uint16_t ov7670GetDeviceID(void)
{
uint16_t id = 0;
i2cdevReadByte(I2Cx, devAddr, 0x0A, &buffer[0]);
i2cdevReadByte(I2Cx, devAddr, 0x0B, &buffer[1]);
id += buffer[0];
id = (id << 8) + buffer[1];
return id;
}
/** Verify the I2C connection.
* Make sure the device is connected and responds as expected.
* @return True if connection is valid, false otherwise
*/
bool ak8963TestConnection()
{
if (i2cdevReadByte(I2Cx, devAddr, AK8963_RA_WIA, buffer) == 1)
{
return (buffer[0] == 0x48);
}
return false;
}
bool i2cdevReadBits(I2C_TypeDef *I2Cx, uint8_t devAddress, uint8_t memAddress,
uint8_t bitStart, uint8_t length, uint8_t *data)
{
bool status;
uint8_t byte;
if ((status = i2cdevReadByte(I2Cx, devAddress, memAddress, &byte)) == TRUE)
{
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
byte &= mask;
byte >>= (bitStart - length + 1);
*data = byte;
}
bool ak8963SelfTest()
{
bool testStatus = true;
int16_t mx, my, mz; // positive magnetometer measurements
uint8_t confSave;
uint8_t timeout = 20;
// Save register values
if (i2cdevReadByte(I2Cx, devAddr, AK8963_RA_CNTL, &confSave) == false)
{
// TODO: error handling
return false;
}
// Power down
ak8963SetMode(AK8963_MODE_POWERDOWN);
ak8963SetSelfTest(true);
ak8963SetMode(AK8963_MODE_16BIT | AK8963_MODE_SELFTEST);
// Clear ST1 by reading ST2
ak8963GetOverflowStatus();
while (!ak8963GetDataReady() && timeout--)
{
vTaskDelay(M2T(1));
}
ak8963GetHeading(&mx, &my, &mz);
// Power down
ak8963SetMode(AK8963_MODE_POWERDOWN);
if (ak8963EvaluateSelfTest(AK8963_ST_X_MIN, AK8963_ST_X_MAX, mx, "X") &&
ak8963EvaluateSelfTest(AK8963_ST_Y_MIN, AK8963_ST_Y_MAX, my, "Y") &&
ak8963EvaluateSelfTest(AK8963_ST_Z_MIN, AK8963_ST_Z_MAX, mz, "Z"))
{
DEBUG_PRINT("Self test [OK].\n");
}
else
{
testStatus = false;
}
// Power up with saved config
ak8963SetMode(confSave);
return testStatus;
}
/** Get identification byte C
* @return ID_A byte (should be 00110011, ASCII value '3')
*/
uint8_t hmc5883lGetIDC()
{
i2cdevReadByte(I2Cx, devAddr, HMC5883L_RA_ID_C, buffer);
return buffer[0];
}
uint8_t ak8963GetAdjustmentZ()
{
i2cdevReadByte(I2Cx, devAddr, AK8963_RA_ASAZ, buffer);
return buffer[0];
}
// CNTL register
uint8_t ak8963GetMode()
{
i2cdevReadByte(I2Cx, devAddr, AK8963_RA_CNTL, buffer);
return buffer[0];
}
uint8_t ak8963GetInfo()
{
i2cdevReadByte(I2Cx, devAddr, AK8963_RA_INFO, buffer);
return buffer[0];
}
uint8_t ak8963GetDeviceID()
{
i2cdevReadByte(I2Cx, devAddr, AK8963_RA_WIA, buffer);
return buffer[0];
}
