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driver, mag3110: rework

master
smlng 5 years ago
parent
14ec05eab8
commit
644dbb1224
6 changed files with 283 additions and 184 deletions
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  1. 50
      boards/pba-d-01-kw2x/include/mag3110_params.h
  2. 63
      drivers/include/mag3110.h
  3. 66
      drivers/mag3110/include/mag3110_params.h
  4. 227
      drivers/mag3110/mag3110.c
  5. 14
      tests/driver_mag3110/Makefile
  6. 47
      tests/driver_mag3110/main.c

50
boards/pba-d-01-kw2x/include/mag3110_params.h
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@ -0,0 +1,50 @@
/*
* Copyright (C) 2017 HAW Hamburg
*
* 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 boards_pba-d-01-kw2x
* @{
*
* @file
* @brief MAG3110 board specific configuration
*
* @author Sebastian Meiling <s@mlng.net>
*/
#ifndef MAG3110_PARAMS_H
#define MAG3110_PARAMS_H
#include "board.h"
#include "saul_reg.h"
#include "mag3110.h"
#include "mag3110_reg.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief MAG3310 configuration
*/
static const mag3110_params_t mag3110_params[] =
{
{
.i2c = MAG3110_I2C,
.addr = MAG3110_ADDR,
.type = MAG3110_ID,
.dros = MAG3110_DROS_DEFAULT,
.offset = { 0, 0, 0 }
}
};
#ifdef __cplusplus
}
#endif
#endif /* MAG3110_PARAMS_H */
/** @} */

63
drivers/include/mag3110.h
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@ -1,5 +1,6 @@
/*
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
* 2017 HAW Hamburg
*
* 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
@ -25,6 +26,7 @@
* @brief Interface definition for the MAG3110 magnetometer driver.
*
* @author Johann Fischer <j.fischer@phytec.de>
* @author Sebastian Meiling <s@mlng.net>
*/
#ifndef MAG3110_H
@ -39,6 +41,16 @@ extern "C"
{
#endif
/**
* @brief Named return values
*/
enum {
MAG3110_OK, /**< all good */
MAG3110_ERROR_I2C, /**< I2C communication failed */
MAG3110_ERROR_DEV, /**< Device MAG3110 not found */
MAG3110_ERROR_CNF, /**< Device configuration failed */
};
#ifndef MAG3110_I2C_ADDRESS
#define MAG3110_I2C_ADDRESS 0x0E /**< Magnetometer Default Address */
#endif
@ -77,41 +89,45 @@ extern "C"
#define MAG3110_DROS_0008_128 31 /**< Output Rate 0.08 Hz, Over Sample Ratio 128 */
#define MAG3110_DROS_DEFAULT MAG3110_DROS_0125_128 /**< Default Setting for testing */
/**
* @brief Configuration parameters
*/
typedef struct {
i2c_t i2c; /**< I2C bus the device is connected to */
uint8_t addr; /**< I2C bus address of the device */
uint8_t type; /**< device type */
uint8_t dros; /**< sampling rate to use */
int16_t offset[3]; /**< data offset in X, Y, and Z direction */
} mag3110_params_t;
/**
* @brief Device descriptor for MAG3110 magnetometer.
*/
typedef struct {
i2c_t i2c; /**< I2C device, the magnetometer is connected to */
uint8_t addr; /**< the magnetometer's slave address on the I2C bus */
bool initialized; /**< magnetometer status, true if magnetometer is initialized */
mag3110_params_t params; /**< device configuration parameters */
} mag3110_t;
/**
* @brief MAG3110 magnetometer test.
* This function looks for Device ID of the MAG3110 magnetometer.
*
* @param[in] dev device descriptor of magnetometer
*
* @return 0 on success
* @return -1 on error
* @brief Data type for the result data
*/
int mag3110_test(mag3110_t *dev);
typedef struct {
int16_t x; /**< acceleration in X direction */
int16_t y; /**< acceleration in Y direction */
int16_t z; /**< acceleration in Z direction */
} mag3110_data_t;
/**
* @brief Initialise the MAG3110 magnetometer driver.
*
* @param[out] dev device descriptor of magnetometer to initialize
* @param[in] i2c I2C bus the magnetometer is connected to
* @param[in] address magnetometer's I2C slave address
* @param[in] dros data rate and over sampling selection
* @param[in] params configuration parameters
*
* @return 0 on success
* @return -1 if dros parameter is wrong
* @return -2 if initialization of I2C bus failed
* @return -3 if magnetometer test failed
* @return -4 if magnetometer configuration failed
* @return -1 if I2C communication failed
* @return -2 if magnetometer test failed
* @return -3 if magnetometer configuration failed
*/
int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros);
int mag3110_init(mag3110_t *dev, const mag3110_params_t *params);
/**
* @brief Set user offset correction.
@ -163,16 +179,13 @@ int mag3110_is_ready(mag3110_t *dev);
* To get the actual values for the magnetic field in \f$\mu T\f$,
* one have to divide the returned values from the magnetometer by 10.
*
* @param[in] dev device descriptor of magnetometer
* @param[out] x x-axis magnetic field strength
* @param[out] y y-axis magnetic field strength
* @param[out] z z-axis magnetic field strength
* @param[out] status magnetometer status register
* @param[in] dev device descriptor of accelerometer
* @param[out] data the current magnetic field strength
*
* @return 0 on success
* @return -1 on error
*/
int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status);
int mag3110_read(mag3110_t *dev, mag3110_data_t *data);
/**
* @brief Read die temperature.

66
drivers/mag3110/include/mag3110_params.h
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@ -0,0 +1,66 @@
/*
* Copyright (C) 2017 HAW Hamburg
*
* 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_mag3110
* @{
*
* @file
* @brief Default configuration for MAG3110 devices
*
* @author Sebastian Meiling <s@mlng.net>
*/
#ifndef MAG3110_PARAMS_H
#define MAG3110_PARAMS_H
#include "board.h"
#include "saul_reg.h"
#include "mag3110.h"
#include "mag3110_reg.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name Default configuration parameters for the MAG3110 driver
* @{
*/
#ifndef MAG3110_PARAM_I2C
#define MAG3110_PARAM_I2C (I2C_DEV(0))
#endif
#ifndef MAG3110_PARAM_ADDR
#define MAG3110_PARAM_ADDR (MAG3110_I2C_ADDRESS)
#endif
#ifndef MAG3110_PARAM_OFFSET
#define MAG3110_PARAM_OFFSET { 0, 0, 0 }
#endif
#ifndef MAG3110_PARAMS
#define MAG3110_PARAMS { .i2c = MAG3110_PARAM_I2C, \
.addr = MAG3110_PARAM_ADDR, \
.type = MAG3110_ID, \
.dros = MAG3110_DROS_DEFAULT, \
.offset = MAG3110_PARAM_OFFSET }
#endif
/**@}*/
/**
* @brief MAG3110 configuration
*/
static const mag3110_params_t mag3110_params[] =
{
MAG3110_PARAMS
};
#ifdef __cplusplus
}
#endif
#endif /* MAG3110_PARAMS_H */
/** @} */

227
drivers/mag3110/mag3110.c
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@ -1,5 +1,6 @@
/*
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
* 2017 HAW Hamburg
*
* 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
@ -16,92 +17,91 @@
*
* @author Johann Fischer <j.fischer@phytec.de>
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
* @author Sebastian Meiling <s@mlng.net>
*
* @}
*/
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include "log.h"
#include "periph/i2c.h"
#include "mag3110.h"
#include "mag3110_reg.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
#define I2C_SPEED I2C_SPEED_FAST
int mag3110_test(mag3110_t *dev)
{
uint8_t reg;
/* Acquire exclusive access to the bus. */
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_WHO_AM_I, &reg, 1) != 1) {
/* Release the bus for other threads. */
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
if (reg != MAG3110_ID) {
return -1;
}
#define I2C_SPEED I2C_SPEED_FAST
return 0;
}
#define BUS (dev->params.i2c)
#define ADDR (dev->params.addr)
int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros)
int mag3110_init(mag3110_t *dev, const mag3110_params_t *params)
{
uint8_t reg;
/* write device descriptor */
dev->i2c = i2c;
dev->addr = address;
dev->initialized = false;
assert(dev);
assert(params);
if (dros > MAG3110_DROS_0008_128) {
return -1;
}
/* write device descriptor */
memcpy(dev, params, sizeof(mag3110_params_t));
i2c_acquire(dev->i2c);
i2c_acquire(BUS);
/* initialize the I2C bus */
if (i2c_init_master(i2c, I2C_SPEED) < 0) {
i2c_release(dev->i2c);
return -2;
}
i2c_release(dev->i2c);
if (mag3110_test(dev)) {
return -3;
if (i2c_init_master(BUS, I2C_SPEED) < 0) {
i2c_release(BUS);
LOG_ERROR("mag3110_init: failed!\n");
return -MAG3110_ERROR_I2C;
}
/* test device */
i2c_read_regs(BUS, ADDR, MAG3110_WHO_AM_I, &reg, 1);
if (reg != dev->params.type) {
i2c_release(BUS);
LOG_ERROR("mag3110_init: invalid WHO_AM_I value (0x%02x)!\n", (int)reg);
return -MAG3110_ERROR_DEV;
}
/* enable automatic magnetic sensor reset */
reg = MAG3110_CTRL_REG2_AUTO_MRST_EN;
i2c_acquire(dev->i2c);
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG2, &reg, 1) != 1) {
i2c_release(dev->i2c);
return -4;
}
reg = MAG3110_CTRL_REG1_DROS(dros);
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(dev->i2c);
return -4;
if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG2, &reg, 1) != 1) {
i2c_release(BUS);
LOG_ERROR("mag3110_init: failed to enable auto reset!\n");
return -MAG3110_ERROR_CNF;
}
/* set sample rate */
reg = MAG3110_CTRL_REG1_DROS(dev->params.dros);
if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(BUS);
LOG_ERROR("mag3110_init: failed to set sample rate!\n");
return -MAG3110_ERROR_CNF;
}
/* set device active */
if (i2c_read_regs(BUS, ADDR, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(BUS);
LOG_ERROR("mag3110_init: failed to read device state!\n");
return -MAG3110_ERROR_I2C;
}
i2c_release(dev->i2c);
dev->initialized = true;
return 0;
reg |= MAG3110_CTRL_REG1_AC;
if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(BUS);
LOG_ERROR("mag3110_init: failed to set device active!\n");
return -MAG3110_ERROR_CNF;
}
i2c_release(BUS);
/* write user offsets */
return mag3110_set_user_offset(dev, dev->params.offset[0],
dev->params.offset[1], dev->params.offset[2]);
}
int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z)
{
uint8_t buf[6];
assert(dev);
buf[0] = (x >> 8);
buf[1] = x;
buf[2] = (y >> 8);
@ -109,115 +109,114 @@ int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z)
buf[4] = (z >> 8);
buf[5] = z;
i2c_acquire(dev->i2c);
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_OFF_X_MSB, buf, 6) != 6) {
i2c_release(dev->i2c);
return -1;
DEBUG("[mag3110] setting user offset to X: %3i, Y: %3i, Z: %3i\n",
(int)x, (int)y, (int)z);
i2c_acquire(BUS);
if (i2c_write_regs(BUS, ADDR, MAG3110_OFF_X_MSB, buf, 6) != 6) {
i2c_release(BUS);
LOG_ERROR("mag3110_set_user_offset: failed to set offsets!\n");
return -MAG3110_ERROR_I2C;
}
i2c_release(dev->i2c);
i2c_release(BUS);
return 0;
return MAG3110_OK;
}
int mag3110_set_active(mag3110_t *dev)
{
uint8_t reg;
if (dev->initialized == false) {
return -1;
}
assert(dev);
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(dev->i2c);
return -1;
i2c_acquire(BUS);
if (i2c_read_regs(BUS, ADDR, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(BUS);
return -MAG3110_ERROR_I2C;
}
reg |= MAG3110_CTRL_REG1_AC;
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(dev->i2c);
return -1;
if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(BUS);
return -MAG3110_ERROR_I2C;
}
i2c_release(dev->i2c);
i2c_release(BUS);
return 0;
return MAG3110_OK;
}
int mag3110_set_standby(mag3110_t *dev)
{
uint8_t reg;
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(dev->i2c);
return -1;
assert(dev);
i2c_acquire(BUS);
if (i2c_read_regs(BUS, ADDR, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(BUS);
return -MAG3110_ERROR_I2C;
}
reg &= ~MAG3110_CTRL_REG1_AC;
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(dev->i2c);
return -1;
if (i2c_write_regs(BUS, ADDR, MAG3110_CTRL_REG1, &reg, 1) != 1) {
i2c_release(BUS);
return -MAG3110_ERROR_I2C;
}
i2c_release(dev->i2c);
i2c_release(BUS);
return 0;
return MAG3110_OK;
}
int mag3110_is_ready(mag3110_t *dev)
{
uint8_t reg;
if (dev->initialized == false) {
return -1;
}
assert(dev);
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, &reg, 1) != 1) {
i2c_release(dev->i2c);
return -1;
i2c_acquire(BUS);
if (i2c_read_regs(BUS, ADDR, MAG3110_DR_STATUS, &reg, 1) != 1) {
i2c_release(BUS);
return -MAG3110_ERROR_I2C;
}
i2c_release(dev->i2c);
i2c_release(BUS);
return (int)(reg & MAG3110_DR_STATUS_ZYXDR);
}
int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status)
int mag3110_read(mag3110_t *dev, mag3110_data_t *data)
{
uint8_t buf[7];
if (dev->initialized == false) {
return -1;
}
assert(dev);
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, buf, 7) != 7) {
i2c_release(dev->i2c);
return -1;
i2c_acquire(BUS);
if (i2c_read_regs(BUS, ADDR, MAG3110_DR_STATUS, buf, 7) != 7) {
i2c_release(BUS);
return -MAG3110_ERROR_I2C;
}
i2c_release(dev->i2c);
*status = buf[0];
*x = ((int16_t)buf[1] << 8) | buf[2];
*y = ((int16_t)buf[3] << 8) | buf[4];
*z = ((int16_t)buf[5] << 8) | buf[6];
i2c_release(BUS);
/* TODO: implement state handling, if needed?
uint8_t status = buf[0];
*/
data->x = ((int16_t)buf[1] << 8) | buf[2];
data->y = ((int16_t)buf[3] << 8) | buf[4];
data->z = ((int16_t)buf[5] << 8) | buf[6];
return 0;
return MAG3110_OK;
}
int mag3110_read_dtemp(mag3110_t *dev, int8_t *dtemp)
{
if (dev->initialized == false) {
return -1;
}
assert(dev);
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DIE_TEMP, dtemp, 1) != 1) {
i2c_release(dev->i2c);
return -1;
i2c_acquire(BUS);
if (i2c_read_regs(BUS, ADDR, MAG3110_DIE_TEMP, dtemp, 1) != 1) {
i2c_release(BUS);
return -MAG3110_ERROR_I2C;
}
i2c_release(dev->i2c);
i2c_release(BUS);
return 0;
return MAG3110_OK;
}

14
tests/driver_mag3110/Makefile
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@ -6,18 +6,4 @@ FEATURES_REQUIRED = periph_i2c
USEMODULE += mag3110
USEMODULE += xtimer
# set default device parameters in case they are undefined
TEST_MAG3110_I2C ?= I2C_DEV\(0\)
TEST_MAG3110_ADDR ?= 0x0E
TEST_MAG3110_USER_OFFSET_X ?= -2000
TEST_MAG3110_USER_OFFSET_Y ?= 180
TEST_MAG3110_USER_OFFSET_Z ?= 210
# export parameters
CFLAGS += -DTEST_MAG3110_I2C=$(TEST_MAG3110_I2C)
CFLAGS += -DTEST_MAG3110_ADDR=$(TEST_MAG3110_ADDR)
CFLAGS += -DTEST_MAG3110_USER_OFFSET_X=$(TEST_MAG3110_USER_OFFSET_X)
CFLAGS += -DTEST_MAG3110_USER_OFFSET_Y=$(TEST_MAG3110_USER_OFFSET_Y)
CFLAGS += -DTEST_MAG3110_USER_OFFSET_Z=$(TEST_MAG3110_USER_OFFSET_Z)
include $(RIOTBASE)/Makefile.include

47
tests/driver_mag3110/main.c
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@ -1,6 +1,7 @@
/*
* Copyright (C) 2014 Freie Universität Berlin
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
* 2017 HAW Hamburg
*
* 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
@ -16,57 +17,41 @@
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Johann Fischer <j.fischer@phytec.de>
* @author Sebastian Meiling <s@mlng.net>
*
* @}
*/
#ifndef TEST_MAG3110_I2C
#error "TEST_MAG3110_I2C not defined"
#endif
#ifndef TEST_MAG3110_ADDR
#error "TEST_MAG3110_ADDR not defined"
#endif
#include <stdio.h>
#include "timex.h"
#include "xtimer.h"
#include "mag3110.h"
#include "mag3110_params.h"
#define SLEEP (1U * US_PER_SEC)
#define SLEEP (1000 * 1000U)
static mag3110_t dev;
int main(void)
{
mag3110_t dev;
mag3110_data_t data;
int8_t temp;
int16_t x, y, z;
uint8_t status;
puts("MAG3110 magnetometer driver test application\n");
printf("Initializing MAG3110 magnetometer at I2C_%i... ", TEST_MAG3110_I2C);
if (mag3110_init(&dev, TEST_MAG3110_I2C, TEST_MAG3110_ADDR, MAG3110_DROS_DEFAULT) == 0) {
puts("[OK]\n");
}
else {
puts("[Failed]");
return -1;
}
if (mag3110_set_user_offset(&dev, TEST_MAG3110_USER_OFFSET_X,
TEST_MAG3110_USER_OFFSET_Y,
TEST_MAG3110_USER_OFFSET_Z )) {
puts("Set user offset correction failed.");
return -1;
}
if (mag3110_set_active(&dev)) {
puts("Measurement start failed.");
printf("Initializing MAG3110 magnetometer at I2C_%i... ",
mag3110_params[0].i2c);
if (mag3110_init(&dev, &mag3110_params[0]) != MAG3110_OK) {
puts("[FAILED]");
return -1;
}
puts("[SUCCESS]");
while (1) {
xtimer_usleep(SLEEP);
mag3110_read(&dev, &x, &y, &z, &status);
printf("Field strength: X: %d Y: %d Z: %d S: %2x\n", x, y, z, status);
mag3110_read(&dev, &data);
printf("Field strength: X: %d Y: %d Z: %d\n", data.x, data.y, data.z);
mag3110_read_dtemp(&dev, &temp);
printf("Die Temperature T: %d\n", temp);
}

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