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EM7180_STM32
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provide data types for the sensor output and collect timestamps 

Also, what the heck is an 'interger'?
master
Daniel Peter Chokola 4 years ago
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0f15c2b604
commit
96ab0c63b5
2 changed files with 74 additions and 35 deletions
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  1. 45
      Drivers/EM7180/Inc/em7180.h
  2. 64
      Drivers/EM7180/Src/em7180.c

45
Drivers/EM7180/Inc/em7180.h
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@ -45,6 +45,39 @@ typedef struct em7180_s
i2c_read_func_t i2c_read_func; i2c_read_func_t i2c_read_func;
i2c_write_func_t i2c_write_func; i2c_write_func_t i2c_write_func;
} em7180_t; } em7180_t;
typedef struct em7180_quat_data_s {
float x;
float y;
float z;
float w;
uint16_t ts;
} em7180_quat_data_t;
typedef struct em7180_accel_data_s {
int16_t x;
int16_t y;
int16_t z;
uint16_t ts;
} em7180_accel_data_t;
typedef struct em7180_gyro_data_s {
int16_t x;
int16_t y;
int16_t z;
uint16_t ts;
} em7180_gyro_data_t;
typedef struct em7180_mag_data_s {
int16_t x;
int16_t y;
int16_t z;
uint16_t ts;
} em7180_mag_data_t;
typedef struct em7180_baro_data_s {
int16_t pressure;
uint16_t ts;
} em7180_baro_data_t;
typedef struct em7180_temp_data_s {
int16_t val;
uint16_t ts;
} em7180_temp_data_t;
/* Function Prototypes */ /* Function Prototypes */
em7180_status_t em7180_init(em7180_t *em7180, em7180_init_t *init); em7180_status_t em7180_init(em7180_t *em7180, em7180_init_t *init);
@ -55,11 +88,11 @@ em7180_status_t em7180_config(em7180_t *em7180);
void em7180_reset(em7180_t *em7180); void em7180_reset(em7180_t *em7180);
void em7180_passthrough_enable(em7180_t *em7180); void em7180_passthrough_enable(em7180_t *em7180);
void em7180_passthrough_disable(em7180_t *em7180); void em7180_passthrough_disable(em7180_t *em7180);
em7180_status_t em7180_quatdata_get(em7180_t *em7180, float *destination); em7180_status_t em7180_quatdata_get(em7180_t *em7180, em7180_quat_data_t *destination);
em7180_status_t em7180_acceldata_get(em7180_t *em7180, int16_t *destination); em7180_status_t em7180_acceldata_get(em7180_t *em7180, em7180_accel_data_t *destination);
em7180_status_t em7180_gyrodata_get(em7180_t *em7180, int16_t *destination); em7180_status_t em7180_gyrodata_get(em7180_t *em7180, em7180_gyro_data_t *destination);
em7180_status_t em7180_magdata_get(em7180_t *em7180, int16_t *destination); em7180_status_t em7180_magdata_get(em7180_t *em7180, em7180_mag_data_t *destination);
em7180_status_t em7180_barodata_get(em7180_t *em7180, int16_t *destination); em7180_status_t em7180_barodata_get(em7180_t *em7180, em7180_baro_data_t *destination);
em7180_status_t em7180_tempdata_get(em7180_t *em7180, int16_t *destination); em7180_status_t em7180_tempdata_get(em7180_t *em7180, em7180_temp_data_t *destination);
#endif /* EM7180_H_ */ #endif /* EM7180_H_ */

64
Drivers/EM7180/Src/em7180.c
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@ -40,9 +40,9 @@
#define EM7180_GY 0x24 /* int16_t from registers 0x24-25 */ #define EM7180_GY 0x24 /* int16_t from registers 0x24-25 */
#define EM7180_GZ 0x26 /* int16_t from registers 0x26-27 */ #define EM7180_GZ 0x26 /* int16_t from registers 0x26-27 */
#define EM7180_GTIME 0x28 /* uint16_t from registers 0x28-29 */ #define EM7180_GTIME 0x28 /* uint16_t from registers 0x28-29 */
#define EM7180_Baro 0x2A /* start of two-byte MS5637 pressure data, 16-bit signed interger */ #define EM7180_Baro 0x2A /* start of two-byte MS5637 pressure data, 16-bit signed integer */
#define EM7180_BaroTIME 0x2C /* start of two-byte MS5637 pressure timestamp, 16-bit unsigned */ #define EM7180_BaroTIME 0x2C /* start of two-byte MS5637 pressure timestamp, 16-bit unsigned */
#define EM7180_Temp 0x2E /* start of two-byte MS5637 temperature data, 16-bit signed interger */ #define EM7180_Temp 0x2E /* start of two-byte MS5637 temperature data, 16-bit signed integer */
#define EM7180_TempTIME 0x30 /* start of two-byte MS5637 temperature timestamp, 16-bit unsigned */ #define EM7180_TempTIME 0x30 /* start of two-byte MS5637 temperature timestamp, 16-bit unsigned */
#define EM7180_QRateDivisor 0x32 /* uint8_t */ #define EM7180_QRateDivisor 0x32 /* uint8_t */
#define EM7180_EnableEvents 0x33 #define EM7180_EnableEvents 0x33
@ -194,80 +194,86 @@ void em7180_passthrough_disable(em7180_t *em7180)
em7180_write_byte(EM7180_AlgorithmControl, 0x00); em7180_write_byte(EM7180_AlgorithmControl, 0x00);
} }
em7180_status_t em7180_quatdata_get(em7180_t *em7180, float *destination) em7180_status_t em7180_quatdata_get(em7180_t *em7180, em7180_quat_data_t *destination)
{ {
int32_t ret = 0; int32_t ret = 0;
uint8_t data[16]; uint8_t data[16];
ret |= em7180_read(EM7180_QX, data, 16); ret |= em7180_read(EM7180_QX, data, 18);
/* EM7180 quaternion is xi + yj + zk + s */ /* EM7180 quaternion is xi + yj + zk + s */
destination[0] = uint32_reg_to_float(&data[12]); destination->w = uint32_reg_to_float(&data[12]);
destination[1] = uint32_reg_to_float(&data[0]); destination->x = uint32_reg_to_float(&data[0]);
destination[2] = uint32_reg_to_float(&data[4]); destination->y = uint32_reg_to_float(&data[4]);
destination[3] = uint32_reg_to_float(&data[8]); destination->z = uint32_reg_to_float(&data[8]);
destination->ts = (((int16_t) data[17] << 8) | data[16]);
return ret ? EM7180_BAD_COMM : EM7180_OK; return ret ? EM7180_BAD_COMM : EM7180_OK;
} }
em7180_status_t em7180_acceldata_get(em7180_t *em7180, int16_t *destination) em7180_status_t em7180_acceldata_get(em7180_t *em7180, em7180_accel_data_t *destination)
{ {
int32_t ret = 0; int32_t ret = 0;
uint8_t data[6]; uint8_t data[6];
ret |= em7180_read(EM7180_AX, data, 6); ret |= em7180_read(EM7180_AX, data, 8);
destination[0] = (int16_t) (((int16_t) data[1] << 8) | data[0]); destination->x = (int16_t) (((int16_t) data[1] << 8) | data[0]);
destination[1] = (int16_t) (((int16_t) data[3] << 8) | data[2]); destination->y = (int16_t) (((int16_t) data[3] << 8) | data[2]);
destination[2] = (int16_t) (((int16_t) data[5] << 8) | data[4]); destination->z = (int16_t) (((int16_t) data[5] << 8) | data[4]);
destination->ts = (int16_t) (((int16_t) data[7] << 8) | data[6]);
return ret ? EM7180_BAD_COMM : EM7180_OK; return ret ? EM7180_BAD_COMM : EM7180_OK;
} }
em7180_status_t em7180_gyrodata_get(em7180_t *em7180, int16_t *destination) em7180_status_t em7180_gyrodata_get(em7180_t *em7180, em7180_gyro_data_t *destination)
{ {
int32_t ret = 0; int32_t ret = 0;
uint8_t data[6]; uint8_t data[6];
ret |= em7180_read(EM7180_GX, data, 6); ret |= em7180_read(EM7180_GX, data, 8);
destination[0] = (int16_t) (((int16_t) data[1] << 8) | data[0]); destination->x = (int16_t) (((int16_t) data[1] << 8) | data[0]);
destination[1] = (int16_t) (((int16_t) data[3] << 8) | data[2]); destination->y = (int16_t) (((int16_t) data[3] << 8) | data[2]);
destination[2] = (int16_t) (((int16_t) data[5] << 8) | data[4]); destination->z = (int16_t) (((int16_t) data[5] << 8) | data[4]);
destination->ts = (int16_t) (((int16_t) data[7] << 8) | data[6]);
return ret ? EM7180_BAD_COMM : EM7180_OK; return ret ? EM7180_BAD_COMM : EM7180_OK;
} }
em7180_status_t em7180_magdata_get(em7180_t *em7180, int16_t *destination) em7180_status_t em7180_magdata_get(em7180_t *em7180, em7180_mag_data_t *destination)
{ {
int32_t ret = 0; int32_t ret = 0;
uint8_t data[6]; uint8_t data[6];
ret |= em7180_read(EM7180_MX, data, 6); ret |= em7180_read(EM7180_MX, data, 8);
destination[0] = (int16_t) (((int16_t) data[1] << 8) | data[0]); destination->x = (int16_t) (((int16_t) data[1] << 8) | data[0]);
destination[1] = (int16_t) (((int16_t) data[3] << 8) | data[2]); destination->y = (int16_t) (((int16_t) data[3] << 8) | data[2]);
destination[2] = (int16_t) (((int16_t) data[5] << 8) | data[4]); destination->z = (int16_t) (((int16_t) data[5] << 8) | data[4]);
destination->ts = (int16_t) (((int16_t) data[7] << 8) | data[6]);
return ret ? EM7180_BAD_COMM : EM7180_OK; return ret ? EM7180_BAD_COMM : EM7180_OK;
} }
em7180_status_t em7180_barodata_get(em7180_t *em7180, int16_t *destination) em7180_status_t em7180_barodata_get(em7180_t *em7180, em7180_baro_data_t *destination)
{ {
int32_t ret = 0; int32_t ret = 0;
uint8_t data[2]; uint8_t data[2];
ret |= em7180_read(EM7180_Baro, data, 2); ret |= em7180_read(EM7180_Baro, data, 4);
*destination = (((int16_t) data[1] << 8) | data[0]); destination->pressure = (((int16_t) data[1] << 8) | data[0]);
destination->ts = (int16_t) (((int16_t) data[3] << 8) | data[2]);
return ret ? EM7180_BAD_COMM : EM7180_OK; return ret ? EM7180_BAD_COMM : EM7180_OK;
} }
em7180_status_t em7180_tempdata_get(em7180_t *em7180, int16_t *destination) em7180_status_t em7180_tempdata_get(em7180_t *em7180, em7180_temp_data_t *destination)
{ {
int32_t ret = 0; int32_t ret = 0;
uint8_t data[2]; uint8_t data[2];
ret |= em7180_read(EM7180_Temp, data, 2); ret |= em7180_read(EM7180_Temp, data, 4);
*destination = (((int16_t) data[1] << 8) | data[0]); destination->val = (((int16_t) data[1] << 8) | data[0]);
destination->ts = (int16_t) (((int16_t) data[3] << 8) | data[2]);
return ret ? EM7180_BAD_COMM : EM7180_OK; return ret ? EM7180_BAD_COMM : EM7180_OK;
} }

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