/**
* @brief Read gyroscope angular rate axis data.
*
* This function reads angular rate data for all 3 axes of an IMU-3000
* gyroscope.
*
* @param sensor Address of an initialized sensor device descriptor.
* @param data The address of a vector storing sensor axis data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool imu3000_get_rotation(sensor_hal_t *hal, sensor_data_t *data)
{
struct
{
uint8_t msb;
uint8_t lsb;
} input[3];
size_t const count = sensor_bus_read(hal, IMU3000_GYRO_XOUT_H,
input, sizeof(input));
/* Copy data values based on device orientation and signs. */
data->axis.x = hal->orientation.x.sign *
((int16_t)((input[hal->orientation.x.axis].msb << 8) |
input[hal->orientation.x.axis].lsb));
data->axis.y = hal->orientation.y.sign *
((int16_t)((input[hal->orientation.y.axis].msb << 8) |
input[hal->orientation.y.axis].lsb));
data->axis.z = hal->orientation.z.sign *
((int16_t)((input[hal->orientation.z.axis].msb << 8) |
input[hal->orientation.z.axis].lsb));
/* Convert raw sensor samples to engineering units if requested. */
if (data->scaled) {
data->axis.x /= (int32_t)scale_lsb_per_dps [sensor_fs_sel];
data->axis.y /= (int32_t)scale_lsb_per_dps [sensor_fs_sel];
data->axis.z /= (int32_t)scale_lsb_per_dps [sensor_fs_sel];
}
return (count == sizeof(input));
}
/**
* @brief Read BMA250 acceleration data.
*
* This function obtains accelerometer data for all three axes of the Bosch
* device. The data is read from three device registers using a multi-byte
* bus transfer.
*
* Along with the actual sensor data, the LSB byte contains a "new" flag
* indicating if the data for this axis has been updated since the last
* time the axis data was read. Reading either LSB or MSB data will
* clear this flag.
*
* @param sensor Address of an initialized sensor device descriptor.
* @param data The address of a vector storing sensor axis data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool bma250_get_accel(sensor_hal_t *hal, sensor_data_t *data)
{
size_t const count = sensor_bus_read(hal, hal->burst_addr,
event_regs.acc, sizeof(event_regs.acc));
format_axis_data(hal, event_regs.acc, data);
return (count == sizeof(event_regs.acc));
}
/**
* @brief Read accelerometer data.
*
* This function obtains accelerometer data for all three axes of the Bosch
* device. The data is read from six device registers using a multi-byte
* bus transfer. The 10-bit raw results are then assembled from the two
* register values for each axis, including extending the sign bit, to
* form a signed 32-bit value.
*
* Along with the actual sensor data, the LSB byte contains a "new" flag
* indicating if the data for this axis has been updated since the last
* time the axis data was read. Reading either LSB or MSB data will
* clear this flag.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data The address of a vector storing sensor axis data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool bma180_get_accel(sensor_hal_t *hal, sensor_data_t *data)
{
bma_axis_t axis[3];
size_t const count = sensor_bus_read(hal, hal->burst_addr,
axis, sizeof(axis));
format_axis_data(hal, axis, data);
return (count == sizeof(axis));
}
/**
* @brief Read gyroscope integrated temperature sensor data
*
* This function reads IMU-3000 integrated temperature sensor data.
* The temperature is always returned in scaled engineering units
* (degrees Celsius).
*
* @param sensor Address of an initialized sensor device descriptor.
* @param data The address where temperature samples are returned.
* @return bool true if the call succeeds, else false is returned.
*/
static bool imu3000_get_temperature(sensor_hal_t *hal, sensor_data_t *data)
{
int16_t temp_data;
size_t const count = sensor_bus_read(hal, IMU3000_TEMP_OUT_H,
&temp_data, sizeof(temp_data));
data->temperature.value = (int16_t)be16_to_cpu(temp_data);
if (data->scaled) {
data->temperature.value -= TEMP_OFFSET;
data->temperature.value /= TEMP_COUNTS_PER_DEG_C;
data->temperature.value += TEMP_REF_DEG;
}
return (count == sizeof(temp_data));
}
/**
* @brief Read SFH5712 light level data.
*
* This function reads the ambient light level data from the sensor
* and places it in the user-provided sensor_data_t structure.
*
* @param sensor Address of an initialized sensor device descriptor.
* @param data The address of a vector storing sensor measurement data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool sfh5712_get_light(sensor_hal_t *hal, sensor_data_t *data)
{
struct {
uint8_t lsb;
uint8_t msb;
} light_data;
/* Read and combine two light level data registers
* NOTE: LSB register must be read first!
*/
size_t const count = sensor_bus_read(hal, SFH5712_ALS_DATA_LSB,
(uint8_t *)&light_data, sizeof(light_data));
/* Device uses lux for internal values, so raw is the same as scaled */
data->light.value = (uint32_t)((light_data.msb << 8) | light_data.lsb);
return (count == sizeof(light_data));
}
/**
* @brief Read SFH7770 proximity data.
*
* This function reads the proximity data from the three channels of the sensor
* and places it in the user-provided sensor_data_t structure. The
* proximity value is not in standard units, so for "scaled" output
* the values are encoded based on whether or not the proximity
* reading exceeds the programmed threshold level for each channel (LED).
*
* The sensor has only a single threshold level, so only two possible
* values are reported: PROXIMITY_NEAR (if threshold is exceeded) or
* PROXIMITY_NONE.
*
* @param sensor Address of an initialized sensor device descriptor.
* @param data The address of a vector storing sensor measurement data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool sfh7770_get_proximity(sensor_hal_t *hal, sensor_data_t *data)
{
struct {
uint8_t als_ps_status;
uint8_t ps_data_led1;
uint8_t ps_data_led2;
uint8_t ps_data_led3;
}
regs;
/* Read three LED proximity measurements + status */
size_t const count = sensor_bus_read(hal, SFH7770_ALS_PS_STATUS,
(uint8_t *)®s, sizeof(regs));
/* Fill in return values based on "scaled" or raw selection */
if (data->scaled) {
/* Use internal device threshold status to determine values */
data->proximity.value[0]
= (regs.als_ps_status & PS_LED1_THRESH) ?
PROXIMITY_NEAR : PROXIMITY_NONE;
data->proximity.value[1]
= (regs.als_ps_status & PS_LED2_THRESH) ?
PROXIMITY_NEAR : PROXIMITY_NONE;
data->proximity.value[2]
= (regs.als_ps_status & PS_LED3_THRESH) ?
PROXIMITY_NEAR : PROXIMITY_NONE;
} else {
/* Use internal raw values */
data->proximity.value[0] = (int32_t)regs.ps_data_led1;
data->proximity.value[1] = (int32_t)regs.ps_data_led2;
data->proximity.value[2] = (int32_t)regs.ps_data_led3;
}
return (count == sizeof(regs));
}
/**
* @brief Perform self-test function
*
* This function sets up and executes an built-in self test function
* within the HMC5883L device.
*
* @param sensor Address of an initialized sensor descriptor.
* @param test_code Address of a numeric code of which test to perform
* This location will contain the specific test result code
* when the function returns.
* @return bool true if the call succeeds, else false is returned.
*/
bool hmc5883l_selftest(sensor_t *sensor, int *test_code, void *arg)
{
int count;
uint8_t meas_mode; /* test measurement mode */
vector3_t data;
bool status = true;
sensor_hal_t *const hal = sensor->hal;
struct {
uint8_t config_reg_a;
uint8_t config_reg_b;
uint8_t mode_reg;
}
reg_set;
/* Initialize result code */
*test_code = SENSOR_TEST_ERR_NONE;
/* Save register values */
count = sensor_bus_read(hal, HMC5883L_CONFIG_REG_A, (uint8_t *)®_set,
sizeof(reg_set));
if (count != sizeof(reg_set)) {
*test_code = SENSOR_TEST_ERR_READ;
return false;
}
/* Set range (sensitivity) */
sensor_bus_put(hal, HMC5883L_CONFIG_REG_B, HMC5883L_TEST_GAIN);
/* Set test mode */
switch (*test_code) { /* which test was specified */
case SENSOR_TEST_DEFAULT:
case SENSOR_TEST_BIAS_POS:
meas_mode = MEAS_MODE_POS; /* positive bias measurement mode */
break;
case SENSOR_TEST_BIAS_NEG:
meas_mode = MEAS_MODE_NEG; /* negative bias measurement mode */
break;
default:
/* bad test code specified */
sensor_bus_put(hal, HMC5883L_CONFIG_REG_B,
reg_set.config_reg_b);
/* restore reg */
*test_code = SENSOR_TEST_ERR_FUNCTION;
return false;
}
sensor_bus_put(hal, HMC5883L_CONFIG_REG_A,
(DATA_RATE_15HZ | MEAS_AVG_1 | meas_mode));
delay_ms(SELF_TEST_DELAY_MSEC);
/* Perform test measurement & check results */
sensor_bus_put(hal, HMC5883L_MODE_REG, MODE_SINGLE); /* single meas mode
**/
if (hmc5883l_get_data(hal, &data) != true) {
*test_code = SENSOR_TEST_ERR_READ;
status = false; /* failed to read data registers */
} else {
if (arg != NULL) {
((sensor_data_t *)arg)->scaled = false; /* only raw values */
((sensor_data_t *)arg)->timestamp = 0; /* no timestamp */
((sensor_data_t *)arg)->axis.x = (int32_t)data.x; /* copy values */
((sensor_data_t *)arg)->axis.y = (int32_t)data.y;
((sensor_data_t *)arg)->axis.z = (int32_t)data.z;
}
/* Check range of readings */
if ((HMC5883L_TEST_X_MIN > data.x) ||
(data.x > HMC5883L_TEST_X_MAX) ||
(HMC5883L_TEST_Y_MIN > data.y) ||
(data.y > HMC5883L_TEST_Y_MAX) ||
(HMC5883L_TEST_Z_MIN > data.z) ||
(data.z > HMC5883L_TEST_Z_MAX)) {
*test_code = SENSOR_TEST_ERR_RANGE;
status = false; /* value out of range */
}
}
/* Restore registers */
count = sensor_bus_write(hal, HMC5883L_CONFIG_REG_A,
(uint8_t *)®_set, sizeof(reg_set));
if (count != sizeof(reg_set)) {
*test_code = SENSOR_TEST_ERR_WRITE;
status = false;
}
return status;
}
/**
* @brief Honeywell HMC5883L magnetometer driver initialization.
*
* This is the main initialization function for the HMC5883L device.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the call succeeds, else false is returned.
*/
bool hmc5883l_init(sensor_t *sensor, int resvd)
{
bool status = false;
sensor_hal_t *const hal = sensor->hal;
sensor_data_t data;
if (hmc5883l_device_id(hal,
&data) && (HMC5883L_DEV_ID == data.device.id)) {
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t hmc5883l_device = {
.func.read = hmc5883l_read,
.func.ioctl = hmc5883l_ioctl,
.func.selftest = hmc5883l_selftest,
.func.calibrate = hmc5883l_calibrate,
.caps.feature = SENSOR_CAPS_3_AXIS |
SENSOR_CAPS_SELFTEST,
.caps.vendor = SENSOR_VENDOR_HONEYWELL,
.caps.units = SENSOR_UNITS_tesla,
.caps.scale = SENSOR_SCALE_micro,
.caps.name
= "HMC5883L triaxial compass/magnetometer"
};
sensor->drv = &hmc5883l_device;
/* Enable sensor in continuous measurement mode */
sensor_bus_put(hal, HMC5883L_MODE_REG, MODE_CONTIN);
/* Set the driver (device) default range, bandwidth, and
* resolution.
*/
sensor_bus_put(hal, HMC5883L_CONFIG_REG_A,
(DATA_RATE_15HZ | MEAS_MODE_NORM));
hal->range = range_table[index_130uT].range_units;
hal->bandwidth = band_table[index_15hz].bandwidth_Hz;
hal->resolution = HMC5883L_DATA_RESOLUTION;
hmc5883l_set_range(hal, index_130uT);
hmc5883l_set_bandwidth(hal, index_15hz);
/* Initialize calibration data (offsets & sensitivity) from
* NVRAM.
*/
nvram_read(0, &cal_data, sizeof(cal_data));
/* Clear all calibration values if any are invalid. */
#if defined(MATH_FIXED_POINT)
if ((cal_data.x == -1) || (cal_data.y == -1) || (cal_data.z == -1)) {
#else
if (isnan(cal_data.offsets.x) || isnan(cal_data.offsets.y) ||
isnan(cal_data.offsets.z)) {
#endif
memset(&cal_data, 0x00, sizeof(cal_data));
}
status = (STATUS_OK == hal->bus.status);
}
return status;
}
/**
* @brief Read magnetometer device ID
*
* This function reads the magnetometer hardware identification registers
* and returns these values to the addresses specified in the function
* parameters.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data Address of sensor_data_t structure to return values.
* @return bool true if the call succeeds, else false is returned.
*/
static bool hmc5883l_device_id(sensor_hal_t *hal, sensor_data_t *data)
{
uint32_t id_reg = 0;
size_t const id_len = 3;
size_t const count = sensor_bus_read
(hal, HMC5883L_ID_REG_A, &id_reg, id_len);
data->device.id = cpu_to_be32(id_reg) >> 8;
data->device.version = 0;
return (count == id_len);
}
/**
* @brief Read magnetometer vector data.
*
* This function obtains magnetometer data for all three axes of the Honeywell
* device. The data is read from six device registers using a multi-byte
* bus transfer. The 13-bit raw results are then assembled from the two
* register values for each axis, including extending the sign bit, to
* form a signed 16-bit value.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data The address of a vector storing sensor axis data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool hmc5883l_get_data(sensor_hal_t *hal, vector3_t *data)
{
int16_t axis_data[3]; /* input data values: X,Y,Z */
/* Ensure that single-measurement mode is set and that bit MR7 is
* cleared. Bit MR7 is set internally after each single-measurement
* operation.
*/
sensor_bus_put(hal, HMC5883L_MODE_REG, MODE_SINGLE);
do {
/* Wait for the data ready signal.
*
* Instead of polling DRDY, as is done below, the device can be
* placed in continuous measurement mode and this signal can be
* configured to trigger an asynchronous interrupt.
*/
} while (gpio_pin_is_low(hal->mcu_sigint /* DRDY input */));
/* Get measurement data (consecutive big endian byte pairs: x, y, z). */
hmc588l_axis_t input[3];
size_t const count = sensor_bus_read
(hal, HMC5883L_MAG_X_HI, (uint8_t *)input,
sizeof(input));
if (count != sizeof(input)) {
return false;
}
/* Note: Device data register order = x, z, y !! */
axis_data[0] = ((int16_t)((input[0].msb << 8) + input[0].lsb));
axis_data[2] = ((int16_t)((input[1].msb << 8) + input[1].lsb));
axis_data[1] = ((int16_t)((input[2].msb << 8) + input[2].lsb));
if ((axis_data[0] == DATA_OUTPUT_OVERFLOW) ||
(axis_data[1] == DATA_OUTPUT_OVERFLOW) ||
(axis_data[2] == DATA_OUTPUT_OVERFLOW)) {
return false;
}
/*
* Convert signed integer values to a real data type for calculations.
* Use device orientation configuration to assign axes.
*/
const sensor_orient_t *const orient = &(hal->orientation);
data->x = orient->x.sign * axis_data[orient->x.axis];
data->y = orient->y.sign * axis_data[orient->y.axis];
data->z = orient->z.sign * axis_data[orient->z.axis];
return true;
}
/**
* @brief InvenSense ITG-3200 gyroscope driver initialization.
*
* This is the main initialization function for the ITG-3200 device.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the sensor is ready for use, else false.
*/
bool itg3200_init(sensor_t *sensor, int resvd)
{
sensor_hal_t *const hal = sensor->hal;
bool status = false;
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t itg3200_device = {
.func.read = itg3200_read,
.func.ioctl = itg3200_ioctl,
.func.event = itg3200_event,
.caps.feature = SENSOR_CAPS_3_AXIS |
SENSOR_CAPS_AUX_TEMP,
.caps.vendor = SENSOR_VENDOR_INVENSENSE,
.caps.band_table = band_table,
.caps.band_count = ARRAYSIZE(band_table),
.caps.units = SENSOR_UNITS_deg_per_sec,
.caps.name = "InvenSense ITG-3200 3-axis angular rate sensor"
};
sensor->drv = &itg3200_device;
/* Set the driver default, range, bandwidth, resolution, etc. */
hal->range = ITG3200_FS_RANGE;
hal->bandwidth = 256; /* Hertz */
hal->sample_rate = 100; /* Hertz */
hal->resolution = ITG3200_RESOLUTION;
hal->burst_addr = ITG3200_INT_STATUS;
/* Apply default device settings & connect an interrupt handler. */
if (itg3200_default_init(hal) && sensor_irq_connect
(hal->mcu_sigint, itg3200_isr, hal)) {
status = true;
}
return status;
}
/**
* @brief Invensense ITG3200 driver interrupt service routine.
*
* This is the interrupt service routine for enabled ITG3200 interrupt events.
* Only the new data ("raw data ready") interrupt is supported.
*
* @param arg The address of the driver sensor_hal_t descriptor.
* @return Nothing.
*/
static void itg3200_isr(volatile void *arg)
{
sensor_hal_t *const hal = (sensor_hal_t *)arg;
int16_t input[3];
hal->bus.no_wait = true;
itg3200_event_t regs;
sensor_bus_read(hal, hal->burst_addr, ®s, sizeof(regs));
hal->bus.no_wait = false;
if (STATUS_OK == hal->bus.status) {
/* Assume new data to avoid an apparent race condition. The
* interrupt status register sometimes has the new data flag
* cleared before it is read above. If this happens, the sensor will
* not generate any further new data interrupts until the device is
* independently accessed.
*/
static sensor_event_data_t event_data = {.data.scaled = true};
event_data.data.timestamp = sensor_timestamp();
event_data.event = SENSOR_EVENT_NEW_DATA;
input[0] = (regs.x_hi << 8) | regs.x_lo;
input[1] = (regs.y_hi << 8) | regs.y_lo;
input[2] = (regs.z_hi << 8) | regs.z_lo;
event_data.data.axis.x
= hal->orientation.x.sign *
input[hal->orientation.x.axis];
event_data.data.axis.y
= hal->orientation.y.sign *
input[hal->orientation.y.axis];
event_data.data.axis.z
= hal->orientation.z.sign *
input[hal->orientation.z.axis];
event_data.data.axis.x /= SCALE_LSB_PER_DPS;
event_data.data.axis.y /= SCALE_LSB_PER_DPS;
event_data.data.axis.z /= SCALE_LSB_PER_DPS;
/* Call application-supplied handler routine */
(event_cb.handler)(&event_data, event_cb.arg);
}
}
/**
* @brief Read gyroscope angular rate axis data.
*
* This function reads angular rate data for all 3 axes of an ITG-3200
* gyroscope.
*
* @param sensor Address of an initialized sensor device descriptor.
* @param data The address of a vector storing sensor axis data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool itg3200_get_rotation(sensor_hal_t *hal, sensor_data_t *data)
{
struct {
uint8_t msb;
uint8_t lsb;
} input[3];
size_t const count = sensor_bus_read(hal, ITG3200_GYRO_XOUT_H,
input, sizeof(input));
/* Copy data values based on device orientation and signs. */
data->axis.x = hal->orientation.x.sign *
((int16_t)((input[hal->orientation.x.axis].msb << 8) |
input[hal->orientation.x.axis].lsb));
data->axis.y = hal->orientation.y.sign *
((int16_t)((input[hal->orientation.y.axis].msb << 8) |
input[hal->orientation.y.axis].lsb));
data->axis.z = hal->orientation.z.sign *
((int16_t)((input[hal->orientation.z.axis].msb << 8) |
input[hal->orientation.z.axis].lsb));
/* Convert raw sensor samples to engineering units if requested. */
if (data->scaled) {
data->axis.x /= SCALE_LSB_PER_DPS;
data->axis.y /= SCALE_LSB_PER_DPS;
data->axis.z /= SCALE_LSB_PER_DPS;
}
return (count == sizeof(input));
}
/**
* @brief Read gyroscope integrated temperature sensor data
*
* This function reads ITG-3200 integrated temperature sensor data.
* The temperature is always returned in scaled engineering units
* (degrees Celsius).
*
* @param sensor Address of an initialized sensor device descriptor.
* @param data The address where temperature samples are returned.
* @return bool true if the call succeeds, else false is returned.
*/
static bool itg3200_get_temperature(sensor_hal_t *hal, sensor_data_t *data)
{
int16_t temp_data;
size_t const count = sensor_bus_read(hal, ITG3200_TEMP_OUT_H,
&temp_data, sizeof(temp_data));
data->temperature.value = (int16_t)be16_to_cpu(temp_data);
if (data->scaled) {
data->temperature.value -= TEMP_OFFSET;
data->temperature.value /= TEMP_COUNTS_PER_DEG_C;
data->temperature.value += TEMP_REF_DEG;
}
return (count == sizeof(temp_data));
}
/**
* @brief InvenSense IMU-3000 motion processor driver initialization.
*
* This is the main initialization function for the IMU-3000 device.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the sensor is ready for use, else false.
*/
bool imu3000_init(sensor_t *sensor, int resvd)
{
sensor_hal_t *const hal = sensor->hal;
sensor_hal_t *const aux = (sensor_hal_t *)sensor->aux;
bool status = false;
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t imu3000_device = {
.func.read = imu3000_read,
.func.ioctl = imu3000_ioctl,
.func.event = imu3000_event,
.caps.feature = SENSOR_CAPS_3_AXIS |
SENSOR_CAPS_AUX_TEMP |
SENSOR_CAPS_AUX_ACCEL,
.caps.vendor = SENSOR_VENDOR_INVENSENSE,
.caps.range_table = range_table,
.caps.band_table = band_table,
.caps.range_count = ARRAYSIZE(range_table),
.caps.band_count = ARRAYSIZE(band_table),
.caps.units = SENSOR_UNITS_deg_per_sec,
.caps.name = "InvenSense IMU-3000 Motion Processing Unit"
};
sensor->drv = &imu3000_device;
/* Set the driver default, range, bandwidth, resolution, etc. */
hal->range = range_table [sensor_fs_sel].range_units;
hal->bandwidth = band_table [sensor_dlpf_cfg].bandwidth_Hz;
hal->sample_rate = 100;
hal->resolution = IMU3000_RESOLUTION;
/* Apply default device settings */
if (imu3000_default_init(hal, aux) != true) {
return status; /* return error */
}
/* Set start addr for burst read (used during interrupt). */
hal->burst_addr = IMU3000_INT_STATUS;
/* Connect interrupt event handler. */
if (sensor_irq_connect(hal->mcu_sigint, imu3000_isr, hal)) {
status = true;
}
return status;
}
/**
* @brief Invensense IMU3000 driver interrupt service routine.
*
* This is the interrupt service routine for enabled IMU3000 interrupt events.
* Only the new data ("raw data ready") interrupt is supported.
*
* @param arg The address of the driver sensor_hal_t descriptor.
* @return Nothing.
*/
static void imu3000_isr(volatile void *arg)
{
sensor_hal_t *const hal = (sensor_hal_t *)arg;
int16_t input[3];
hal->bus.no_wait = true;
imu3000_event_t regs;
sensor_bus_read(hal, hal->burst_addr, ®s, sizeof(regs));
hal->bus.no_wait = false;
if (STATUS_OK == hal->bus.status) {
/* Assume new data to avoid an apparent race condition. The
* interupt status register sometimes has the new data flag
* cleared before it is read above. If this happens, the sensor will
* not generate any further new data interrupts until the device is
* independently accessed.
*/
static sensor_event_data_t event_data = {.data.scaled = true};
event_data.data.timestamp = sensor_timestamp();
event_data.event = SENSOR_EVENT_NEW_DATA;
input[0] = (regs.x_hi << 8) | regs.x_lo;
input[1] = (regs.y_hi << 8) | regs.y_lo;
input[2] = (regs.z_hi << 8) | regs.z_lo;
event_data.data.axis.x
= hal->orientation.x.sign *
input[hal->orientation.x.axis];
event_data.data.axis.y
= hal->orientation.y.sign *
input[hal->orientation.y.axis];
event_data.data.axis.z
= hal->orientation.z.sign *
input[hal->orientation.z.axis];
const int32_t scaling
= (int32_t)scale_lsb_per_dps[sensor_fs_sel];
event_data.data.axis.x /= scaling;
event_data.data.axis.y /= scaling;
event_data.data.axis.z /= scaling;
/* Call application-supplied handler routine */
(event_cb.handler)(&event_data, event_cb.arg);
}
}
/**
* @brief Enable/disable IMU3000 sensor event
*
* @param sensor Address of an initialized sensor device descriptor
* @param callback Application-defined event callback handler descriptor
* @param enable Enable flag: true = enable event, false = disable event
* @return bool true if the call succeeds, else false is returned
*/
static bool imu3000_event(sensor_t *sensor, sensor_event_t sensor_event,
sensor_event_callback_t *callback, bool enable)
{
sensor_hal_t *const hal = sensor->hal;
bool status = false;
if (sensor_event & SENSOR_EVENT_NEW_DATA) {
if (callback) {
event_cb = *callback;
}
if (enable) {
/* Enable new data int, latch until any reg is read,
* active high */
sensor_bus_put(hal, IMU3000_INT_CFG,
INT_CFG_RAW_RDY_EN |
INT_CFG_ANYRD_2CLEAR);
} else {
/* Disable new data int */
sensor_reg_bitclear(hal, IMU3000_INT_CFG,
INT_CFG_LATCH_INT_EN);
}
status = true;
}
return status;
}
/**
* @brief Bosch BMA250 accelerometer driver initialization.
*
* This is the main initialization function for the BMA250 device.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the call succeeds, else false is returned.
*/
bool bma250_init(sensor_t *sensor, int resvd)
{
bool status = false;
sensor_hal_t *const hal = sensor->hal;
if (BMA250_ID_VAL == sensor_bus_get(hal, BMA250_CHIP_ID)) {
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t bma250_device = {
/* Bosch BMA250 Driver Entry Points & Capabilities */
.func.read = bma250_read,
.func.ioctl = bma250_ioctl,
.func.selftest = bma250_selftest,
.func.event = bma250_event,
.caps.feature = SENSOR_CAPS_3_AXIS |
SENSOR_CAPS_SELFTEST |
SENSOR_CAPS_HI_G_EVENT |
SENSOR_CAPS_LO_G_EVENT |
SENSOR_CAPS_TAP_EVENT |
SENSOR_CAPS_TILT_EVENT |
SENSOR_CAPS_AUX_TEMP,
.caps.vendor = SENSOR_VENDOR_BOSCH,
.caps.range_table = range_table,
.caps.band_table = band_table,
.caps.range_count = ARRAYSIZE(range_table),
.caps.band_count = ARRAYSIZE(band_table),
.caps.units = SENSOR_UNITS_g0,
.caps.scale = SENSOR_SCALE_milli,
.caps.name = "BMA250 Digital, triaxial acceleration sensor"
};
sensor->drv = &bma250_device;
/* Set the driver (device) default range, bandwidth, &
* resolution.
*
* \internal
* Per the BMA250 Datasheet the default range and bandwidth
* after device reset are +/- 2g and 1kHz respectively.
*/
bma250_set_state(sensor, SENSOR_STATE_RESET);
hal->range = 2000;
hal->bandwidth = 1000;
hal->resolution = BMA250_DATA_RESOLUTION;
hal->burst_addr = BMA250_NEW_DATA_X;
/* Install an interrupt handler. */
if ((STATUS_OK == hal->bus.status) &&
sensor_irq_connect(hal->mcu_sigint, bma250_isr,
hal)) {
status = true;
}
}
return status;
}
/**
* @brief Bosch BMA250 driver interrupt service routine.
*
* This is the common interrupt service routine for all enabled BMA250 interrupt
* events. Five different types of interrupts can be programmed. All interrupt
* criteria are combined and drive the interrupt pad with a Boolean \c OR
* condition.
*
* Interrupt criteria are tested against values from the BMA250 digital filter
* output. All thresholds are scaled using the current device range. Timings
* for high and low acceleration are absolute values (1 LSB of HG_dur and LG_dur
* registers corresponds to 1 millisecond, +/- 10%). Timing for the any-motion
* interrupt and alert detection are proportional to the bandwidth setting.
*
* This routine handles interrupts generated when low-g, high-g, any-motion,
* alert, and new data criteria are satisfied and the corresponding event
* notification is enabled in the device.
*
* The BMA250 device does not provide any way to definitively identify an
* any-motion interrupt once it has occurred. So, if a handler has been
* installed for that event, it will always be called by this routine,
* and the SENSOR_EVENT_MOTION indicator will be set in the event type field.
*
* @param arg The address of the driver sensor_hal_t descriptor.
* @return Nothing.
*/
static void bma250_isr(volatile void *arg)
{
sensor_hal_t *const hal = (sensor_hal_t *)arg;
hal->bus.no_wait = true;
sensor_bus_read(hal, hal->burst_addr, &event_regs, sizeof(event_regs));
hal->bus.no_wait = false;
if (STATUS_OK == hal->bus.status) {
sensor_event_data_t event_data = {.data.scaled = true};
event_data.data.timestamp = sensor_timestamp();
event_data.event = SENSOR_EVENT_UNKNOWN;
format_axis_data(hal, event_regs.acc, &(event_data.data));
if (event_regs.status_field.data_int) {
event_data.event |= SENSOR_EVENT_NEW_DATA;
(event_cb[0].handler)(&event_data, event_cb[0].arg);
}
if (event_regs.status_field.slope_int) {
event_data.event |= SENSOR_EVENT_MOTION;
(event_cb[1].handler)(&event_data, event_cb[1].arg);
}
if (event_regs.status_field.low_int) {
event_data.event |= SENSOR_EVENT_LOW_G;
(event_cb[2].handler)(&event_data, event_cb[2].arg);
}
if (event_regs.status_field.high_int) {
event_data.event |= SENSOR_EVENT_HIGH_G;
(event_cb[3].handler)(&event_data, event_cb[3].arg);
}
if (event_regs.status_field.s_tap_int) {
event_data.event |= SENSOR_EVENT_S_TAP;
(event_cb[4].handler)(&event_data, event_cb[4].arg);
}
if (event_regs.status_field.d_tap_int) {
event_data.event |= SENSOR_EVENT_D_TAP;
(event_cb[4].handler)(&event_data, event_cb[4].arg);
}
}
}
/**
* @brief Bosch BMA150 accelerometer driver initialization.
*
* This is the main initialization function for the BMA150 device.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the call succeeds, else false is returned.
*/
bool bma150_init(sensor_t *sensor, int resvd)
{
bool status = false;
sensor_hal_t *const hal = sensor->hal;
if (BMA150_ID_VAL == sensor_bus_get(hal, BMA150_CHIP_ID)) {
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t bma150_device = {
.func.read = bma150_read,
.func.ioctl = bma150_ioctl,
.func.selftest = bma150_selftest,
.func.event = bma150_event,
.caps.feature = SENSOR_CAPS_3_AXIS |
SENSOR_CAPS_SELFTEST |
SENSOR_CAPS_HI_G_EVENT |
SENSOR_CAPS_LO_G_EVENT |
SENSOR_CAPS_AUX_TEMP,
.caps.vendor = SENSOR_VENDOR_BOSCH,
.caps.range_table = range_table,
.caps.band_table = band_table,
.caps.range_count = ARRAYSIZE(range_table),
.caps.band_count = ARRAYSIZE(band_table),
.caps.units = SENSOR_UNITS_g0,
.caps.scale = SENSOR_SCALE_milli,
.caps.name
= "BMA150 Digital, triaxial acceleration sensor"
};
sensor->drv = &bma150_device;
/* Set the driver (device) default range, bandwidth, &
* resolution.
*
* Per the BMA150 Datasheet the default range and bandwidth
* after device reset are +/- 4g and 1500 Hz. respectively. So,
* if that's the desired initialization state for this device,
*then
* don't use software to set these values in the driver _init()
* routine.
*/
hal->range = 4000;
hal->bandwidth = 1500;
hal->resolution = BMA150_DATA_RESOLUTION;
/* Set the device burst read base address. */
hal->burst_addr = BMA150_ACC_X_LSB;
/* Initialize the control registers. */
sensor_bus_put(hal, BMA150_CTRL1, 0);
sensor_bus_put(hal, BMA150_CTRL2, 0);
sensor_bus_put(hal, BMA150_CTRL5, 0);
/* Set the interrupt handler. */
if ((STATUS_OK == hal->bus.status) &&
sensor_irq_connect(hal->mcu_sigint, bma150_isr, hal)) {
status = true;
}
}
return status;
}
/**
* @brief Bosch BMA150 driver interrupt service routine.
*
* This is the common interrupt service routine for all enabled BMA150 interrupt
* events. Five different types of interrupts can be programmed. All interrupt
* criteria are combined and drive the interrupt pad with a Boolean \c OR
* condition.
*
* Interrupt events may be set to an inconsistent state by device EEPROM
* changes. BMA150 interrupts should be disabled at the host microcontroller
* when device EEPROM writes are performed.
*
* Interrupt criteria are tested against values from the BMA150 digital filter
* output. All thresholds are scaled using the current device range. Timings
* for high and low acceleration are absolute values (1 LSB of HG_dur and LG_dur
* registers corresponds to 1 millisecond, +/- 10%). Timing for the any-motion
* interrupt and alert detection are proportional to the bandwidth setting.
*
* This routine handles interrupts generated when low-g, high-g, any-motion,
* alert, and new data criteria are satisfied and the corresponding event
* notification is enabled in the device.
*
* The BMA150 device does not provide any way to definitively identify an
* any-motion interrupt once it has occurred. So, if a handler has been
* installed for that event, it will always be called by this routine,
* and the SENSOR_EVENT_MOTION indicator will be set in the event type field.
*
* @param arg The address of the driver sensor_hal_t descriptor.
* @return Nothing.
*/
static void bma150_isr(volatile void *arg)
{
sensor_hal_t *const hal = (sensor_hal_t *)arg;
hal->bus.no_wait = true;
sensor_bus_read(hal, hal->burst_addr, &event_regs, sizeof(event_regs));
hal->bus.no_wait = false;
if (STATUS_OK == hal->bus.status) {
static sensor_event_data_t event_data = {.data.scaled = true};
event_data.data.timestamp = sensor_timestamp();
event_data.event = SENSOR_EVENT_MOTION;
/*
* Test the "new data" bit in the sample outputs prior to
* converting axis data to sign extended 10-bit values and
* buffering the result.
*/
bool const new_data = event_regs.acc[2].field.new_data;
format_axis_data(hal, event_regs.acc, &(event_data.data));
if (event_regs.status_field.LG_issued) {
event_data.event = SENSOR_EVENT_LOW_G;
(event_cb[2].handler)(&event_data, event_cb[2].arg);
} else if (event_regs.status_field.HG_issued) {
event_data.event = SENSOR_EVENT_HIGH_G;
(event_cb[3].handler)(&event_data, event_cb[3].arg);
} else if (new_data) {
event_data.event = SENSOR_EVENT_NEW_DATA;
(event_cb[0].handler)(&event_data, event_cb[0].arg);
} else {
/* Assume the any-motion event triggered the interrupt. */
(event_cb[1].handler)(&event_data, event_cb[1].arg);
}
}
}
/**
* @brief Read BMA150 device ID and revision numbers.
*
* This function reads the accelerometer hardware identification registers
* and returns these values in the specified data structure.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data Address of sensor_data_t structure to return values.
* @return bool true if the call succeeds, else false is returned.
*/
static bool bma150_device_id(sensor_hal_t *hal, sensor_data_t *data)
{
data->device.id = sensor_bus_get(hal, BMA150_CHIP_ID);
data->device.version = sensor_bus_get(hal, BMA150_CHIP_VERSION);
return true;
}
/**
* @brief Osram SFH7770 light & proximity sensor driver initialization.
*
* This is the main initialization function for the SFH7770 device.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the call succeeds, else false is returned.
*/
bool sfh7770_init(sensor_t *sensor, int resvd)
{
bool status = false;
sensor_hal_t *const hal = sensor->hal;
/* Proximity threshold values from NVRAM */
struct {
uint8_t ps_thr_led1;
uint8_t ps_thr_led2;
uint8_t ps_thr_led3;
} prox_thresholds;
/* Read and check part ID register */
uint8_t part_id = sensor_bus_get(hal, SFH7770_PART_ID);
if (part_id == (SFH7770_PART_ID_VAL | SFH7770_PART_REV_VAL)) {
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t sfh7770_device = {
.func.read = sfh7770_read,
.func.ioctl = sfh7770_ioctl,
.func.calibrate = sfh7770_calibrate,
.func.event = sfh7770_event,
#if 0
.caps.feature = XXX
#endif
.caps.vendor = SENSOR_VENDOR_OSRAM,
.caps.units = SENSOR_UNITS_lux,
.caps.scale = SENSOR_SCALE_one,
.caps.name = "SFH7770 Ambient Light & Proximity Sensor"
};
sensor->drv = &sfh7770_device;
hal->resolution = SFH7770_DATA_RESOLUTION;
/* Set the device burst read starting register address. */
hal->burst_addr = SFH7770_ALS_DATA_LSB;
/* Reset device during first init call */
if (!sfh7770_initialized) {
sensor_bus_put(hal, SFH7770_ALS_CONTROL,
ALS_CONTROL_SW_RESET);
}
/* Init light sensor functions if specified */
if (sensor->type & SENSOR_TYPE_LIGHT) {
/* Set light sensor mode & interval */
sensor_bus_put(hal, SFH7770_ALS_CONTROL,
ALS_MODE_FREE_RUNNING);
sensor_bus_put(hal, SFH7770_ALS_INTERVAL,
ALS_INTERVAL_500MS);
}
/* Init proximity sensor functions if specified */
if (sensor->type & SENSOR_TYPE_PROXIMITY) {
/* Set proximity sensor mode & interval */
sensor_bus_put(hal, SFH7770_PS_CONTROL,
PS_MODE_FREE_RUNNING);
sensor_bus_put(hal, SFH7770_PS_INTERVAL,
PS_INTERVAL_100MS);
/* Specify which LEDs are active */
uint8_t const active_leds = LED_ACTIVE_ALL;
/* XXX one of: */
/* XXX LED_ACTIVE_1 - LED1 only (default) */
/* XXX LED_ACTIVE_1_2 - LED1 & LED2 */
/* XXX LED_ACTIVE_1_3 - LED1 & LED3 */
/* XXX LED_ACTIVE_ALL - all LEDs */
/* Set LED current levels */
uint8_t const led1_curr = I_LED_50MA; /* LED1 current */
uint8_t const led2_curr = I_LED_50MA; /* LED2 current */
uint8_t const led3_curr = I_LED_50MA; /* LED3 current */
sensor_bus_put(hal, SFH7770_I_LED_1_2,
(active_leds |
(led2_curr <<
I_LED2_SHIFT) | led1_curr));
sensor_bus_put(hal, SFH7770_I_LED_3, led3_curr);
/* Apply stored proximity thresholds from nvram */
nvram_read(SFH7770_NVRAM_OFFSET, &prox_thresholds,
sizeof(prox_thresholds));
sensor_bus_write(hal, (SFH7770_PS_THR_LED1),
&prox_thresholds,
sizeof(prox_thresholds));
}
if (!sfh7770_initialized) {
/* Set interrupt output polarity & mode(active-low,
* latched).
*/
sensor_bus_put(hal, SFH7770_INT_SET, 0);
/* Set up interrupt handler */
if (STATUS_OK == hal->bus.status) {
sensor_irq_connect(hal->mcu_sigint, sfh7770_isr, hal);
}
}
sfh7770_initialized = true;
status = true;
}
return status;
}
/**
* @brief Osram SFH7770 driver interrupt service routine.
*
* This is the common interrupt service routine for all enabled SFH7770
* interrupt events. Three different types of interrupts can be programmed:
* high light level, low light level, and near proximity. All share the
* same interrupt pin and therefore the same ISR entry.
*
* @param arg The address of the driver sensor_hal_t descriptor.
* @return Nothing.
*/
static void sfh7770_isr(volatile void *arg)
{
sensor_hal_t *const hal = (sensor_hal_t *)arg;
struct { /* Interrupt register data */
uint8_t als_data_lsb; /* light meas data - least signif byte */
uint8_t als_data_msb; /* light meas data - most signif byte */
uint8_t als_ps_status; /* light & prox sensor status */
uint8_t ps_data_led1; /* proximity meas data - LED 1 */
uint8_t ps_data_led2; /* proximity meas data - LED 2 */
uint8_t ps_data_led3; /* proximity meas data - LED 3 */
uint8_t int_set; /* interrupt status */
}
regs;
/* Do not wait for a busy bus when reading data. */
hal->bus.no_wait = true;
sensor_bus_read(hal, hal->burst_addr, (uint8_t *)®s, sizeof(regs));
hal->bus.no_wait = false;
if (STATUS_OK == hal->bus.status) {
static sensor_event_data_t event_data = {.data.scaled = true};
event_data.data.timestamp = sensor_timestamp();
event_data.event = SENSOR_EVENT_UNKNOWN;
/*
* Determine the interrupt source then combine measurement
* register values into a single 16-bit measurement value.
*/
uint8_t const int_source = (regs.int_set & INT_SOURCE_MASK);
uint16_t const light_level
= ((regs.als_data_msb << 8) | regs.als_data_lsb);
switch (int_source) {
case INT_SOURCE_ALS:
/* Determine if low or high light interrupt */
if (light_level >= high_light_threshold) {
event_data.event = SENSOR_EVENT_HIGH_LIGHT;
event_data.data.light.value = light_level;
(event_cb[2].handler)(&event_data,
event_cb[2].arg);
} else if (light_level <= low_light_threshold) {
event_data.event = SENSOR_EVENT_LOW_LIGHT;
event_data.data.light.value = light_level;
(event_cb[1].handler)(&event_data,
event_cb[1].arg);
}
return;
case INT_SOURCE_LED1:
case INT_SOURCE_LED2:
case INT_SOURCE_LED3:
event_data.event = SENSOR_EVENT_NEAR_PROXIMITY;
if (int_source == INT_SOURCE_LED1) {
event_data.channel = 1;
} else if (int_source == INT_SOURCE_LED2) {
event_data.channel = 2;
} else { /* INT_SOURCE_LED3 */
event_data.channel = 3;
}
/* Use internal device threshold status to
* determine scaled values.
*/
event_data.data.proximity.value[0]
= (regs.als_ps_status & PS_LED1_THRESH) ?
PROXIMITY_NEAR : PROXIMITY_NONE;
event_data.data.proximity.value[1]
= (regs.als_ps_status & PS_LED2_THRESH) ?
PROXIMITY_NEAR : PROXIMITY_NONE;
event_data.data.proximity.value[2]
= (regs.als_ps_status & PS_LED3_THRESH) ?
PROXIMITY_NEAR : PROXIMITY_NONE;
(event_cb[0].handler)(&event_data, event_cb[0].arg);
}
}
}
/**
* @brief Read SFH7770 device ID and revision numbers.
*
* This function reads the sensor hardware identification registers
* and returns these values in the specified data structure.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data Address of sensor_data_t structure to return values.
* @return bool true if the call succeeds, else false is returned.
*/
static bool sfh7770_device_id(sensor_hal_t *hal, sensor_data_t *data)
{
uint8_t const part_id = sensor_bus_get(hal, SFH7770_PART_ID);
data->device.id = (uint32_t)(part_id & PART_ID_MASK) >> PART_ID_SHIFT;
data->device.version = (uint32_t)(part_id & PART_REV_MASK);
return true;
}
/**
* @brief AKM AK8975 magnetometer driver initialization.
*
* This is the main initialization function for the AK8975 device.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the call succeeds, else false is returned.
*/
bool ak8975_init(sensor_t *sensor, int resvd)
{
sensor_hal_t *const hal = sensor->hal;
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t ak8975_device = {
.func.read = ak8975_read,
.func.ioctl = ak8975_ioctl,
.func.selftest = ak8975_selftest,
.func.calibrate = ak8975_calibrate,
.caps.feature = SENSOR_CAPS_3_AXIS | SENSOR_CAPS_SELFTEST,
.caps.vendor = SENSOR_VENDOR_AKM,
.caps.units = SENSOR_UNITS_tesla,
.caps.scale = SENSOR_SCALE_micro,
.caps.name = "AK8975 Digital, triaxial compass/magnetometer"
};
sensor->drv = &ak8975_device;
/* Set the driver default, range, bandwidth, resolution, &c. */
hal->resolution = AK8975_DATA_RESOLUTION;
/* Initialize calibration data from NVRAM storage. */
nvram_read(0 /* + NVRAM_BASE_ADDR */, &calibrated_offsets,
sizeof(calibrated_offsets));
/* Clear all calibration values if any are invalid */
#if defined(MATH_FIXED_POINT)
if ((calibrated_offsets.x == -1) || (calibrated_offsets.y == -1) ||
(calibrated_offsets.z == -1)) {
#else
if (isnan(calibrated_offsets.x) || isnan(calibrated_offsets.y) ||
isnan(calibrated_offsets.z)) {
#endif
memset(&calibrated_offsets, 0x00, sizeof(calibrated_offsets));
}
return (AK8975_WIA_VALUE == sensor_bus_get(hal, AK8975_REG_WIA));
}
/**
* @brief Read magnetometer device ID
*
* This function reads the magnetometer hardware identification registers
* and returns these values to the addresses specified in the function
* parameters.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data Address of sensor_data_t structure to return values.
* @return bool true if the call succeeds, else false is returned.
*/
static bool ak8975_device_id(sensor_hal_t *hal, sensor_data_t *data)
{
data->device.id = (uint32_t)sensor_bus_get(hal, AK8975_REG_WIA);
data->device.version = 0;
return true;
}
/**
* @ brief Test for magnetic sensor overflow
*
* AK8975/B has the limitation for measurement range that the sum of the
* absolute values of each axis should be smaller than 2400 microtesla:
*
* |x| + |y| + |z| < 2400 uT
*
* When the magnetic field exceeds this limitation, data stored at measurement
* data are not correct. This is called "Magnetic Sensor Overflow".
*
* When magnetic sensor overflow occurs, HOFL but turns to "1". When the next
* measurement starts, it returns to "0".
*
* @return bool true if Magnetic Sensor Overflow criteria are satisfied.
*/
static inline bool ak8975_check_overflow(const vector3_t *data)
{
static scalar_t const MEASURE_MAX = (1 << (AK8975_DATA_RESOLUTION - 1)) /
MICRO_TESLA_PER_COUNT;
/* \todo Use register instead of calculating overflow?
* return (AK8975_HOFL & sensor_bus_get(hal, AK8975_REG_ST2));
*/
return ((abs(data->x) + abs(data->y) + abs(data->z)) >= MEASURE_MAX);
}
/**
* @brief Read magnetometer vector data.
*
* This function obtains magnetometer data for all three axes of the AKM
* device. The data is read from six device registers using a multi-byte
* bus transfer. The 13-bit raw results are then assembled from the two
* register values for each axis, including extending the sign bit, to
* form a signed 16-bit value.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data The address of a vector storing sensor axis data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool ak8975_get_data(sensor_hal_t *hal, uint8_t mode, vector3_t *data)
{
/* Put sensor in single measurement or self-test mode */
sensor_bus_put(hal, AK8975_REG_CNTL1, mode);
/* Wait for the data ready signal. */
do {
/* In single measurement or self-test mode, when measurement
* data is stored and ready to be read, DRDY bit in ST1 register
* turns to "1". This is called "Data Ready". DRDY pin is in the
* same state as DRDY bit.
*
* Instead of polling DRDY, as is done below, this signal out of
* the sensor and into the microcontroller can be used to
* trigger
* an asynchronous interrupt.
*/
} while (gpio_pin_is_low(hal->mcu_sigint /* DRDY input */));
/* Get measurement data (consecutive little endian byte pairs: x, y, z). */
struct {
uint8_t lsb;
uint8_t msb;
}
input[3];
size_t const count = sensor_bus_read(hal, AK8975_REG_HXL,
input, sizeof(input));
if (count != sizeof(input)) {
return false;
}
/* Convert to a real data (non-integer) type for calculations. */
data->x = hal->orientation.x.sign *
((int16_t)((input[hal->orientation.x.axis].msb << 8)
+ input[hal->orientation.x.axis].lsb));
data->y = hal->orientation.y.sign *
((int16_t)((input[hal->orientation.y.axis].msb << 8)
+ input[hal->orientation.y.axis].lsb));
data->z = hal->orientation.z.sign *
((int16_t)((input[hal->orientation.z.axis].msb << 8)
+ input[hal->orientation.z.axis].lsb));
return true;
}
