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/*
Pretty LAYer for ChibiOS/RT - Copyright (C) 2014 Rocco Marco Guglielmi
This file is part of PLAY for ChibiOS/RT.
PLAY is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
PLAY is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Special thanks to Giovanni Di Sirio for teachings, his moral support and
friendship. Note that some or every piece of this file could be part of
the ChibiOS project that is intellectual property of Giovanni Di Sirio.
Please refer to ChibiOS/RT license before use this file.
*/
/**
* @file lis3mdl.c
* @brief LIS3MDL MEMS interface module through I2C code.
*
* @addtogroup lis3mdl
* @{
*/
#include "ch.h"
#include "hal.h"
#include "play.h"
#include "lis3mdl.h"
#if (COMP_USE_LIS3MDL) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Reads a generic sub-register value.
* @pre The I2C interface must be initialized and the driver started.
*
* @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit
* @param[in] sub sub-register address
* @param[in] message pointer to message
* @return register value.
*/
uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
msg_t* message) {
uint8_t txbuf, rxbuf[2];
#if defined(STM32F103_MCUCONF)
txbuf = LSM303DLHC_SUB_MSB | sub;
if(message != NULL){
*message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
TIME_INFINITE);
}
else{
i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE);
}
return rxbuf[0];
#else
txbuf = sub;
if(message != NULL){
*message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1,
TIME_INFINITE);
}
else{
i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE);
}
return rxbuf[0];
#endif
}
/**
* @brief Writes a value into a register.
* @pre The I2C interface must be initialized and the driver started.
*
* @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit
* @param[in] sub sub-register address
* @param[in] value the value to be written
* @param[out] message pointer to message
*/
void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
uint8_t value, msg_t* message) {
uint8_t txbuf[2];
uint8_t rxbuf;
switch (sub) {
default:
/* Reserved register must not be written, according to the datasheet
* this could permanently damage the device.
*/
chDbgAssert(FALSE, "lis3mdlWriteRegister(), #1", "reserved register");
case LIS3MDL_SUB_WHO_AM_I:
case LIS3MDL_SUB_STATUS_REG:
case LIS3MDL_SUB_OUT_X_L:
case LIS3MDL_SUB_OUT_X_H:
case LIS3MDL_SUB_OUT_Y_L:
case LIS3MDL_SUB_OUT_Y_H:
case LIS3MDL_SUB_OUT_Z_L:
case LIS3MDL_SUB_OUT_Z_H:
case LIS3MDL_SUB_INT_SOURCE:
case LIS3MDL_SUB_INT_THS_L:
case LIS3MDL_SUB_INT_THS_H:
/* Read only registers cannot be written, the command is ignored.*/
return;
case LIS3MDL_SUB_CTRL_REG1:
case LIS3MDL_SUB_CTRL_REG2:
case LIS3MDL_SUB_CTRL_REG3:
case LIS3MDL_SUB_CTRL_REG4:
case LIS3MDL_SUB_CTRL_REG5:
case LIS3MDL_SUB_INT_CFG:
txbuf[0] = sub;
txbuf[1] = value;
if(message != NULL){
*message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0,
TIME_INFINITE);
}
else{
i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
}
break;
}
}
#endif /* COMP_USE_LIS3MDL */
/** @} */
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