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STM-ify I2C and get just enough communication working to configure the devices

master
Daniel Peter Chokola 4 years ago
parent
6f195cc05b
commit
c79ee256a8
9 changed files with 399 additions and 470 deletions
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  1. 18
      Drivers/EM7180/Inc/em7180.h
  2. 39
      Drivers/EM7180/Inc/em7180_common.h
  3. 5
      Drivers/EM7180/Inc/lis2mdl.h
  4. 4
      Drivers/EM7180/Inc/lps22hb.h
  5. 6
      Drivers/EM7180/Inc/lsm6dsm.h
  6. 492
      Drivers/EM7180/Src/em7180.c
  7. 93
      Drivers/EM7180/Src/lis2mdl.c
  8. 77
      Drivers/EM7180/Src/lps22hb.c
  9. 123
      Drivers/EM7180/Src/lsm6dsm.c

18
Drivers/EM7180/Inc/em7180.h
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@ -101,6 +101,8 @@ typedef struct em7180_s
{ {
I2C_HandleTypeDef *hi2c; I2C_HandleTypeDef *hi2c;
lsm6dsm_t *lsm6dsm; lsm6dsm_t *lsm6dsm;
lis2mdl_t *lis2mdl;
lps22hb_t *lps22hb;
uint16_t acc_fs; uint16_t acc_fs;
uint16_t gyro_fs; uint16_t gyro_fs;
uint16_t mag_fs; uint16_t mag_fs;
@ -112,13 +114,15 @@ typedef struct em7180_s
} em7180_t; } em7180_t;
/* Function Prototypes */ /* Function Prototypes */
void em7180_init(em7180_t *em7180, lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c1, void em7180_init(em7180_t *em7180, I2C_HandleTypeDef *hi2c, lsm6dsm_t *lsm6dsm,
uint16_t acc_fs, uint16_t gyro_fs, uint16_t mag_fs, lis2mdl_t *lis2mdl, lps22hb_t *lps22hb, uint16_t acc_fs,
uint8_t q_rate_div, uint8_t mag_rate, uint8_t acc_rate, uint16_t gyro_fs, uint16_t mag_fs, uint8_t q_rate_div,
uint8_t gyro_rate, uint8_t baro_rate); uint8_t mag_rate, uint8_t acc_rate, uint8_t gyro_rate,
uint8_t baro_rate);
void em7180_config(em7180_t *em7180); void em7180_config(em7180_t *em7180);
void em7180_gyro_set_fs(uint16_t gyro_fs); void em7180_gyro_set_fs(em7180_t *em7180, uint16_t gyro_fs);
void em7180_mag_acc_set_fs(uint16_t mag_fs, uint16_t acc_fs); void em7180_mag_acc_set_fs(em7180_t *em7180, uint16_t mag_fs, uint16_t acc_fs);
void em7180_set_integer_param(uint8_t param, uint32_t param_val); void em7180_set_integer_param(em7180_t *em7180, uint8_t param,
uint32_t param_val);
#endif /* EM7180_H_ */ #endif /* EM7180_H_ */

39
Drivers/EM7180/Inc/em7180_common.h
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@ -12,11 +12,42 @@
/* Includes */ /* Includes */
#include <stdint.h> #include <stdint.h>
#include "i2c.h"
/* Definitions */
#define return_if_fail(cond) \
if(!(cond)) \
{ \
return; \
}
#define return_val_if_fail(cond, val) \
if(!(cond)) \
{ \
return (val); \
}
/* Function Prototypes */ /* Function Prototypes */
void lsm6dsm_write_byte(uint8_t address, uint8_t subAddress, uint8_t data); inline __attribute__((always_inline)) HAL_StatusTypeDef i2c_write_byte(
uint8_t lsm6dsm_read_byte(uint8_t address, uint8_t subAddress); I2C_HandleTypeDef *hi2c, uint16_t addr, uint16_t sub_addr, uint8_t data)
void lsm6dsm_read(uint8_t address, uint8_t subAddress, uint8_t count, {
uint8_t *dest); return HAL_I2C_Mem_Write(hi2c, addr << 1, sub_addr, 1, &data, 1,
HAL_MAX_DELAY);
}
inline __attribute__((always_inline)) uint8_t i2c_read_byte(
I2C_HandleTypeDef *hi2c, uint16_t addr, uint16_t sub_addr)
{
uint8_t temp;
HAL_I2C_Mem_Read(hi2c, addr << 1, sub_addr, 1, &temp, 1, HAL_MAX_DELAY);
return temp;
}
inline __attribute__((always_inline)) HAL_StatusTypeDef i2c_read(
I2C_HandleTypeDef *hi2c, uint16_t addr, uint16_t sub_addr, uint8_t *data,
uint16_t len)
{
return HAL_I2C_Mem_Read(hi2c, addr << 1, sub_addr, 1, data, len,
HAL_MAX_DELAY);
}
#endif /* EM7180_COMMON_h */ #endif /* EM7180_COMMON_h */

5
Drivers/EM7180/Inc/lis2mdl.h
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@ -61,12 +61,11 @@
/* Data Structures */ /* Data Structures */
typedef struct lis2mdl_s typedef struct lis2mdl_s
{ {
I2C_HandleTypeDef *hi2c;
uint8_t m_odr; uint8_t m_odr;
} lis2mdl_t; } lis2mdl_t;
/* Function Prototypes */ /* Function Prototypes */
void lis2mdl_init(lis2mdl_t *lis2mdl, I2C_HandleTypeDef *hi2c, uint8_t m_odr); void lis2mdl_init(lis2mdl_t *lis2mdl, uint8_t m_odr);
void lis2mdl_config(lis2mdl_t *lis2mdl); void lis2mdl_config(lis2mdl_t *lis2mdl, I2C_HandleTypeDef *hi2c);
#endif #endif

4
Drivers/EM7180/Inc/lps22hb.h
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@ -65,7 +65,7 @@ typedef struct lps22hb_s
} lps22hb_t; } lps22hb_t;
/* Function Prototypes */ /* Function Prototypes */
void lps22hb_init(lps22hb_t *lps22hb, I2C_HandleTypeDef *hi2c, uint8_t p_odr); void lps22hb_init(lps22hb_t *lps22hb, uint8_t p_odr);
void lps22hb_config(lps22hb_t *lps22hb); void lps22hb_config(lps22hb_t *lps22hb, I2C_HandleTypeDef *hi2c);
#endif #endif

6
Drivers/EM7180/Inc/lsm6dsm.h
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@ -170,8 +170,8 @@ typedef struct lsm6dsm_s
} lsm6dsm_t; } lsm6dsm_t;
/* Function Prototypes */ /* Function Prototypes */
void lsm6dsm_init(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c, uint8_t ascale, void lsm6dsm_init(lsm6dsm_t *lsm6dsm, uint8_t ascale, uint8_t gscale,
uint8_t gscale, uint8_t a_odr, uint8_t g_odr); uint8_t a_odr, uint8_t g_odr);
void lsm6dsm_config(lsm6dsm_t *lsm6dsm); void lsm6dsm_config(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c);
#endif #endif

492
Drivers/EM7180/Src/em7180.c
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@ -25,31 +25,23 @@
/* Private Global Variables */ /* Private Global Variables */
/* Function Prototypes */ /* Function Prototypes */
static void em7180_float_to_bytes(float param_val, uint8_t *buf); static void em7180_passthrough(em7180_t *em7180);
static void m24512dfm_write_byte(uint8_t device_address, uint8_t data_address1, static float uint32_reg_to_float(uint8_t *buf);
uint8_t data_address2, uint8_t data); static void float_to_bytes(float param_val, uint8_t *buf);
static void m24512dfm_write(uint8_t device_address, uint8_t data_address1,
uint8_t data_address2, uint8_t count, uint8_t *dest);
static uint8_t m24512dfm_read_byte(uint8_t device_address,
uint8_t data_address1, uint8_t data_address2);
static void m24512dfm_read(uint8_t device_address, uint8_t data_address1,
uint8_t data_address2, uint8_t count, uint8_t *dest);
static uint8_t em7180_read_byte(uint8_t address, uint8_t subAddress);
static void em7180_read(uint8_t address, uint8_t subAddress, uint8_t count,
uint8_t *dest);
/* Function Definitions */ /* Function Definitions */
void em7180_init(em7180_t *em7180, lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c1, void em7180_init(em7180_t *em7180, I2C_HandleTypeDef *hi2c, lsm6dsm_t *lsm6dsm,
uint16_t acc_fs, uint16_t gyro_fs, uint16_t mag_fs, lis2mdl_t *lis2mdl, lps22hb_t *lps22hb, uint16_t acc_fs,
uint8_t q_rate_div, uint8_t mag_rate, uint8_t acc_rate, uint16_t gyro_fs, uint16_t mag_fs, uint8_t q_rate_div,
uint8_t gyro_rate, uint8_t baro_rate) uint8_t mag_rate, uint8_t acc_rate, uint8_t gyro_rate,
uint8_t baro_rate)
{ {
if(!em7180) return_if_fail(em7180);
{
return;
}
em7180->hi2c = hi2c;
em7180->lsm6dsm = lsm6dsm; em7180->lsm6dsm = lsm6dsm;
em7180->lis2mdl = lis2mdl;
em7180->lps22hb = lps22hb;
em7180->acc_fs = acc_fs; em7180->acc_fs = acc_fs;
em7180->gyro_fs = gyro_fs; em7180->gyro_fs = gyro_fs;
em7180->mag_fs = mag_fs; em7180->mag_fs = mag_fs;
@ -59,13 +51,27 @@ void em7180_init(em7180_t *em7180, lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c1,
em7180->gyro_rate = gyro_rate; em7180->gyro_rate = gyro_rate;
em7180->baro_rate = baro_rate; em7180->baro_rate = baro_rate;
/* configure the EM7180 */
em7180_config(em7180); em7180_config(em7180);
/* enter passthrough mode */
em7180_passthrough(em7180);
/* and configure the devices on the slave bus */
if(em7180->lsm6dsm)
{
lsm6dsm_config(em7180->lsm6dsm, em7180->hi2c);
}
if(em7180->lis2mdl)
{
lis2mdl_config(em7180->lis2mdl, em7180->hi2c);
}
if(em7180->lps22hb)
{
lps22hb_config(em7180->lps22hb, em7180->hi2c);
}
} }
void em7180_config(em7180_t *em7180) void em7180_config(em7180_t *em7180)
{ {
uint8_t param[4];
uint8_t param_xfer;
uint8_t runStatus; uint8_t runStatus;
uint8_t algoStatus; uint8_t algoStatus;
uint8_t passthruStatus; uint8_t passthruStatus;
@ -73,50 +79,54 @@ void em7180_config(em7180_t *em7180)
uint8_t sensorStatus; uint8_t sensorStatus;
// Enter EM7180 initialized state // Enter EM7180 initialized state
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_HostControl, 0x00); // set SENtral in initialized state to configure registers i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_HostControl, 0x00); // set SENtral in initialized state to configure registers
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_PassThruControl, 0x00); // make sure pass through mode is off i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_PassThruControl, 0x00); // make sure pass through mode is off
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_HostControl, 0x01); // Force initialize i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_HostControl, 0x01); // Force initialize
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_HostControl, 0x00); // set SENtral in initialized state to configure registers i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_HostControl, 0x00); // set SENtral in initialized state to configure registers
/* Legacy MPU6250 stuff, it seems /* Legacy MPU6250 stuff, it seems
// Setup LPF bandwidth (BEFORE setting ODR's) // Setup LPF bandwidth (BEFORE setting ODR's)
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ACC_LPF_BW, accBW); // accBW = 3 = 41Hz i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ACC_LPF_BW, accBW); // accBW = 3 = 41Hz
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_GYRO_LPF_BW, gyroBW); // gyroBW = 3 = 41Hz */ i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_GYRO_LPF_BW, gyroBW); // gyroBW = 3 = 41Hz */
// Set accel/gyro/mag desired ODR rates // Set accel/gyro/mag desired ODR rates
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_QRateDivisor, em7180->q_rate_div); // quat rate = gyroRt/(1 QRTDiv) i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_QRateDivisor,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_MagRate, em7180->mag_rate); // 0x64 = 100 Hz em7180->q_rate_div); // quat rate = gyroRt/(1 QRTDiv)
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AccelRate, em7180->acc_rate); // 200/10 Hz, 0x14 = 200 Hz i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_MagRate,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_GyroRate, em7180->gyro_rate); // 200/10 Hz, 0x14 = 200 Hz em7180->mag_rate); // 0x64 = 100 Hz
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_BaroRate, i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AccelRate,
em7180->acc_rate); // 200/10 Hz, 0x14 = 200 Hz
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_GyroRate,
em7180->gyro_rate); // 200/10 Hz, 0x14 = 200 Hz
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_BaroRate,
0x80 | em7180->baro_rate); // set enable bit and set Baro rate to 25 Hz, rate = baroRt/2, 0x32 = 25 Hz 0x80 | em7180->baro_rate); // set enable bit and set Baro rate to 25 Hz, rate = baroRt/2, 0x32 = 25 Hz
// Configure operating mode // Configure operating mode
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // read scale sensor data i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // read scale sensor data
// Enable interrupt to host upon certain events // Enable interrupt to host upon certain events
// choose host interrupts when any sensor updated (0x40), new gyro data (0x20), new accel data (0x10), // choose host interrupts when any sensor updated (0x40), new gyro data (0x20), new accel data (0x10),
// new mag data (0x08), quaternions updated (0x04), an error occurs (0x02), or the SENtral needs to be reset(0x01) // new mag data (0x08), quaternions updated (0x04), an error occurs (0x02), or the SENtral needs to be reset(0x01)
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_EnableEvents, 0x07); i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_EnableEvents, 0x07);
// Enable EM7180 run mode // Enable EM7180 run mode
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_HostControl, 0x01); // set SENtral in normal run mode i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_HostControl, 0x01); // set SENtral in normal run mode
HAL_Delay(100); HAL_Delay(100);
// EM7180 parameter adjustments // EM7180 parameter adjustments
/* Serial.println("Beginning Parameter Adjustments"); */ /* Serial.println("Beginning Parameter Adjustments"); */
// Disable stillness mode for balancing robot application // Disable stillness mode for balancing robot application
em7180_set_integer_param(0x49, 0x00); em7180_set_integer_param(em7180, 0x49, 0x00);
// Write desired sensor full scale ranges to the EM7180 // Write desired sensor full scale ranges to the EM7180
em7180_mag_acc_set_fs(em7180->mag_fs, em7180->acc_fs); // 1000 uT == 0x3E8, 8 g == 0x08 em7180_mag_acc_set_fs(em7180, em7180->mag_fs, em7180->acc_fs); // 1000 uT == 0x3E8, 8 g == 0x08
em7180_gyro_set_fs(em7180->gyro_fs); // 2000 dps == 0x7D0 em7180_gyro_set_fs(em7180, em7180->gyro_fs); // 2000 dps == 0x7D0
// Read EM7180 status // Read EM7180 status
runStatus = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RunStatus); runStatus = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_RunStatus);
if(runStatus & 0x01) if(runStatus & 0x01)
{ {
/* Serial.println(" EM7180 run status = normal mode"); */ /* Serial.println(" EM7180 run status = normal mode"); */
} }
algoStatus = lsm6dsm_read_byte(EM7180_ADDRESS, algoStatus = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_AlgorithmStatus); EM7180_AlgorithmStatus);
if(algoStatus & 0x01) if(algoStatus & 0x01)
{ {
@ -142,13 +152,14 @@ void em7180_config(em7180_t *em7180)
{ {
/* Serial.println(" EM7180 unreliable sensor data"); */ /* Serial.println(" EM7180 unreliable sensor data"); */
} }
passthruStatus = lsm6dsm_read_byte(EM7180_ADDRESS, passthruStatus = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_PassThruStatus); EM7180_PassThruStatus);
if(passthruStatus & 0x01) if(passthruStatus & 0x01)
{ {
/* Serial.print(" EM7180 in passthru mode!"); */ /* Serial.print(" EM7180 in passthru mode!"); */
} }
eventStatus = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_EventStatus); eventStatus = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_EventStatus);
if(eventStatus & 0x01) if(eventStatus & 0x01)
{ {
/* Serial.println(" EM7180 CPU reset"); */ /* Serial.println(" EM7180 CPU reset"); */
@ -177,7 +188,8 @@ void em7180_config(em7180_t *em7180)
HAL_Delay(1000); // give some time to read the screen HAL_Delay(1000); // give some time to read the screen
// Check sensor status // Check sensor status
sensorStatus = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SensorStatus); sensorStatus = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_SensorStatus);
/* Serial.print(" EM7180 sensor status = "); */ /* Serial.print(" EM7180 sensor status = "); */
/* Serial.println(sensorStatus); */ /* Serial.println(sensorStatus); */
if(sensorStatus & 0x01) if(sensorStatus & 0x01)
@ -206,47 +218,49 @@ void em7180_config(em7180_t *em7180)
} }
/* Serial.print("Actual MagRate = "); */ /* Serial.print("Actual MagRate = "); */
/* Serial.print(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualMagRate)); */ /* Serial.print(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ActualMagRate)); */
/* Serial.println(" Hz"); */ /* Serial.println(" Hz"); */
/* Serial.print("Actual AccelRate = "); */ /* Serial.print("Actual AccelRate = "); */
/* Serial.print(10 * lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualAccelRate)); */ /* Serial.print(10 * i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ActualAccelRate)); */
/* Serial.println(" Hz"); */ /* Serial.println(" Hz"); */
/* Serial.print("Actual GyroRate = "); */ /* Serial.print("Actual GyroRate = "); */
/* Serial.print(10 * lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualGyroRate)); */ /* Serial.print(10 * i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ActualGyroRate)); */
/* Serial.println(" Hz"); */ /* Serial.println(" Hz"); */
/* Serial.print("Actual BaroRate = "); */ /* Serial.print("Actual BaroRate = "); */
/* Serial.print(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualBaroRate)); */ /* Serial.print(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ActualBaroRate)); */
/* Serial.println(" Hz"); */ /* Serial.println(" Hz"); */
} }
void em7180_chip_id_get() #if(0)
void em7180_chip_id_get(em7180_t *em7180)
{ {
// Read SENtral device information // Read SENtral device information
uint16_t ROM1 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ROMVersion1); uint16_t ROM1 = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ROMVersion1);
uint16_t ROM2 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ROMVersion2); uint16_t ROM2 = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ROMVersion2);
/* Serial.print("EM7180 ROM Version: 0x"); */ /* Serial.print("EM7180 ROM Version: 0x"); */
/* Serial.print(ROM1, HEX); */ /* Serial.print(ROM1, HEX); */
/* Serial.println(ROM2, HEX); */ /* Serial.println(ROM2, HEX); */
/* Serial.println("Should be: 0xE609"); */ /* Serial.println("Should be: 0xE609"); */
uint16_t RAM1 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RAMVersion1); uint16_t RAM1 = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_RAMVersion1);
uint16_t RAM2 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RAMVersion2); uint16_t RAM2 = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_RAMVersion2);
/* Serial.print("EM7180 RAM Version: 0x"); */ /* Serial.print("EM7180 RAM Version: 0x"); */
/* Serial.print(RAM1); */ /* Serial.print(RAM1); */
/* Serial.println(RAM2); */ /* Serial.println(RAM2); */
uint8_t PID = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ProductID); uint8_t PID = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ProductID);
/* Serial.print("EM7180 ProductID: 0x"); */ /* Serial.print("EM7180 ProductID: 0x"); */
/* Serial.print(PID, HEX); */ /* Serial.print(PID, HEX); */
/* Serial.println(" Should be: 0x80"); */ /* Serial.println(" Should be: 0x80"); */
uint8_t RID = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RevisionID); uint8_t RID = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_RevisionID);
/* Serial.print("EM7180 RevisionID: 0x"); */ /* Serial.print("EM7180 RevisionID: 0x"); */
/* Serial.print(RID, HEX); */ /* Serial.print(RID, HEX); */
/* Serial.println(" Should be: 0x02"); */ /* Serial.println(" Should be: 0x02"); */
} }
#endif
void em7180_load_fw_from_eeprom() void em7180_load_fw_from_eeprom(em7180_t *em7180)
{ {
// Check which sensors can be detected by the EM7180 // Check which sensors can be detected by the EM7180
uint8_t featureflag = lsm6dsm_read_byte(EM7180_ADDRESS, uint8_t featureflag = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_FeatureFlags); EM7180_FeatureFlags);
if(featureflag & 0x01) if(featureflag & 0x01)
{ {
@ -276,52 +290,55 @@ void em7180_load_fw_from_eeprom()
HAL_Delay(1000); // give some time to read the screen HAL_Delay(1000); // give some time to read the screen
// Check SENtral status, make sure EEPROM upload of firmware was accomplished // Check SENtral status, make sure EEPROM upload of firmware was accomplished
uint8_t STAT = (lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) uint8_t STAT = (i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_SentralStatus)
& 0x01); & 0x01);
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x01)
{ {
/* Serial.println("EEPROM detected on the sensor bus!"); */ /* Serial.println("EEPROM detected on the sensor bus!"); */
} }
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x02)
{ {
/* Serial.println("EEPROM uploaded config file!"); */ /* Serial.println("EEPROM uploaded config file!"); */
} }
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x04)
{ {
/* Serial.println("EEPROM CRC incorrect!"); */ /* Serial.println("EEPROM CRC incorrect!"); */
} }
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x08)
{ {
/* Serial.println("EM7180 in initialized state!"); */ /* Serial.println("EM7180 in initialized state!"); */
} }
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x10)
{ {
/* Serial.println("No EEPROM detected!"); */ /* Serial.println("No EEPROM detected!"); */
} }
int count = 0; int count = 0;
while(!STAT) while(!STAT)
{ {
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ResetRequest, 0x01); i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ResetRequest, 0x01);
HAL_Delay(500); HAL_Delay(500);
count++; count++;
STAT = (lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01); STAT = (i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01) EM7180_SentralStatus)
& 0x01);
if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x01)
{ {
/* Serial.println("EEPROM detected on the sensor bus!"); */ /* Serial.println("EEPROM detected on the sensor bus!"); */
} }
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x02)
{ {
/* Serial.println("EEPROM uploaded config file!"); */ /* Serial.println("EEPROM uploaded config file!"); */
} }
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x04)
{ {
/* Serial.println("EEPROM CRC incorrect!"); */ /* Serial.println("EEPROM CRC incorrect!"); */
} }
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x08)
{ {
/* Serial.println("EM7180 in initialized state!"); */ /* Serial.println("EM7180 in initialized state!"); */
} }
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus) & 0x10)
{ {
/* Serial.println("No EEPROM detected!"); */ /* Serial.println("No EEPROM detected!"); */
} }
@ -331,117 +348,85 @@ void em7180_load_fw_from_eeprom()
} }
} }
if(!(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04)) if(!(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_SentralStatus)
& 0x04))
{ {
/* Serial.println("EEPROM upload successful!"); */ /* Serial.println("EEPROM upload successful!"); */
} }
} }
uint8_t em7180_status() uint8_t em7180_status(em7180_t *em7180)
{ {
// Check event status register, way to check data ready by polling rather than interrupt // Check event status register, way to check data ready by polling rather than interrupt
uint8_t c = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_EventStatus); // reading clears the register and interrupt uint8_t c = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_EventStatus); // reading clears the register and interrupt
return c;
}
uint8_t em7180_errors()
{
uint8_t c = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ErrorRegister); // check error register
return c; return c;
} }
float em7180_uint32_reg_to_float(uint8_t *buf) uint8_t em7180_errors(em7180_t *em7180)
{ {
union uint8_t c = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
{ EM7180_ErrorRegister); // check error register
uint32_t ui32;
float f;
} u;
u.ui32 = (((uint32_t) buf[0]) + (((uint32_t) buf[1]) << 8)
+ (((uint32_t) buf[2]) << 16) + (((uint32_t) buf[3]) << 24));
return u.f;
}
float em7180_int32_reg_to_float(uint8_t *buf) return c;
{
union
{
int32_t i32;
float f;
} u;
u.i32 = (((int32_t) buf[0]) + (((int32_t) buf[1]) << 8)
+ (((int32_t) buf[2]) << 16) + (((int32_t) buf[3]) << 24));
return u.f;
}
static void em7180_float_to_bytes(float param_val, uint8_t *buf)
{
union
{
float f;
uint8_t u8[sizeof(float)];
} u;
u.f = param_val;
for(uint8_t i = 0; i < sizeof(float); i++)
{
buf[i] = u.u8[i];
}
// Convert to LITTLE ENDIAN
/* FIXME: What the hell? */
for(uint8_t i = 0; i < sizeof(float); i++)
{
buf[i] = buf[(sizeof(float) - 1) - i];
}
} }
void em7180_gyro_set_fs(uint16_t gyro_fs) void em7180_gyro_set_fs(em7180_t *em7180, uint16_t gyro_fs)
{ {
uint8_t bytes[4], STAT; uint8_t bytes[4], STAT;
bytes[0] = gyro_fs & (0xFF); bytes[0] = gyro_fs & (0xFF);
bytes[1] = (gyro_fs >> 8) & (0xFF); bytes[1] = (gyro_fs >> 8) & (0xFF);
bytes[2] = 0x00; bytes[2] = 0x00;
bytes[3] = 0x00; bytes[3] = 0x00;
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); // Gyro LSB i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte0,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]); // Gyro MSB bytes[0]); // Gyro LSB
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]); // Unused i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte1,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); // Unused bytes[1]); // Gyro MSB
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0xCB); // Parameter 75; 0xCB is 75 decimal with the MSB set high to indicate a parameter write process i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte2,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer procedure bytes[2]); // Unused
STAT = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); // Check the parameter acknowledge register and loop until the result matches parameter request byte i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte3,
bytes[3]); // Unused
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamRequest, 0xCB); // Parameter 75; 0xCB is 75 decimal with the MSB set high to indicate a parameter write process
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer procedure
STAT = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamAcknowledge); // Check the parameter acknowledge register and loop until the result matches parameter request byte
while(!(STAT == 0xCB)) while(!(STAT == 0xCB))
{ {
STAT = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); STAT = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_ParamAcknowledge);
} }
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); // Parameter request = 0 to end parameter transfer process i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamRequest, 0x00); // Parameter request = 0 to end parameter transfer process
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
} }
void em7180_mag_acc_set_fs(uint16_t mag_fs, uint16_t acc_fs) void em7180_mag_acc_set_fs(em7180_t *em7180, uint16_t mag_fs, uint16_t acc_fs)
{ {
uint8_t bytes[4], STAT; uint8_t bytes[4], STAT;
bytes[0] = mag_fs & (0xFF); bytes[0] = mag_fs & (0xFF);
bytes[1] = (mag_fs >> 8) & (0xFF); bytes[1] = (mag_fs >> 8) & (0xFF);
bytes[2] = acc_fs & (0xFF); bytes[2] = acc_fs & (0xFF);
bytes[3] = (acc_fs >> 8) & (0xFF); bytes[3] = (acc_fs >> 8) & (0xFF);
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); // Mag LSB i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte0,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]); // Mag MSB bytes[0]); // Mag LSB
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]); // Acc LSB i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte1,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); // Acc MSB bytes[1]); // Mag MSB
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0xCA); // Parameter 74; 0xCA is 74 decimal with the MSB set high to indicate a paramter write processs i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte2,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer procedure bytes[2]); // Acc LSB
STAT = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); // Check the parameter acknowledge register and loop until the result matches parameter request byte i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte3,
bytes[3]); // Acc MSB
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamRequest, 0xCA); // Parameter 74; 0xCA is 74 decimal with the MSB set high to indicate a paramter write processs
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer procedure
STAT = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamAcknowledge); // Check the parameter acknowledge register and loop until the result matches parameter request byte
while(!(STAT == 0xCA)) while(!(STAT == 0xCA))
{ {
STAT = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); STAT = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_ParamAcknowledge);
} }
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); // Parameter request = 0 to end parameter transfer process i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamRequest, 0x00); // Parameter request = 0 to end parameter transfer process
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
} }
void em7180_set_integer_param(uint8_t param, uint32_t param_val) void em7180_set_integer_param(em7180_t *em7180, uint8_t param,
uint32_t param_val)
{ {
uint8_t bytes[4], STAT; uint8_t bytes[4], STAT;
bytes[0] = param_val & (0xFF); bytes[0] = param_val & (0xFF);
@ -449,77 +434,90 @@ void em7180_set_integer_param(uint8_t param, uint32_t param_val)
bytes[2] = (param_val >> 16) & (0xFF); bytes[2] = (param_val >> 16) & (0xFF);
bytes[3] = (param_val >> 24) & (0xFF); bytes[3] = (param_val >> 24) & (0xFF);
param = param | 0x80; // Parameter is the decimal value with the MSB set high to indicate a paramter write processs param = param | 0x80; // Parameter is the decimal value with the MSB set high to indicate a paramter write processs
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); // Param LSB i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte0,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]); bytes[0]); // Param LSB
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]); i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte1,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); // Param MSB bytes[1]);
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, param); i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte2,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer procedure bytes[2]);
STAT = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); // Check the parameter acknowledge register and loop until the result matches parameter request byte i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte3,
bytes[3]); // Param MSB
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamRequest, param);
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer procedure
STAT = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamAcknowledge); // Check the parameter acknowledge register and loop until the result matches parameter request byte
while(!(STAT == param)) while(!(STAT == param))
{ {
STAT = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); STAT = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_ParamAcknowledge);
} }
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); // Parameter request = 0 to end parameter transfer process i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamRequest, 0x00); // Parameter request = 0 to end parameter transfer process
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
} }
void em7180_param_set_float(uint8_t param, float param_val) void em7180_param_set_float(em7180_t *em7180, uint8_t param, float param_val)
{ {
uint8_t bytes[4], STAT; uint8_t bytes[4], STAT;
em7180_float_to_bytes(param_val, &bytes[0]); float_to_bytes(param_val, &bytes[0]);
param = param | 0x80; // Parameter is the decimal value with the MSB set high to indicate a paramter write processs param = param | 0x80; // Parameter is the decimal value with the MSB set high to indicate a paramter write processs
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte0, bytes[0]); // Param LSB i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte0,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte1, bytes[1]); bytes[0]); // Param LSB
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte2, bytes[2]); i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte1,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_LoadParamByte3, bytes[3]); // Param MSB bytes[1]);
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, param); i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte2,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer procedure bytes[2]);
STAT = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); // Check the parameter acknowledge register and loop until the result matches parameter request byte i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_LoadParamByte3,
bytes[3]); // Param MSB
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamRequest, param);
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer procedure
STAT = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamAcknowledge); // Check the parameter acknowledge register and loop until the result matches parameter request byte
while(!(STAT == param)) while(!(STAT == param))
{ {
STAT = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); STAT = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
EM7180_ParamAcknowledge);
} }
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); // Parameter request = 0 to end parameter transfer process i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_ParamRequest, 0x00); // Parameter request = 0 to end parameter transfer process
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // Re-start algorithm
} }
void em7180_quatdata_get(float *destination) void em7180_quatdata_get(em7180_t *em7180, float *destination)
{ {
uint8_t rawData[16]; // x/y/z quaternion register data stored here uint8_t data[16]; // x/y/z quaternion register data stored here
em7180_read(EM7180_ADDRESS, EM7180_QX, 16, &rawData[0]); // Read the sixteen raw data registers into data array
destination[1] = uint32_reg_to_float(&rawData[0]);
destination[2] = uint32_reg_to_float(&rawData[4]);
destination[3] = uint32_reg_to_float(&rawData[8]);
destination[0] = uint32_reg_to_float(&rawData[12]); // SENtral stores quats as qx, qy, qz, q0!
i2c_read(em7180->hi2c, EM7180_ADDRESS, EM7180_QX, data, 16); // Read the sixteen raw data registers into data array
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[0] = uint32_reg_to_float(&data[12]); // SENtral stores quats as qx, qy, qz, q0!
} }
void em7180_acceldata_get(int16_t *destination) void em7180_acceldata_get(em7180_t *em7180, int16_t *destination)
{ {
uint8_t rawData[6]; // x/y/z accel register data stored here uint8_t data[6]; // x/y/z accel register data stored here
em7180_read(EM7180_ADDRESS, EM7180_AX, 6, &rawData[0]); // Read the six raw data registers into data array
destination[0] = (int16_t) (((int16_t) rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value i2c_read(em7180->hi2c, EM7180_ADDRESS, EM7180_AX, data, 6); // Read the six raw data registers into data array
destination[1] = (int16_t) (((int16_t) rawData[3] << 8) | rawData[2]); destination[0] = (int16_t) (((int16_t) data[1] << 8) | data[0]); // Turn the MSB and LSB into a signed 16-bit value
destination[2] = (int16_t) (((int16_t) rawData[5] << 8) | rawData[4]); destination[1] = (int16_t) (((int16_t) data[3] << 8) | data[2]);
destination[2] = (int16_t) (((int16_t) data[5] << 8) | data[4]);
} }
void em7180_gyrodata_get(int16_t *destination) void em7180_gyrodata_get(em7180_t *em7180, int16_t *destination)
{ {
uint8_t rawData[6]; // x/y/z gyro register data stored here uint8_t data[6]; // x/y/z gyro register data stored here
em7180_read(EM7180_ADDRESS, EM7180_GX, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
destination[0] = (int16_t) (((int16_t) rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value i2c_read(em7180->hi2c, EM7180_ADDRESS, EM7180_GX, data, 6); // Read the six raw data registers sequentially into data array
destination[1] = (int16_t) (((int16_t) rawData[3] << 8) | rawData[2]); destination[0] = (int16_t) (((int16_t) data[1] << 8) | data[0]); // Turn the MSB and LSB into a signed 16-bit value
destination[2] = (int16_t) (((int16_t) rawData[5] << 8) | rawData[4]); destination[1] = (int16_t) (((int16_t) data[3] << 8) | data[2]);
destination[2] = (int16_t) (((int16_t) data[5] << 8) | data[4]);
} }
void em7180_magdata_get(int16_t *destination) void em7180_magdata_get(em7180_t *em7180, int16_t *destination)
{ {
uint8_t rawData[6]; // x/y/z gyro register data stored here uint8_t data[6]; // x/y/z mag register data stored here
em7180_read(EM7180_ADDRESS, EM7180_MX, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
destination[0] = (int16_t) (((int16_t) rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value i2c_read(em7180->hi2c, EM7180_ADDRESS, EM7180_MX, data, 6); // Read the six raw data registers sequentially into data array
destination[1] = (int16_t) (((int16_t) rawData[3] << 8) | rawData[2]); destination[0] = (int16_t) (((int16_t) data[1] << 8) | data[0]); // Turn the MSB and LSB into a signed 16-bit value
destination[2] = (int16_t) (((int16_t) rawData[5] << 8) | rawData[4]); destination[1] = (int16_t) (((int16_t) data[3] << 8) | data[2]);
destination[2] = (int16_t) (((int16_t) data[5] << 8) | data[4]);
} }
float em7180_mres_get(uint8_t Mscale) float em7180_mres_get(uint8_t Mscale)
@ -608,33 +606,39 @@ float em7180_ares_get(uint8_t ascale)
return a_res; return a_res;
} }
int16_t em7180_baro_get() int16_t em7180_baro_get(em7180_t *em7180)
{ {
uint8_t rawData[2]; // x/y/z gyro register data stored here uint8_t data[2]; // baro register data stored here
em7180_read(EM7180_ADDRESS, EM7180_Baro, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
return (int16_t) (((int16_t) rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value i2c_read(em7180->hi2c, EM7180_ADDRESS, EM7180_Baro, data, 2); // Read the two raw data registers sequentially into data array
return (((int16_t) data[1] << 8) | data[0]); // Turn the MSB and LSB into a signed 16-bit value
} }
int16_t em7180_temp_get() int16_t em7180_temp_get(em7180_t *em7180)
{ {
uint8_t rawData[2]; // x/y/z gyro register data stored here uint8_t data[2]; // temp register data stored here
em7180_read(EM7180_ADDRESS, EM7180_Temp, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
return (int16_t) (((int16_t) rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value i2c_read(em7180->hi2c, EM7180_ADDRESS, EM7180_Temp, data, 2); // Read the two raw data registers sequentially into data array
return (((int16_t) data[1] << 8) | data[0]); // Turn the MSB and LSB into a signed 16-bit value
} }
void em7180_passthrough() static void em7180_passthrough(em7180_t *em7180)
{ {
// First put SENtral in standby mode // First put SENtral in standby mode
uint8_t c = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_AlgorithmControl); uint8_t c = i2c_read_byte(em7180->hi2c, EM7180_ADDRESS,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, c | 0x01); EM7180_AlgorithmControl);
i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_AlgorithmControl,
c | 0x01);
// c = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus); // c = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus);
/* // Serial.print("c = "); Serial.println(c); */ /* // Serial.print("c = "); Serial.println(c); */
// Verify standby status // Verify standby status
// if(readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus) & 0x01) { // if(readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus) & 0x01) {
/* Serial.println("SENtral in standby mode"); */ /* Serial.println("SENtral in standby mode"); */
// Place SENtral in pass-through mode // Place SENtral in pass-through mode
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_PassThruControl, 0x01); i2c_write_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_PassThruControl, 0x01);
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_PassThruStatus) & 0x01) if(i2c_read_byte(em7180->hi2c, EM7180_ADDRESS, EM7180_PassThruStatus) & 0x01)
{ {
/* Serial.println("SENtral in pass-through mode"); */ /* Serial.println("SENtral in pass-through mode"); */
} }
@ -644,67 +648,37 @@ void em7180_passthrough()
} }
} }
// I2C communication with the M24512DFM EEPROM is a little different from I2C communication with the usual motion sensor static float uint32_reg_to_float(uint8_t *buf)
// since the address is defined by two bytes
static void m24512dfm_write_byte(uint8_t device_address, uint8_t data_address1,
uint8_t data_address2, uint8_t data)
{ {
uint8_t temp[2] = { data_address1, data_address2 }; union
/* Wire.transfer(device_address, &temp[0], 2, NULL, 0); */
/* Wire.transfer(device_address, &data, 1, NULL, 0); */
}
static void m24512dfm_write(uint8_t device_address, uint8_t data_address1,
uint8_t data_address2, uint8_t count, uint8_t *dest)
{
if(count > 128)
{ {
count = 128; uint32_t ui32;
/* Serial.print("Page count cannot be more than 128 bytes!"); */ float f;
} } u;
uint8_t temp[2] = { data_address1, data_address2 };
/* Wire.transfer(device_address, &temp[0], 2, NULL, 0); */
/* Wire.transfer(device_address, &dest[0], count, NULL, 0); */
}
static uint8_t m24512dfm_read_byte(uint8_t device_address,
uint8_t data_address1, uint8_t data_address2)
{
uint8_t data; // `data` will store the register data
/* Wire.beginTransmission(device_address); // Initialize the Tx buffer */
/* Wire.write(data_address1); // Put slave register address in Tx buffer */
/* Wire.write(data_address2); // Put slave register address in Tx buffer */
/* Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive */
/* Wire.requestFrom(device_address, 1); // Read one byte from slave register address */
/* data = Wire.read(); // Fill Rx buffer with result */
return data; // Return data read from slave register
}
static void m24512dfm_read(uint8_t device_address, uint8_t data_address1, u.ui32 = (((uint32_t) buf[0]) + (((uint32_t) buf[1]) << 8)
uint8_t data_address2, uint8_t count, uint8_t *dest) + (((uint32_t) buf[2]) << 16) + (((uint32_t) buf[3]) << 24));
{
uint8_t temp[2] = { data_address1, data_address2 };
/* Wire.transfer(device_address, &temp[0], 2, dest, count); */
}
// I2C read/write functions for the EM7180 return u.f;
void em7180_write_byte(uint8_t address, uint8_t subAddress, uint8_t data)
{
uint8_t temp[2];
temp[0] = subAddress;
temp[1] = data;
/* Wire.transfer(address, &temp[0], 2, NULL, 0); */
} }
static uint8_t em7180_read_byte(uint8_t address, uint8_t subAddress) static void float_to_bytes(float param_val, uint8_t *buf)
{ {
uint8_t temp[1]; union
/* Wire.transfer(address, &subAddress, 1, &temp[0], 1); */ {
return temp[0]; float f;
} uint8_t u8[sizeof(float)];
} u;
static void em7180_read(uint8_t address, uint8_t subAddress, uint8_t count, u.f = param_val;
uint8_t *dest) for(uint8_t i = 0; i < sizeof(float); i++)
{ {
/* Wire.transfer(address, &subAddress, 1, dest, count); */ buf[i] = u.u8[i];
}
// Convert to LITTLE ENDIAN
/* FIXME: What the hell? */
for(uint8_t i = 0; i < sizeof(float); i++)
{
buf[i] = buf[(sizeof(float) - 1) - i];
}
} }

93
Drivers/EM7180/Src/lis2mdl.c
Unescape View File

@ -22,83 +22,78 @@
/* Private Global Variables */ /* Private Global Variables */
/* Function Prototypes */ /* Function Prototypes */
static void lis2mdl_write_byte(uint8_t address, uint8_t subAddress,
uint8_t data);
static uint8_t lis2mdl_read_byte(uint8_t address, uint8_t subAddress);
static void lis2mdl_read(uint8_t address, uint8_t subAddress, uint8_t count,
uint8_t *dest);
/* Function Definitions */ /* Function Definitions */
void lis2mdl_init(lis2mdl_t *lis2mdl, I2C_HandleTypeDef *hi2c, uint8_t m_odr) void lis2mdl_init(lis2mdl_t *lis2mdl, uint8_t m_odr)
{ {
if(!lis2mdl) if(!lis2mdl)
{ {
return; return;
} }
lis2mdl->hi2c = hi2c;
lis2mdl->m_odr = m_odr; lis2mdl->m_odr = m_odr;
} }
void lis2mdl_config(lis2mdl_t *lis2mdl) void lis2mdl_config(lis2mdl_t *lis2mdl, I2C_HandleTypeDef *hi2c)
{ {
// enable temperature compensation (bit 7 == 1), continuous mode (bits 0:1 == 00) // enable temperature compensation (bit 7 == 1), continuous mode (bits 0:1 == 00)
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A,
0x80 | lis2mdl->m_odr << 2); 0x80 | lis2mdl->m_odr << 2);
// enable low pass filter (bit 0 == 1), set to ODR/4 // enable low pass filter (bit 0 == 1), set to ODR/4
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_B, 0x01); i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_B, 0x01);
// enable data ready on interrupt pin (bit 0 == 1), enable block data read (bit 4 == 1) // enable data ready on interrupt pin (bit 0 == 1), enable block data read (bit 4 == 1)
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, 0x01 | 0x10); i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, 0x01 | 0x10);
} }
uint8_t lis2mdl_chip_id_get() uint8_t lis2mdl_chip_id_get(I2C_HandleTypeDef *hi2c)
{ {
uint8_t c = lis2mdl_read_byte(LIS2MDL_ADDRESS, LIS2MDL_WHO_AM_I); uint8_t c = i2c_read_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_WHO_AM_I);
return c; return c;
} }
void lis2mdl_reset() void lis2mdl_reset(I2C_HandleTypeDef *hi2c)
{ {
// reset device // reset device
uint8_t temp = lis2mdl_read_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A); uint8_t temp = i2c_read_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A);
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x20); // Set bit 5 to 1 to reset LIS2MDL
i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x20); // Set bit 5 to 1 to reset LIS2MDL
HAL_Delay(1); HAL_Delay(1);
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x40); // Set bit 6 to 1 to boot LIS2MDL i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x40); // Set bit 6 to 1 to boot LIS2MDL
HAL_Delay(100); // Wait for all registers to reset HAL_Delay(100); // Wait for all registers to reset
} }
uint8_t lis2mdl_status() uint8_t lis2mdl_status(I2C_HandleTypeDef *hi2c)
{ {
// Read the status register of the altimeter // Read the status register of the altimeter
uint8_t temp = lis2mdl_read_byte(LIS2MDL_ADDRESS, LIS2MDL_STATUS_REG); uint8_t temp = i2c_read_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_STATUS_REG);
return temp; return temp;
} }
void lis2mdl_data_get(int16_t *destination) void lis2mdl_data_get(I2C_HandleTypeDef *hi2c, int16_t *destination)
{ {
uint8_t rawData[6]; // x/y/z mag register data stored here uint8_t data[6]; // x/y/z mag register data stored here
lis2mdl_read_bytes(LIS2MDL_ADDRESS, (0x80 | LIS2MDL_OUTX_L_REG), 8, i2c_read(hi2c, LIS2MDL_ADDRESS, (0x80 | LIS2MDL_OUTX_L_REG), data, 8); // Read the 6 raw data registers into data array
&rawData[0]); // Read the 6 raw data registers into data array
destination[0] = ((int16_t) rawData[1] << 8) | rawData[0]; // Turn the MSB and LSB into a signed 16-bit value destination[0] = ((int16_t) data[1] << 8) | data[0]; // Turn the MSB and LSB into a signed 16-bit value
destination[1] = ((int16_t) rawData[3] << 8) | rawData[2]; destination[1] = ((int16_t) data[3] << 8) | data[2];
destination[2] = ((int16_t) rawData[5] << 8) | rawData[4]; destination[2] = ((int16_t) data[5] << 8) | data[4];
} }
int16_t lis2mdl_temp_get() int16_t lis2mdl_temp_get()
{ {
uint8_t rawData[2]; // x/y/z mag register data stored here uint8_t data[2]; // x/y/z mag register data stored here
lis2mdl_read_bytes(LIS2MDL_ADDRESS, (0x80 | LIS2MDL_TEMP_OUT_L_REG), 2, lis2mdl_read_bytes(LIS2MDL_ADDRESS, (0x80 | LIS2MDL_TEMP_OUT_L_REG), 2,
&rawData[0]); // Read the 8 raw data registers into data array &data[0]); // Read the 8 raw data registers into data array
int16_t temp = ((int16_t) rawData[1] << 8) | rawData[0]; // Turn the MSB and LSB into a signed 16-bit value int16_t temp = ((int16_t) data[1] << 8) | data[0]; // Turn the MSB and LSB into a signed 16-bit value
return temp; return temp;
} }
void lis2mdl_offset_bias(float *dest1, float *dest2) void lis2mdl_offset_bias(I2C_HandleTypeDef *hi2c, float *dest1, float *dest2)
{ {
int32_t mag_bias[3] = { 0, 0, 0 }, mag_scale[3] = { 0, 0, 0 }; int32_t mag_bias[3] = { 0, 0, 0 }, mag_scale[3] = { 0, 0, 0 };
int16_t mag_max[3] = { -32767, -32767, -32767 }, mag_min[3] = int16_t mag_max[3] = { -32767, -32767, -32767 }, mag_min[3] =
@ -110,7 +105,7 @@ void lis2mdl_offset_bias(float *dest1, float *dest2)
for(int ii = 0; ii < 4000; ii++) for(int ii = 0; ii < 4000; ii++)
{ {
lis2mdl_data_get(mag_temp); lis2mdl_data_get(hi2c, mag_temp);
for(int jj = 0; jj < 3; jj++) for(int jj = 0; jj < 3; jj++)
{ {
if(mag_temp[jj] > mag_max[jj]) if(mag_temp[jj] > mag_max[jj])
@ -150,7 +145,7 @@ void lis2mdl_offset_bias(float *dest1, float *dest2)
/* Serial.println("Mag Calibration done!"); */ /* Serial.println("Mag Calibration done!"); */
} }
void lis2mdl_self_test() void lis2mdl_self_test(I2C_HandleTypeDef *hi2c)
{ {
int16_t temp[3] = { 0, 0, 0 }; int16_t temp[3] = { 0, 0, 0 };
float magTest[3] = { 0., 0., 0. }; float magTest[3] = { 0., 0., 0. };
@ -161,7 +156,7 @@ void lis2mdl_self_test()
// first, get average response with self test disabled // first, get average response with self test disabled
for(int ii = 0; ii < 50; ii++) for(int ii = 0; ii < 50; ii++)
{ {
lis2mdl_data_get(temp); lis2mdl_data_get(hi2c, temp);
sum[0] += temp[0]; sum[0] += temp[0];
sum[1] += temp[1]; sum[1] += temp[1];
sum[2] += temp[2]; sum[2] += temp[2];
@ -172,8 +167,8 @@ void lis2mdl_self_test()
magNom[1] = (float) sum[1] / 50.0f; magNom[1] = (float) sum[1] / 50.0f;
magNom[2] = (float) sum[2] / 50.0f; magNom[2] = (float) sum[2] / 50.0f;
uint8_t c = lis2mdl_read_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C); uint8_t c = i2c_read_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C);
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c | 0x02); // enable self test i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c | 0x02); // enable self test
HAL_Delay(100); // let mag respond HAL_Delay(100); // let mag respond
sum[0] = 0; sum[0] = 0;
@ -181,7 +176,7 @@ void lis2mdl_self_test()
sum[2] = 0; sum[2] = 0;
for(int ii = 0; ii < 50; ii++) for(int ii = 0; ii < 50; ii++)
{ {
lis2mdl_data_get(temp); lis2mdl_data_get(hi2c, temp);
sum[0] += temp[0]; sum[0] += temp[0];
sum[1] += temp[1]; sum[1] += temp[1];
sum[2] += temp[2]; sum[2] += temp[2];
@ -192,7 +187,7 @@ void lis2mdl_self_test()
magTest[1] = (float) sum[1] / 50.0f; magTest[1] = (float) sum[1] / 50.0f;
magTest[2] = (float) sum[2] / 50.0f; magTest[2] = (float) sum[2] / 50.0f;
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c); // return to previous settings/normal mode i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c); // return to previous settings/normal mode
HAL_Delay(100); // let mag respond HAL_Delay(100); // let mag respond
/* Serial.println("Mag Self Test:"); */ /* Serial.println("Mag Self Test:"); */
@ -206,27 +201,3 @@ void lis2mdl_self_test()
/* Serial.println("Should be between 15 and 500 mG"); */ /* Serial.println("Should be between 15 and 500 mG"); */
HAL_Delay(2000); // give some time to read the screen HAL_Delay(2000); // give some time to read the screen
} }
// I2C read/write functions for the LIS2MDL
static void lis2mdl_write_byte(uint8_t address, uint8_t subAddress,
uint8_t data)
{
uint8_t temp[2];
temp[0] = subAddress;
temp[1] = data;
/* Wire.transfer(address, &temp[0], 2, NULL, 0); */
}
static uint8_t lis2mdl_read_byte(uint8_t address, uint8_t subAddress)
{
uint8_t temp[1];
/* Wire.transfer(address, &subAddress, 1, &temp[0], 1); */
return temp[0];
}
static void lis2mdl_read(uint8_t address, uint8_t subAddress, uint8_t count,
uint8_t *dest)
{
/* Wire.transfer(address, &subAddress, 1, dest, count); */
}

77
Drivers/EM7180/Src/lps22hb.c
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@ -22,91 +22,56 @@
/* Private Global Variables */ /* Private Global Variables */
/* Function Prototypes */ /* Function Prototypes */
static void lps22hb_write_byte(uint8_t address, uint8_t subAddress,
uint8_t data);
static uint8_t lps22hb_read_byte(uint8_t address, uint8_t subAddress);
static void lps22hb_read(uint8_t address, uint8_t subAddress, uint8_t count,
uint8_t *dest);
/* Function Definitions */ /* Function Definitions */
void lps22hb_init(lps22hb_t *lps22hb, I2C_HandleTypeDef *hi2c, uint8_t p_odr) void lps22hb_init(lps22hb_t *lps22hb, uint8_t p_odr)
{ {
lps22hb->hi2c = hi2c; return_if_fail(lps22hb);
lps22hb->p_odr = p_odr; lps22hb->p_odr = p_odr;
} }
void lps22hb_config(lps22hb_t *lps22hb) void lps22hb_config(lps22hb_t *lps22hb, I2C_HandleTypeDef *hi2c)
{ {
// set sample rate by setting bits 6:4 // set sample rate by setting bits 6:4
// enable low-pass filter by setting bit 3 to one // enable low-pass filter by setting bit 3 to one
// bit 2 == 0 means bandwidth is odr/9, bit 2 == 1 means bandwidth is odr/20 // bit 2 == 0 means bandwidth is odr/9, bit 2 == 1 means bandwidth is odr/20
// make sure data not updated during read by setting block data udate (bit 1) to 1 // make sure data not updated during read by setting block data udate (bit 1) to 1
lps22hb_write_byte(LPS22H_ADDRESS, LPS22H_CTRL_REG1, i2c_write_byte(hi2c, LPS22H_ADDRESS, LPS22H_CTRL_REG1,
lps22hb->p_odr << 4 | 0x08 | 0x02); lps22hb->p_odr << 4 | 0x08 | 0x02);
lps22hb_write_byte(LPS22H_ADDRESS, LPS22H_CTRL_REG3, 0x04); // enable data ready as interrupt source i2c_write_byte(hi2c, LPS22H_ADDRESS, LPS22H_CTRL_REG3, 0x04); // enable data ready as interrupt source
} }
uint8_t lps22hb_chip_id_get() uint8_t lps22hb_chip_id_get(I2C_HandleTypeDef *hi2c)
{ {
// Read the WHO_AM_I register of the altimeter this is a good test of communication // Read the WHO_AM_I register of the altimeter this is a good test of communication
uint8_t temp = lps22hb_read_byte(LPS22H_ADDRESS, LPS22H_WHOAMI); // Read WHO_AM_I register for LPS22H uint8_t temp = i2c_read_byte(hi2c, LPS22H_ADDRESS, LPS22H_WHOAMI); // Read WHO_AM_I register for LPS22H
return temp; return temp;
} }
uint8_t lps22hb_status() uint8_t lps22hb_status(I2C_HandleTypeDef *hi2c)
{ {
// Read the status register of the altimeter // Read the status register of the altimeter
uint8_t temp = lps22hb_read_byte(LPS22H_ADDRESS, LPS22H_STATUS); uint8_t temp = i2c_read_byte(hi2c, LPS22H_ADDRESS, LPS22H_STATUS);
return temp; return temp;
} }
int32_t lps22hb_pressure_get() int32_t lps22hb_pressure_get(I2C_HandleTypeDef *hi2c)
{ {
uint8_t rawData[3]; // 24-bit pressure register data stored here uint8_t data[3]; // 24-bit pressure register data stored here
lps22hb_read(LPS22H_ADDRESS, (LPS22H_PRESS_OUT_XL | 0x80), 3, &rawData[0]); // bit 7 must be one to read multiple bytes
return (int32_t) ((int32_t) rawData[2] << 16 | (int32_t) rawData[1] << 8
| rawData[0]);
}
int16_t lps22hb_temp_get() i2c_read(hi2c, LPS22H_ADDRESS, (LPS22H_PRESS_OUT_XL | 0x80), data, 3); // bit 7 must be one to read multiple bytes
{
uint8_t rawData[2]; // 16-bit pressure register data stored here
lps22hb_read(LPS22H_ADDRESS, (LPS22H_TEMP_OUT_L | 0x80), 2, &rawData[0]); // bit 7 must be one to read multiple bytes
return (int16_t) ((int16_t) rawData[1] << 8 | rawData[0]);
}
static void lps22hb_write_byte(uint8_t address, uint8_t subAddress, return ((int32_t) data[2] << 16 | (int32_t) data[1] << 8 | data[0]);
uint8_t data)
{
/* Wire.beginTransmission(address); // Initialize the Tx buffer */
/* Wire.write(subAddress); // Put slave register address in Tx buffer */
/* Wire.write(data); // Put data in Tx buffer */
/* Wire.endTransmission(); // Send the Tx buffer */
} }
static uint8_t lps22hb_read_byte(uint8_t address, uint8_t subAddress) int16_t lps22hb_temp_get(I2C_HandleTypeDef *hi2c)
{ {
uint8_t data; // `data` will store the register data uint8_t data[2]; // 16-bit pressure register data stored here
/* Wire.beginTransmission(address); // Initialize the Tx buffer */
/* Wire.write(subAddress); // Put slave register address in Tx buffer */
/* Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive */
/* Wire.requestFrom(address, (size_t) 1); // Read one uint8_t from slave register address */
/* data = Wire.read(); // Fill Rx buffer with result */
return data; // Return data lps22hb_read from slave register
}
static void lps22hb_read(uint8_t address, uint8_t subAddress, uint8_t count, i2c_read(hi2c, LPS22H_ADDRESS, (LPS22H_TEMP_OUT_L | 0x80), data, 2); // bit 7 must be one to read multiple bytes
uint8_t *dest)
{ return ((int16_t) data[1] << 8 | data[0]);
/* Wire.beginTransmission(address); // Initialize the Tx buffer */
/* Wire.write(subAddress); // Put slave register address in Tx buffer */
/* Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive */
uint8_t i = 0;
/* Wire.requestFrom(address, (size_t) count); // Read bytes from slave register address */
/*
while(Wire.available())
{
dest[i++] = Wire.lps22hb_read();
} // Put lps22hb_read results in the Rx buffer
*/
} }

123
Drivers/EM7180/Src/lsm6dsm.c
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@ -23,49 +23,48 @@
/* Private Global Variables */ /* Private Global Variables */
/* Function Prototypes */ /* Function Prototypes */
static void lsm6dsm_read_data(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c,
int16_t *destination);
/* Function Definitions */ /* Function Definitions */
void lsm6dsm_init(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c, uint8_t ascale, void lsm6dsm_init(lsm6dsm_t *lsm6dsm, uint8_t ascale, uint8_t gscale,
uint8_t gscale, uint8_t a_odr, uint8_t g_odr) uint8_t a_odr, uint8_t g_odr)
{ {
if(!lsm6dsm) return_if_fail(lsm6dsm);
{
return;
}
lsm6dsm->hi2c = hi2c;
lsm6dsm->ascale = ascale; lsm6dsm->ascale = ascale;
lsm6dsm->gscale = gscale; lsm6dsm->gscale = gscale;
lsm6dsm->a_odr = a_odr; lsm6dsm->a_odr = a_odr;
lsm6dsm->g_odr = g_odr; lsm6dsm->g_odr = g_odr;
} }
void lsm6dsm_config(lsm6dsm_t *lsm6dsm) void lsm6dsm_config(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c)
{ {
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL1_XL, i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL1_XL,
lsm6dsm->a_odr << 4 | lsm6dsm->ascale << 2); lsm6dsm->a_odr << 4 | lsm6dsm->ascale << 2);
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL2_G, i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL2_G,
lsm6dsm->g_odr << 4 | lsm6dsm->gscale << 2); lsm6dsm->g_odr << 4 | lsm6dsm->gscale << 2);
uint8_t temp = lsm6dsm_read_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C); uint8_t temp = i2c_read_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C);
// enable block update (bit 6 = 1), auto-increment registers (bit 2 = 1) // enable block update (bit 6 = 1), auto-increment registers (bit 2 = 1)
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C, temp | 0x40 | 0x04); i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C, temp | 0x40 | 0x04);
// by default, interrupts active HIGH, push pull, little endian data // by default, interrupts active HIGH, push pull, little endian data
// (can be changed by writing to bits 5, 4, and 1, resp to above register) // (can be changed by writing to bits 5, 4, and 1, resp to above register)
// enable accel LP2 (bit 7 = 1), set LP2 tp ODR/9 (bit 6 = 1), enable input_composite (bit 3) for low noise // enable accel LP2 (bit 7 = 1), set LP2 tp ODR/9 (bit 6 = 1), enable input_composite (bit 3) for low noise
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL8_XL, 0x80 | 0x40 | 0x08); i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL8_XL, 0x80 | 0x40 | 0x08);
// interrupt handling // interrupt handling
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_DRDY_PULSE_CFG, 0x80); // latch interrupt until data read i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_DRDY_PULSE_CFG, 0x80); // latch interrupt until data read
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_INT1_CTRL, 0x40); // enable significant motion interrupts on INT1 i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_INT1_CTRL, 0x40); // enable significant motion interrupts on INT1
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_INT2_CTRL, 0x03); // enable accel/gyro data ready interrupts on INT2 i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_INT2_CTRL, 0x03); // enable accel/gyro data ready interrupts on INT2
} }
uint8_t lsm6dsm_chip_id_get() uint8_t lsm6dsm_chip_id_get(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c)
{ {
uint8_t c = lsm6dsm_read_byte(LSM6DSM_ADDRESS, LSM6DSM_WHO_AM_I); uint8_t c = i2c_read_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_WHO_AM_I);
return c; return c;
} }
@ -126,22 +125,26 @@ float lsm6dsm_gres_get(lsm6dsm_t *lsm6dsm)
return g_res; return g_res;
} }
void lsm6dsm_reset() void lsm6dsm_reset(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c)
{ {
// reset device // reset device
uint8_t temp = lsm6dsm_read_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C); uint8_t temp = i2c_read_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C);
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C, temp | 0x01); // Set bit 0 to 1 to reset LSM6DSM
i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C, temp | 0x01); // Set bit 0 to 1 to reset LSM6DSM
HAL_Delay(100); // Wait for all registers to reset HAL_Delay(100); // Wait for all registers to reset
} }
void lsm6dsm_selfTest() void lsm6dsm_self_test(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c)
{ {
int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 }; int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 };
int16_t accelPTest[3] = { 0, 0, 0 }, accelNTest[3] = { 0, 0, 0 }, int16_t accelPTest[3] = { 0, 0, 0 };
gyroPTest[3] = { 0, 0, 0 }, gyroNTest[3] = { 0, 0, 0 }; int16_t accelNTest[3] = { 0, 0, 0 };
int16_t accelNom[3] = { 0, 0, 0 }, gyroNom[3] = { 0, 0, 0 }; int16_t gyroPTest[3] = { 0, 0, 0 };
int16_t gyroNTest[3] = { 0, 0, 0 };
lsm6dsm_read_data(temp); int16_t accelNom[3] = { 0, 0, 0 };
int16_t gyroNom[3] = { 0, 0, 0 };
lsm6dsm_read_data(lsm6dsm, hi2c, temp);
accelNom[0] = temp[4]; accelNom[0] = temp[4];
accelNom[1] = temp[5]; accelNom[1] = temp[5];
accelNom[2] = temp[6]; accelNom[2] = temp[6];
@ -149,35 +152,35 @@ void lsm6dsm_selfTest()
gyroNom[1] = temp[2]; gyroNom[1] = temp[2];
gyroNom[2] = temp[3]; gyroNom[2] = temp[3];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x01); // positive accel self test i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x01); // positive accel self test
HAL_Delay(100); // let accel respond HAL_Delay(100); // let accel respond
lsm6dsm_read_data(temp); lsm6dsm_read_data(lsm6dsm, hi2c, temp);
accelPTest[0] = temp[4]; accelPTest[0] = temp[4];
accelPTest[1] = temp[5]; accelPTest[1] = temp[5];
accelPTest[2] = temp[6]; accelPTest[2] = temp[6];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x03); // negative accel self test i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x03); // negative accel self test
HAL_Delay(100); // let accel respond HAL_Delay(100); // let accel respond
lsm6dsm_read_data(temp); lsm6dsm_read_data(lsm6dsm, hi2c, temp);
accelNTest[0] = temp[4]; accelNTest[0] = temp[4];
accelNTest[1] = temp[5]; accelNTest[1] = temp[5];
accelNTest[2] = temp[6]; accelNTest[2] = temp[6];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x04); // positive gyro self test i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x04); // positive gyro self test
HAL_Delay(100); // let gyro respond HAL_Delay(100); // let gyro respond
lsm6dsm_read_data(temp); lsm6dsm_read_data(lsm6dsm, hi2c, temp);
gyroPTest[0] = temp[1]; gyroPTest[0] = temp[1];
gyroPTest[1] = temp[2]; gyroPTest[1] = temp[2];
gyroPTest[2] = temp[3]; gyroPTest[2] = temp[3];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x0C); // negative gyro self test i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x0C); // negative gyro self test
HAL_Delay(100); // let gyro respond HAL_Delay(100); // let gyro respond
lsm6dsm_read_data(temp); lsm6dsm_read_data(lsm6dsm, hi2c, temp);
gyroNTest[0] = temp[1]; gyroNTest[0] = temp[1];
gyroNTest[1] = temp[2]; gyroNTest[1] = temp[2];
gyroNTest[2] = temp[3]; gyroNTest[2] = temp[3];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x00); // normal mode i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x00); // normal mode
HAL_Delay(100); // let accel and gyro respond HAL_Delay(100); // let accel and gyro respond
/* Serial.println("Accel Self Test:"); */ /* Serial.println("Accel Self Test:"); */
@ -215,7 +218,8 @@ void lsm6dsm_selfTest()
} }
void lsm6dsm_offset_bias(lsm6dsm_t *lsm6dsm, float *dest1, float *dest2) void lsm6dsm_offset_bias(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c,
float *dest1, float *dest2)
{ {
int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 }; int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 };
int32_t sum[7] = { 0, 0, 0, 0, 0, 0, 0 }; int32_t sum[7] = { 0, 0, 0, 0, 0, 0, 0 };
@ -227,7 +231,7 @@ void lsm6dsm_offset_bias(lsm6dsm_t *lsm6dsm, float *dest1, float *dest2)
for(int ii = 0; ii < 128; ii++) for(int ii = 0; ii < 128; ii++)
{ {
lsm6dsm_read_data(temp); lsm6dsm_read_data(lsm6dsm, hi2c, temp);
sum[1] += temp[1]; sum[1] += temp[1];
sum[2] += temp[2]; sum[2] += temp[2];
sum[3] += temp[3]; sum[3] += temp[3];
@ -271,36 +275,17 @@ void lsm6dsm_offset_bias(lsm6dsm_t *lsm6dsm, float *dest1, float *dest2)
} }
void lsm6dsm_read_data(int16_t *destination) static void lsm6dsm_read_data(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c,
{ int16_t *destination)
uint8_t rawdata[14]; // x/y/z accel register data stored here
lsm6dsm_read(LSM6DSM_ADDRESS, LSM6DSM_OUT_TEMP_L, 14, &rawdata[0]); // Read the 14 raw data registers into data array
destination[0] = ((int16_t) rawdata[1] << 8) | rawdata[0]; // Turn the MSB and LSB into a signed 16-bit value
destination[1] = ((int16_t) rawdata[3] << 8) | rawdata[2];
destination[2] = ((int16_t) rawdata[5] << 8) | rawdata[4];
destination[3] = ((int16_t) rawdata[7] << 8) | rawdata[6];
destination[4] = ((int16_t) rawdata[9] << 8) | rawdata[8];
destination[5] = ((int16_t) rawdata[11] << 8) | rawdata[10];
destination[6] = ((int16_t) rawdata[13] << 8) | rawdata[12];
}
// I2C read/write functions for the LSM6DSM
void lsm6dsm_write_byte(uint8_t addr, uint8_t sub_addr, uint8_t data)
{
uint8_t temp[2];
temp[0] = sub_addr;
temp[1] = data;
/* Wire.transfer(addr, &temp[0], 2, NULL, 0); */
}
uint8_t lsm6dsm_read_byte(uint8_t addr, uint8_t sub_addr)
{
uint8_t temp[1];
/* Wire.transfer(addr, &sub_addr, 1, &temp[0], 1); */
return temp[0];
}
void lsm6dsm_read(uint8_t addr, uint8_t sub_addr, uint8_t count, uint8_t *dest)
{ {
/* Wire.transfer(addr, &sub_addr, 1, dest, count); */ uint8_t data[14]; // x/y/z accel register data stored here
i2c_read(hi2c, LSM6DSM_ADDRESS, LSM6DSM_OUT_TEMP_L, data, 14); // Read the 14 raw data registers into data array
destination[0] = ((int16_t) data[1] << 8) | data[0]; // Turn the MSB and LSB into a signed 16-bit value
destination[1] = ((int16_t) data[3] << 8) | data[2];
destination[2] = ((int16_t) data[5] << 8) | data[4];
destination[3] = ((int16_t) data[7] << 8) | data[6];
destination[4] = ((int16_t) data[9] << 8) | data[8];
destination[5] = ((int16_t) data[11] << 8) | data[10];
destination[6] = ((int16_t) data[13] << 8) | data[12];
} }

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