dan
/
EM7180_STM32
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

provide data types for the sensor output and collect timestamps 

Also, what the heck is an 'interger'?
master
Daniel Peter Chokola 4 years ago
parent
0f15c2b604
commit
96ab0c63b5
2 changed files with 74 additions and 35 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 45
      Drivers/EM7180/Inc/em7180.h
  2. 64
      Drivers/EM7180/Src/em7180.c

45
Drivers/EM7180/Inc/em7180.h
Unescape View File

@ -45,6 +45,39 @@ typedef struct em7180_s @@ -45,6 +45,39 @@ typedef struct em7180_s
i2c_read_func_t i2c_read_func;
i2c_write_func_t i2c_write_func;
} 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 */
em7180_status_t em7180_init(em7180_t *em7180, em7180_init_t *init);
@ -55,11 +88,11 @@ em7180_status_t em7180_config(em7180_t *em7180); @@ -55,11 +88,11 @@ em7180_status_t em7180_config(em7180_t *em7180);
void em7180_reset(em7180_t *em7180);
void em7180_passthrough_enable(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_acceldata_get(em7180_t *em7180, int16_t *destination);
em7180_status_t em7180_gyrodata_get(em7180_t *em7180, int16_t *destination);
em7180_status_t em7180_magdata_get(em7180_t *em7180, int16_t *destination);
em7180_status_t em7180_barodata_get(em7180_t *em7180, int16_t *destination);
em7180_status_t em7180_tempdata_get(em7180_t *em7180, int16_t *destination);
em7180_status_t em7180_quatdata_get(em7180_t *em7180, em7180_quat_data_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, em7180_gyro_data_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, em7180_baro_data_t *destination);
em7180_status_t em7180_tempdata_get(em7180_t *em7180, em7180_temp_data_t *destination);
#endif /* EM7180_H_ */

64
Drivers/EM7180/Src/em7180.c
Unescape View File

@ -40,9 +40,9 @@ @@ -40,9 +40,9 @@
#define EM7180_GY 0x24 /* int16_t from registers 0x24-25 */
#define EM7180_GZ 0x26 /* int16_t from registers 0x26-27 */
#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_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_QRateDivisor 0x32 /* uint8_t */
#define EM7180_EnableEvents 0x33
@ -194,80 +194,86 @@ void em7180_passthrough_disable(em7180_t *em7180) @@ -194,80 +194,86 @@ void em7180_passthrough_disable(em7180_t *em7180)
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;
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 */
destination[0] = uint32_reg_to_float(&data[12]);
destination[1] = uint32_reg_to_float(&data[0]);
destination[2] = uint32_reg_to_float(&data[4]);
destination[3] = uint32_reg_to_float(&data[8]);
destination->w = uint32_reg_to_float(&data[12]);
destination->x = uint32_reg_to_float(&data[0]);
destination->y = uint32_reg_to_float(&data[4]);
destination->z = uint32_reg_to_float(&data[8]);
destination->ts = (((int16_t) data[17] << 8) | data[16]);
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;
uint8_t data[6];
ret |= em7180_read(EM7180_AX, data, 6);
destination[0] = (int16_t) (((int16_t) data[1] << 8) | data[0]);
destination[1] = (int16_t) (((int16_t) data[3] << 8) | data[2]);
destination[2] = (int16_t) (((int16_t) data[5] << 8) | data[4]);
ret |= em7180_read(EM7180_AX, data, 8);
destination->x = (int16_t) (((int16_t) data[1] << 8) | data[0]);
destination->y = (int16_t) (((int16_t) data[3] << 8) | data[2]);
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;
}
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;
uint8_t data[6];
ret |= em7180_read(EM7180_GX, data, 6);
destination[0] = (int16_t) (((int16_t) data[1] << 8) | data[0]);
destination[1] = (int16_t) (((int16_t) data[3] << 8) | data[2]);
destination[2] = (int16_t) (((int16_t) data[5] << 8) | data[4]);
ret |= em7180_read(EM7180_GX, data, 8);
destination->x = (int16_t) (((int16_t) data[1] << 8) | data[0]);
destination->y = (int16_t) (((int16_t) data[3] << 8) | data[2]);
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;
}
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;
uint8_t data[6];
ret |= em7180_read(EM7180_MX, data, 6);
destination[0] = (int16_t) (((int16_t) data[1] << 8) | data[0]);
destination[1] = (int16_t) (((int16_t) data[3] << 8) | data[2]);
destination[2] = (int16_t) (((int16_t) data[5] << 8) | data[4]);
ret |= em7180_read(EM7180_MX, data, 8);
destination->x = (int16_t) (((int16_t) data[1] << 8) | data[0]);
destination->y = (int16_t) (((int16_t) data[3] << 8) | data[2]);
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;
}
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;
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;
}
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;
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;
}

Write Preview
Loading…
Cancel
Save