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drivers/lis3mdl: update to new parameters scheme

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This commit is contained in:
Alexandre Abadie 2017-11-07 15:02:14 +01:00
parent d15c7559f3
commit b39a3d79ef
5 changed files with 155 additions and 55 deletions
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5
drivers/Makefile.dep
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@ -301,3 +301,8 @@ ifneq (,$(filter xbee,$(USEMODULE)))
USEMODULE += xtimer
USEMODULE += netif
endif
ifneq (,$(filter lis3mdl,$(USEMODULE)))
FEATURES_REQUIRED += periph_i2c
USEMODULE += xtimer
endif

3
drivers/Makefile.include
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@ -151,3 +151,6 @@ endif
ifneq (,$(filter hts221,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/hts221/include
endif
ifneq (,$(filter lis3mdl,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/lis3mdl/include
endif

42
drivers/include/lis3mdl.h
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@ -38,14 +38,6 @@ typedef struct {
int16_t z_axis; /**< Magnometer data from z_axis */
} lis3mdl_3d_data_t;
/**
* @brief Device descriptor for LIS3MDL sensor
*/
typedef struct {
i2c_t i2c; /**< I2C device */
uint8_t addr; /**< Magnometer I2C address */
} lis3mdl_t;
/**
* @brief Operating mode of x- and y-axis for LIS3MDL
*/
@ -98,25 +90,37 @@ typedef enum {
LIS3MDL_OP_PDOWN = 0x11, /**< Power-down mode */
} lis3mdl_op_t;
/**
* @brief Device initialization parameters
*/
typedef struct {
i2c_t i2c; /**< I2C device */
uint8_t addr; /**< Magnometer I2C address */
lis3mdl_xy_mode_t xy_mode; /**< Power mode of x- and y-axis */
lis3mdl_z_mode_t z_mode; /**< Power mode of z-axis */
lis3mdl_odr_t odr; /**< Output data rate */
lis3mdl_scale_t scale; /**< Scale factor */
lis3mdl_op_t op_mode; /**< Operation mode */
} lis3mdl_params_t;
/**
* @brief Device descriptor for LIS3MDL sensor
*/
typedef struct {
lis3mdl_params_t params; /**< Initialization parameters */
} lis3mdl_t;
/**
* @brief Initialize a new LIS3DML device.
*
* @param[in] dev device descriptor of LIS3MDL
* @param[in] i2c I2C device connected to
* @param[in] address I2C address of the magnometer
* @param[in] xy_mode power mode of x- and y-axis
* @param[in] z_mode power mode of z-axis
* @param[in] odr output data rate of magnometer
* @param[in] scale scale configuration of magnometer
* @param[in] op_mode operation mode of the device
* @param[in] params initialization parameters
*
* @return 0 on success
* @return -1 on error
*/
int lis3mdl_init(lis3mdl_t *dev, i2c_t i2c, uint8_t address,
lis3mdl_xy_mode_t xy_mode, lis3mdl_z_mode_t z_mode,
lis3mdl_odr_t odr, lis3mdl_scale_t scale,
lis3mdl_op_t op_mode);
int lis3mdl_init(lis3mdl_t *dev, const lis3mdl_params_t *params);
/**
* @brief Reads the magnometer value of LIS3MDL.

91
drivers/lis3mdl/include/lis3mdl_params.h Normal file
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@ -0,0 +1,91 @@
/*
* Copyright (C) 2017 Inria
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup drivers_lis3mdl
*
* @{
* @file
* @brief Default configuration for LIS3MDL devices
*
* @author Alexandre Abadie <alexandre.abadie@inria.fr>
*/
#ifndef LIS3MDL_PARAMS_H
#define LIS3MDL_PARAMS_H
#include "board.h"
#include "lis3mdl.h"
#include "saul_reg.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name Set default configuration parameters
* @{
*/
#ifndef LIS3MDL_PARAM_I2C
#define LIS3MDL_PARAM_I2C (I2C_DEV(0))
#endif
#ifndef LIS3MDL_PARAM_ADDR
#define LIS3MDL_PARAM_ADDR (0x1E)
#endif
#ifndef LIS3MDL_PARAM_XYMODE
#define LIS3MDL_PARAM_XYMODE (LIS3MDL_XY_MODE_HIGH)
#endif
#ifndef LIS3MDL_PARAM_ZMODE
#define LIS3MDL_PARAM_ZMODE (LIS3MDL_Z_MODE_HIGH)
#endif
#ifndef LIS3MDL_PARAM_ODR
#define LIS3MDL_PARAM_ODR (LIS3MDL_ODR_10Hz)
#endif
#ifndef LIS3MDL_PARAM_SCALE
#define LIS3MDL_PARAM_SCALE (4)
#endif
#ifndef LIS3MDL_PARAM_OPMODE
#define LIS3MDL_PARAM_OPMODE (LIS3MDL_OP_CONT_CONV)
#endif
#ifndef LIS3MDL_PARAMS
#define LIS3MDL_PARAMS { .i2c = LIS3MDL_PARAM_I2C, \
.addr = LIS3MDL_PARAM_ADDR, \
.xy_mode = LIS3MDL_PARAM_XYMODE, \
.z_mode = LIS3MDL_PARAM_ZMODE, \
.odr = LIS3MDL_PARAM_SCALE, \
.scale = LIS3MDL_PARAM_ODR, \
.op_mode = LIS3MDL_PARAM_OPMODE }
#endif
#ifndef LIS3MDL_SAUL_INFO
#define LIS3MDL_SAUL_INFO { .name = "lis3mdl" }
#endif
/**@}*/
/**
* @brief Allocate some memory to store the actual configuration
*/
static const lis3mdl_params_t lis3mdl_params[] =
{
LIS3MDL_PARAMS
};
/**
* @brief Additional meta information to keep in the SAUL registry
*/
static const saul_reg_info_t lis3mdl_saul_info[] =
{
LIS3MDL_SAUL_INFO
};
#ifdef __cplusplus
}
#endif
#endif /* LIS3MDL_PARAMS_H */
/** @} */

69
drivers/lis3mdl/lis3mdl.c
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@ -32,6 +32,9 @@
#define GAUSS_DIVIDER (1000)
#define DEV_I2C (dev->params.i2c)
#define DEV_ADDR (dev->params.addr)
/**
* @brief Takes an unsigned value representing a two's complement number
* and returns the signed number it represents
@ -51,47 +54,41 @@
}
}
int lis3mdl_init(lis3mdl_t *dev,
i2c_t i2c,
uint8_t address,
lis3mdl_xy_mode_t xy_mode,
lis3mdl_z_mode_t z_mode,
lis3mdl_odr_t odr,
lis3mdl_scale_t scale,
lis3mdl_op_t op_mode) {
int lis3mdl_init(lis3mdl_t *dev, const lis3mdl_params_t *params)
{
dev->params = *params;
uint8_t tmp;
dev->i2c = i2c;
dev->addr = address;
i2c_acquire(DEV_I2C);
i2c_acquire(dev->i2c);
if (i2c_init_master(i2c, I2C_SPEED_NORMAL) < 0) {
if (i2c_init_master(DEV_I2C, I2C_SPEED_NORMAL) < 0) {
DEBUG("LIS3MDL: Master initialization failed\n");
return -1;
}
i2c_read_reg(dev->i2c, dev->addr, LIS3DML_WHO_AM_I_REG, &tmp);
i2c_read_reg(DEV_I2C, DEV_ADDR, LIS3DML_WHO_AM_I_REG, &tmp);
if (tmp != LIS3MDL_CHIP_ID) {
DEBUG("LIS3MDL: Identification failed\n");
DEBUG("LIS3MDL: Identification failed, %02X != %02X\n",
tmp, LIS3MDL_CHIP_ID);
return -1;
}
tmp = ( LIS3MDL_MASK_REG1_TEMP_EN /* enable temperature sensor */
| xy_mode /* set x-, y-axis operative mode */
| odr); /* set output data rate */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG1, tmp);
| dev->params.xy_mode /* set x-, y-axis operative mode */
| dev->params.odr); /* set output data rate */
i2c_write_reg(DEV_I2C, DEV_ADDR, LIS3MDL_CTRL_REG1, tmp);
/* set Full-scale configuration */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG2, scale);
i2c_write_reg(DEV_I2C, DEV_ADDR, LIS3MDL_CTRL_REG2, dev->params.scale);
/* set continuous-conversion mode */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG3, op_mode);
i2c_write_reg(DEV_I2C, DEV_ADDR, LIS3MDL_CTRL_REG3, dev->params.op_mode);
/* set z-axis operative mode */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG4, z_mode);
i2c_write_reg(DEV_I2C, DEV_ADDR, LIS3MDL_CTRL_REG4, dev->params.z_mode);
i2c_release(dev->i2c);
i2c_release(DEV_I2C);
return 0;
}
@ -100,15 +97,15 @@ void lis3mdl_read_mag(const lis3mdl_t *dev, lis3mdl_3d_data_t *data)
{
uint8_t tmp[2] = {0, 0};
i2c_acquire(dev->i2c);
i2c_acquire(DEV_I2C);
i2c_read_regs(dev->i2c, dev->addr, LIS3MDL_OUT_X_L_REG, &tmp[0], 2);
i2c_read_regs(DEV_I2C, DEV_ADDR, LIS3MDL_OUT_X_L_REG, &tmp[0], 2);
data->x_axis = (tmp[1] << 8) | tmp[0];
i2c_read_regs(dev->i2c, dev->addr, LIS3MDL_OUT_Y_L_REG, &tmp[0], 2);
i2c_read_regs(DEV_I2C, DEV_ADDR, LIS3MDL_OUT_Y_L_REG, &tmp[0], 2);
data->y_axis = (tmp[1] << 8) | tmp[0];
i2c_read_regs(dev->i2c, dev->addr, LIS3MDL_OUT_Z_L_REG, &tmp[0], 2);
i2c_read_regs(DEV_I2C, DEV_ADDR, LIS3MDL_OUT_Z_L_REG, &tmp[0], 2);
data->z_axis = (tmp[1] << 8) | tmp[0];
data->x_axis = _twos_complement(data->x_axis);
@ -120,14 +117,14 @@ void lis3mdl_read_mag(const lis3mdl_t *dev, lis3mdl_3d_data_t *data)
data->y_axis /= GAUSS_DIVIDER;
data->z_axis /= GAUSS_DIVIDER;
i2c_release(dev->i2c);
i2c_release(DEV_I2C);
}
void lis3mdl_read_temp(const lis3mdl_t *dev, int16_t *value)
{
i2c_acquire(dev->i2c);
i2c_read_regs(dev->i2c, dev->addr, LIS3MDL_TEMP_OUT_L_REG, (uint8_t*)value, 2);
i2c_release(dev->i2c);
i2c_acquire(DEV_I2C);
i2c_read_regs(DEV_I2C, DEV_ADDR, LIS3MDL_TEMP_OUT_L_REG, (uint8_t*)value, 2);
i2c_release(DEV_I2C);
*value = _twos_complement(*value);
@ -136,11 +133,11 @@ void lis3mdl_read_temp(const lis3mdl_t *dev, int16_t *value)
void lis3mdl_enable(const lis3mdl_t *dev)
{
i2c_acquire(dev->i2c);
i2c_acquire(DEV_I2C);
/* Z-axis medium-power mode */
i2c_write_reg(dev->i2c, dev->addr,
i2c_write_reg(DEV_I2C, DEV_ADDR,
LIS3MDL_CTRL_REG3, LIS3MDL_MASK_REG3_Z_MEDIUM_POWER);
i2c_release(dev->i2c);
i2c_release(DEV_I2C);
}
void lis3mdl_disable(const lis3mdl_t *dev)
@ -148,7 +145,7 @@ void lis3mdl_disable(const lis3mdl_t *dev)
uint8_t tmp = ( LIS3MDL_MASK_REG3_LOW_POWER_EN /**< enable power-down mode */
| LIS3MDL_MASK_REG3_Z_LOW_POWER); /**< Z-axis low-power mode */
i2c_acquire(dev->i2c);
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG3, tmp);
i2c_release(dev->i2c);
i2c_acquire(DEV_I2C);
i2c_write_reg(DEV_I2C, DEV_ADDR, LIS3MDL_CTRL_REG3, tmp);
i2c_release(DEV_I2C);
}