*
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* @param[in] ip pointer to @p BaseCompass interface.
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* @param[out] axes a buffer which would be filled with raw data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t comp_read_raw(void *ip, int32_t axes[]) {
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LIS3MDLDriver* devp;
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uint8_t buff [LIS3MDL_COMP_NUMBER_OF_AXES * 2], i;
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int16_t tmp;
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
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osalDbgAssert((devp->state == LIS3MDL_READY),
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"comp_read_raw(), invalid state");
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osalDbgAssert((devp->config->i2cp->state == I2C_READY),
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"comp_read_raw(), channel not ready");
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#if LIS3MDL_SHARED_I2C
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i2cAcquireBus(devp->config->i2cp);
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i2cStart(devp->config->i2cp,
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devp->config->i2ccfg);
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#endif /* LIS3MDL_SHARED_I2C */
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msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
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LIS3MDL_AD_OUT_X_L, buff,
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LIS3MDL_COMP_NUMBER_OF_AXES * 2);
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#if LIS3MDL_SHARED_I2C
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i2cReleaseBus(devp->config->i2cp);
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#endif /* LIS3MDL_SHARED_I2C */
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if(msg == MSG_OK)
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
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tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
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axes[i] = (int32_t)tmp;
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}
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return msg;
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}
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/**
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* @brief Retrieves cooked data from the BaseCompass.
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* @note This data is manipulated according to the formula
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* cooked = (raw * sensitivity) - bias.
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* @note Final data is expressed as G.
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* @note The axes array must be at least the same size of the
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* BaseCompass axes number.
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*
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* @param[in] ip pointer to @p BaseCompass interface.
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* @param[out] axes a buffer which would be filled with cooked data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t comp_read_cooked(void *ip, float axes[]) {
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LIS3MDLDriver* devp;
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uint32_t i;
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int32_t raw[LIS3MDL_COMP_NUMBER_OF_AXES];
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
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osalDbgAssert((devp->state == LIS3MDL_READY),
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"comp_read_cooked(), invalid state");
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msg = comp_read_raw(ip, raw);
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES ; i++) {
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axes[i] = (raw[i] * devp->compsensitivity[i]) - devp->compbias[i];
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}
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return msg;
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}
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/**
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* @brief Set bias values for the BaseCompass.
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* @note Bias must be expressed as G.
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* @note The bias buffer must be at least the same size of the
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* BaseCompass axes number.
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*
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* @param[in] ip pointer to @p BaseCompass interface.
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* @param[in] bp a buffer which contains biases.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t comp_set_bias(void *ip, float *bp) {
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LIS3MDLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (bp != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
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osalDbgAssert((devp->state == LIS3MDL_READY),
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"comp_set_bias(), invalid state");
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
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devp->compbias[i] = bp[i];
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}
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return msg;
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}
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/**
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* @brief Reset bias values for the BaseCompass.
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* @note Default biases value are obtained from device datasheet when
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* available otherwise they are considered zero.
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*
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* @param[in] ip pointer to @p BaseCompass interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t comp_reset_bias(void *ip) {
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LIS3MDLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
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osalDbgAssert((devp->state == LIS3MDL_READY),
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"comp_reset_bias(), invalid state");
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
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devp->compbias[i] = LIS3MDL_COMP_BIAS;
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return msg;
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}
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/**
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* @brief Set sensitivity values for the BaseCompass.
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* @note Sensitivity must be expressed as G/LSB.
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* @note The sensitivity buffer must be at least the same size of the
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* BaseCompass axes number.
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*
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* @param[in] ip pointer to @p BaseCompass interface.
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* @param[in] sp a buffer which contains sensitivities.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t comp_set_sensivity(void *ip, float *sp) {
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LIS3MDLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
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osalDbgCheck((ip != NULL) && (sp != NULL));
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osalDbgAssert((devp->state == LIS3MDL_READY),
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"comp_set_sensivity(), invalid state");
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
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devp->compsensitivity[i] = sp[i];
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}
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return msg;
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}
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/**
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* @brief Reset sensitivity values for the BaseCompass.
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* @note Default sensitivities value are obtained from device datasheet.
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*
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* @param[in] ip pointer to @p BaseCompass interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET otherwise.
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*/
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static msg_t comp_reset_sensivity(void *ip) {
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LIS3MDLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
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osalDbgAssert((devp->state == LIS3MDL_READY),
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"comp_reset_sensivity(), invalid state");
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if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA)
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
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devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;
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else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA)
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
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devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;
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else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA)
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
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devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;
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else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA)
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
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devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;
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else {
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osalDbgAssert(FALSE, "comp_reset_sensivity(), compass full scale issue");
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msg = MSG_RESET;
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}
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return msg;
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}
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/**
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* @brief Changes the LIS3MDLDriver compass fullscale value.
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* @note This function also rescale sensitivities and biases based on
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* previous and next fullscale value.
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* @note A recalibration is highly suggested after calling this function.
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*
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* @param[in] devp pointer to @p LIS3MDLDriver interface.
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* @param[in] fs new fullscale value.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET otherwise.
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*/
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static msg_t comp_set_full_scale(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs) {
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float newfs, scale;
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uint8_t i, buff[2];
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msg_t msg;
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osalDbgCheck(devp != NULL);
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osalDbgAssert((devp->state == LIS3MDL_READY),
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"comp_set_full_scale(), invalid state");
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osalDbgAssert((devp->config->i2cp->state == I2C_READY),
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"comp_set_full_scale(), channel not ready");
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/* Computing new fullscale value.*/
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if(fs == LIS3MDL_COMP_FS_4GA) {
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newfs = LIS3MDL_COMP_4GA;
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}
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else if(fs == LIS3MDL_COMP_FS_8GA) {
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newfs = LIS3MDL_COMP_8GA;
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}
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else if(fs == LIS3MDL_COMP_FS_12GA) {
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newfs = LIS3MDL_COMP_12GA;
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}
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else if(fs == LIS3MDL_COMP_FS_16GA) {
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newfs = LIS3MDL_COMP_16GA;
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}
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else {
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msg = MSG_RESET;
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return msg;
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}
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if(newfs != devp->compfullscale) {
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/* Computing scale value.*/
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scale = newfs / devp->compfullscale;
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devp->compfullscale = newfs;
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#if LIS3MDL_SHARED_I2C
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i2cAcquireBus(devp->config->i2cp);
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i2cStart(devp->config->i2cp, devp->config->i2ccfg);
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#endif /* LIS3MDL_SHARED_I2C */
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/* Updating register.*/
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msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
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LIS3MDL_AD_CTRL_REG2, &buff[1], 1);
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#if LIS3MDL_SHARED_I2C
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i2cReleaseBus(devp->config->i2cp);
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#endif /* LIS3MDL_SHARED_I2C */
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if(msg != MSG_OK)
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return msg;
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buff[1] &= ~(LIS3MDL_CTRL_REG2_FS_MASK);
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buff[1] |= fs;
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buff[0] = LIS3MDL_AD_CTRL_REG2;
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#if LIS3MDL_SHARED_I2C
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i2cAcquireBus(devp->config->i2cp);
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i2cStart(devp->config->i2cp, devp->config->i2ccfg);
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#endif /* LIS3MDL_SHARED_I2C */
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msg = lis3mdlI2CWriteRegister(devp->config->i2cp,
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devp->config->slaveaddress,
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buff, 1);
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#if LIS3MDL_SHARED_I2C
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i2cReleaseBus(devp->config->i2cp);
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#endif /* LIS3MDL_SHARED_I2C */
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if(msg != MSG_OK)
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return msg;
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/* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
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for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
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devp->compsensitivity[i] *= scale;
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devp->compbias[i] *= scale;
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}
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}
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return msg;
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}
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static const struct LIS3MDLVMT vmt_device = {
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(size_t)0,
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comp_set_full_scale
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};
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static const struct BaseCompassVMT vmt_compass = {
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sizeof(struct LIS3MDLVMT*),
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comp_get_axes_number, comp_read_raw, comp_read_cooked,
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comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
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};
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Initializes an instance.
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*
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* @param[out] devp pointer to the @p LIS3MDLDriver object
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*
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* @init
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*/
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void lis3mdlObjectInit(LIS3MDLDriver *devp) {
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devp->vmt = &vmt_device;
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devp->comp_if.vmt = &vmt_compass;
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devp->config = NULL;
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devp->compaxes = LIS3MDL_COMP_NUMBER_OF_AXES;
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devp->state = LIS3MDL_STOP;
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}
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/**
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* @brief Configures and activates LIS3MDL Complex Driver peripheral.
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*
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* @param[in] devp pointer to the @p LIS3MDLDriver object
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* @param[in] config pointer to the @p LIS3MDLConfig object
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*
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* @api
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*/
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void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
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uint32_t i;
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uint8_t cr[6];
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osalDbgCheck((devp != NULL) && (config != NULL));
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osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
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"lis3mdlStart(), invalid state");
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devp->config = config;
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/* Control register 1 configuration block.*/
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{
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cr[0] = LIS3MDL_AD_CTRL_REG1;
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cr[1] = devp->config->compoutputdatarate;
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#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
|
|
cr[1] |= devp->config->compoperationmodexy;
|
|
#else
|
|
cr[1] |= LIS3MDL_CTRL_REG1_OM0 | LIS3MDL_CTRL_REG1_OM1;
|
|
#endif
|
|
}
|
|
|
|
/* Control register 2 configuration block.*/
|
|
{
|
|
cr[2] = devp->config->compfullscale;
|
|
}
|
|
|
|
/* Control register 3 configuration block.*/
|
|
{
|
|
cr[3] = 0;
|
|
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
|
|
cr[3] = devp->config->compconversionmode;
|
|
#endif
|
|
}
|
|
|
|
/* Control register 4 configuration block.*/
|
|
{
|
|
cr[4] = 0;
|
|
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
|
|
cr[4] = devp->config->compoperationmodez | devp->config->endianness;
|
|
#endif
|
|
}
|
|
|
|
/* Control register 5 configuration block.*/
|
|
{
|
|
cr[5] = 0;
|
|
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
|
|
cr[5] = devp->config->blockdataupdate;
|
|
#endif
|
|
}
|
|
|
|
#if LIS3MDL_USE_I2C
|
|
#if LIS3MDL_SHARED_I2C
|
|
i2cAcquireBus((devp)->config->i2cp);
|
|
#endif /* LIS3MDL_SHARED_I2C */
|
|
i2cStart((devp)->config->i2cp,
|
|
(devp)->config->i2ccfg);
|
|
|
|
lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
|
cr, 5);
|
|
|
|
#if LIS3MDL_SHARED_I2C
|
|
i2cReleaseBus((devp)->config->i2cp);
|
|
#endif /* LIS3MDL_SHARED_I2C */
|
|
#endif /* LIS3MDL_USE_I2C */
|
|
|
|
if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA) {
|
|
devp->compfullscale = LIS3MDL_COMP_4GA;
|
|
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->compsensitivity == NULL) {
|
|
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;
|
|
}
|
|
else {
|
|
devp->compsensitivity[i] = devp->config->compsensitivity[i];
|
|
}
|
|
}
|
|
}
|
|
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA) {
|
|
devp->compfullscale = LIS3MDL_COMP_8GA;
|
|
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->compsensitivity == NULL) {
|
|
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;
|
|
}
|
|
else {
|
|
devp->compsensitivity[i] = devp->config->compsensitivity[i];
|
|
}
|
|
}
|
|
}
|
|
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA) {
|
|
devp->compfullscale = LIS3MDL_COMP_12GA;
|
|
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->compsensitivity == NULL) {
|
|
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;
|
|
}
|
|
else {
|
|
devp->compsensitivity[i] = devp->config->compsensitivity[i];
|
|
}
|
|
}
|
|
}
|
|
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA) {
|
|
devp->compfullscale = LIS3MDL_COMP_16GA;
|
|
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->compsensitivity == NULL) {
|
|
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;
|
|
}
|
|
else {
|
|
devp->compsensitivity[i] = devp->config->compsensitivity[i];
|
|
}
|
|
}
|
|
}
|
|
else
|
|
osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
|
|
|
|
/* Storing bias information */
|
|
if(devp->config->compbias != NULL)
|
|
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
|
|
devp->compbias[i] = devp->config->compbias[i];
|
|
else
|
|
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
|
|
devp->compbias[i] = LIS3MDL_COMP_BIAS;
|
|
|
|
/* This is the MEMS transient recovery time */
|
|
osalThreadSleepMilliseconds(5);
|
|
|
|
devp->state = LIS3MDL_READY;
|
|
}
|
|
|
|
/**
|
|
* @brief Deactivates the LIS3MDL Complex Driver peripheral.
|
|
*
|
|
* @param[in] devp pointer to the @p LIS3MDLDriver object
|
|
*
|
|
* @api
|
|
*/
|
|
void lis3mdlStop(LIS3MDLDriver *devp) {
|
|
uint8_t cr[2];
|
|
osalDbgCheck(devp != NULL);
|
|
|
|
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
|
|
"lis3mdlStop(), invalid state");
|
|
|
|
if (devp->state == LIS3MDL_READY) {
|
|
#if (LIS3MDL_USE_I2C)
|
|
#if LIS3MDL_SHARED_I2C
|
|
i2cAcquireBus((devp)->config->i2cp);
|
|
i2cStart((devp)->config->i2cp,
|
|
(devp)->config->i2ccfg);
|
|
#endif /* LIS3MDL_SHARED_I2C */
|
|
|
|
/* Disabling compass. */
|
|
cr[0] = LIS3MDL_AD_CTRL_REG3;
|
|
cr[1] = LIS3MDL_CTRL_REG3_MD0 | LIS3MDL_CTRL_REG3_MD1;
|
|
lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
|
cr, 1);
|
|
|
|
i2cStop((devp)->config->i2cp);
|
|
#if LIS3MDL_SHARED_I2C
|
|
i2cReleaseBus((devp)->config->i2cp);
|
|
#endif /* LIS3MDL_SHARED_I2C */
|
|
#endif /* LIS3MDL_USE_I2C */
|
|
}
|
|
devp->state = LIS3MDL_STOP;
|
|
}
|
|
/** @} */
|