marc
/
RIOT
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
Browse Source

driver, mag3110: rework

master
smlng 6 years ago
parent
14ec05eab8
commit
644dbb1224
6 changed files with 283 additions and 184 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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);
}

Write Preview
Loading…
Cancel
Save