/**
* @brief Reads the STATUS register in the nRF24L01
* @param Device: The device to use
* @retval The status register
*/
uint8_t NRF24L01_GetStatus(NRF24L01_Device* Device)
{
SELECT_DEVICE(Device);
uint8_t status = SPI_WriteRead(Device->SPIDevice, NOP);
DESELECT_DEVICE(Device);
return status;
}
/**
* @brief
* @param Device: The device to use
* @retval None
*/
void NRF24L01_ReadRegister(NRF24L01_Device* Device, uint8_t Register, uint8_t* Buffer, uint8_t BufferSize)
{
SELECT_DEVICE(Device);
uint8_t status = SPI_WriteRead(Device->SPIDevice, R_REGISTER | Register);
/* R_REGISTER command only have 5 data bytes, datasheet page 51 */
if (BufferSize > 5)
BufferSize = 5;
/* LSByte first, datasheet page 50 */
for (int32_t i = BufferSize-1; i >= 0; i--)
{
Buffer[i] = SPI_WriteRead(Device->SPIDevice, NOP);
}
DESELECT_DEVICE(Device);
}
/**
* @brief
* @param Device: The device to use
* @retval None
*/
void NRF24L01_WriteRegister(NRF24L01_Device* Device, uint8_t Register, uint8_t* Buffer, uint8_t BufferSize)
{
DISABLE_DEVICE(Device); /* W_REGISTER is executable in power down or standby modes only */
SELECT_DEVICE(Device);
uint8_t status = SPI_WriteRead(Device->SPIDevice, W_REGISTER | Register);
/* W_REGISTER command only have 5 data bytes, datasheet page 51 */
if (BufferSize > 5)
BufferSize = 5;
/* LSByte first, datasheet page 50 */
for (int32_t i = BufferSize-1; i >= 0; i--)
{
/* Have to do WriteRead for some reason, otherwise one byte will be lost */
status = SPI_WriteRead(Device->SPIDevice, Buffer[i]);
}
DESELECT_DEVICE(Device);
ENABLE_DEVICE(Device);
}
bool HMC5883L::readRawAxis()
{
SELECT_DEVICE(*fd, HMC5883L_ADDRESS, deviceName);
// readBlockData(*fd, HMC5883L_DATA_REGISTER_BEGIN, 6, u8Buffer);
readReg8( *fd, 0x03, &iBuffer[ 0 ]);
readReg8( *fd, 0x04, &iBuffer[ 1 ]);
readReg8( *fd, 0x05, &iBuffer[ 2 ]);
readReg8( *fd, 0x06, &iBuffer[ 3 ]);
readReg8( *fd, 0x07, &iBuffer[ 4 ]);
readReg8( *fd, 0x08, &iBuffer[ 5 ]);
raw.XAxis = (int)(int16_t) ((iBuffer[0] << 8) | iBuffer[1]);
raw.ZAxis = (int)(int16_t) ((iBuffer[2] << 8) | iBuffer[3]);
raw.YAxis = (int)(int16_t) ((iBuffer[4] << 8) | iBuffer[5]);
return true;
}
/**
* @brief Get data from the RX buffer
* @param Device: The device to use
* @param Storage: Pointer to where the data should be stored
* @retval The amount of data received
*/
uint8_t NRF24L01_GetDataFromRxBuffer(NRF24L01_Device* Device, uint8_t* Buffer)
{
SELECT_DEVICE(Device);
SPI_WriteRead(Device->SPIDevice, R_RX_PAYLOAD);
uint8_t dataCount = SPI_WriteRead(Device->SPIDevice, NOP);
/*
* Only get the maximum amount of data which can be stored in one payload (MAX_DATA_COUNT)
* When dataCount was used as a limit we got a hardfault because there is no control if
* dataCount is > MAX_DATA_COUNT and the data where Buffer exist might become corrupt
*/
for (uint32_t i = 0; i < MAX_DATA_COUNT; i++)
{
Buffer[i] = SPI_WriteRead(Device->SPIDevice, NOP);
}
DESELECT_DEVICE(Device);
/*
* Flush just in case
*/
NRF24L01_FlushRxBuffer(Device);
return dataCount;
}
/**
* @brief Write data and send it to the address specified in TX_ADDR
* @param Device: The device to use
* @param Data: Pointer to where the data is stored
* @param ByteCount: The number of bytes in Data
* @retval None
*/
ErrorStatus NRF24L01_WritePayload(NRF24L01_Device* Device, uint8_t* Data, uint8_t DataCount)
{
/* You can only send the amount of data specified in MAX_DATA_COUNT */
if (DataCount > MAX_DATA_COUNT)
return ERROR;
/* Try to take the semaphore */
if (xSemaphoreTake(Device->xTxSemaphore, 100 / portTICK_PERIOD_MS) == pdTRUE)
{
/* Semaphore was taken so we can proceed with sending new data */
DISABLE_DEVICE(Device); /* Disable the device while sending data to TX buffer */
NRF24L01_PowerUpInTxMode(Device); /* Power up in TX mode */
NRF24L01_FlushTxBuffer(Device); /* Flush the TX buffer */
SELECT_DEVICE(Device);
SPI_WriteRead(Device->SPIDevice, W_TX_PAYLOAD); /* We want to write the TX payload */
SPI_WriteRead(Device->SPIDevice, DataCount); /* Write the data count */
uint32_t i;
for (i = 0; i < DataCount; i++)
{
SPI_WriteRead(Device->SPIDevice, Data[i]); /* Write the data */
}
for (i++; i <= MAX_DATA_COUNT; i++)
{
SPI_WriteRead(Device->SPIDevice, PAYLOAD_FILLER_DATA); /* Fill the rest of the payload with filler data */
}
DESELECT_DEVICE(Device);
ENABLE_DEVICE(Device);
return SUCCESS;
}
else
return ERROR;
}
/**
* @brief Flush the RX Buffer
* @param Device: The device to use
* @retval None
*/
void NRF24L01_FlushRxBuffer(NRF24L01_Device* Device)
{
SELECT_DEVICE(Device);
SPI_WriteRead(Device->SPIDevice, FLUSH_RX);
DESELECT_DEVICE(Device);
}
bool HMC5883L::setScale(float gauss)
{
__u8 regValue = 0x00;
SELECT_DEVICE(*fd, HMC5883L_ADDRESS, deviceName);
if(gauss == 0.88f)
{
regValue = 0x00;
scale = 0.73f;
}
else if(gauss == 1.3f)
{
regValue = 0x01;
scale = 0.92f;
}
else if(gauss == 1.9f)
{
regValue = 0x02;
scale = 1.22;
}
else if(gauss == 2.5f)
{
regValue = 0x03;
scale = 1.52f;
}
else if(gauss == 4.0f)
{
regValue = 0x04;
scale = 2.27f;
}
else if(gauss == 4.7f)
{
regValue = 0x05;
scale = 2.56f;
}
else if(gauss == 5.6f)
{
regValue = 0x06;
scale = 3.03f;
}
else if(gauss == 8.1f)
{
regValue = 0x07;
scale = 4.35f;
}
else {
printf("Switching to default scale values in %s\n", deviceName );
regValue = 0x01;
scale = 0.92f;
}
// Setting is in the top 3 bits of the register.
regValue = regValue << 5;
return writeReg8(*fd, HMC5883L_CONFIGURATION_REGISTER_B, regValue);
}
bool HMC5883L::setMeasurementMode(__u8 mode)
{
SELECT_DEVICE(*fd, HMC5883L_ADDRESS, deviceName);
return writeReg8(*fd, HMC5883L_MODE_REGISTER, mode);//writeByte(*fd, HMC5883L_MODE_REGISTER, mode);
}
