static bool lsm303_accel_init(void *data) { struct accelerometer_lsm303_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { lsm303_timer_resched(mdata, ACCEL_STEP_TIME, lsm303_accel_init); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, mdata->slave)) { SOL_WRN("Failed to set slave at address 0x%02x\n", mdata->slave); return false; } mdata->i2c_buffer[0] = LSM303_ACCEL_DEFAULT_MODE; mdata->i2c_pending = sol_i2c_write_register(mdata->i2c, LSM303_ACCEL_REG_CTRL_REG1_A, mdata->i2c_buffer, 1, lsm303_i2c_write_mode_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("Could not enable LSM303 accelerometer"); return false; }
static bool lsm303_init(void *data) { struct magnetometer_lsm303_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { timer_sched(mdata, MAG_STEP_TIME, lsm303_init); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, mdata->slave)) { SOL_WRN("Failed to set slave at address 0x%02x\n", mdata->slave); return false; } mdata->i2c_buffer[0] = LSM303_MAG_DEFAULT_MODE; mdata->i2c_pending = sol_i2c_write_register(mdata->i2c, LSM303_MAG_REG_MR_REG_M, mdata->i2c_buffer, 1, i2c_write_mode_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("Could not enable LSM303 magnetometer"); return false; }
static void i2c_read_data_cb(void *cb_data, struct sol_i2c *i2c, uint8_t reg, uint8_t *data, ssize_t status) { struct gyroscope_l3g4200d_data *mdata = cb_data; double scale = mdata->use_rad ? GYRO_SCALE_R_S * DEG_TO_RAD : GYRO_SCALE_R_S; uint8_t num_samples_available; struct sol_direction_vector val = { .min = -GYRO_RANGE, .max = GYRO_RANGE, .x = mdata->reading[0], .y = mdata->reading[1], .z = mdata->reading[2] }; mdata->i2c_pending = NULL; if (status < 0) { SOL_WRN("Failed to read L3G4200D gyro fifo status"); return; } num_samples_available = status / (sizeof(int16_t) * 3); /* raw readings, with only the sensor-provided filtering */ for (uint8_t i = 0; i < num_samples_available; i++) { mdata->reading[0] = mdata->gyro_data.buffer[i][0] * scale; mdata->reading[1] = -mdata->gyro_data.buffer[i][1] * scale; mdata->reading[2] = -mdata->gyro_data.buffer[i][2] * scale; } sol_flow_send_direction_vector_packet(mdata->node, SOL_FLOW_NODE_TYPE_GYROSCOPE_L3G4200D__OUT__OUT, &val); mdata->pending_ticks--; if (mdata->pending_ticks) gyro_tick_do(mdata); } static void i2c_read_fifo_status_cb(void *cb_data, struct sol_i2c *i2c, uint8_t reg, uint8_t *data, ssize_t status) { struct gyroscope_l3g4200d_data *mdata = cb_data; uint8_t num_samples_available; uint8_t fifo_status = mdata->common.buffer[0]; mdata->i2c_pending = NULL; if (status < 0) { SOL_WRN("Failed to read L3G4200D gyro fifo status"); return; } if (fifo_status & GYRO_REG_FIFO_SRC_OVERRUN) { num_samples_available = 32; } else if (fifo_status & GYRO_REG_FIFO_SRC_EMPTY) { num_samples_available = 0; } else { num_samples_available = fifo_status & GYRO_REG_FIFO_SRC_ENTRIES_MASK; } if (!num_samples_available) { SOL_INF("No samples available"); return; } SOL_DBG("%d samples available", num_samples_available); /* Read *all* the entries in one go, using AUTO_INCREMENT */ mdata->i2c_pending = sol_i2c_read_register(mdata->i2c, GYRO_REG_XL | GYRO_REG_AUTO_INCREMENT, (uint8_t *)&mdata->gyro_data.buffer[0][0], sizeof(mdata->gyro_data.buffer), i2c_read_data_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("Failed to read L3G4200D gyro samples"); } static bool gyro_tick_do(void *data) { struct gyroscope_l3g4200d_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_tick_do); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, GYRO_ADDRESS)) { SOL_WRN("Failed to set slave at address 0x%02x\n", GYRO_ADDRESS); return false; } mdata->common.buffer[0] = 0; mdata->i2c_pending = sol_i2c_read_register(mdata->i2c, GYRO_REG_FIFO_SRC, mdata->common.buffer, 1, i2c_read_fifo_status_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("Failed to read L3G4200D gyro fifo status"); return false; } static bool gyro_ready(void *data) { struct gyroscope_l3g4200d_data *mdata = data; mdata->ready = true; SOL_DBG("gyro is ready for reading"); if (mdata->pending_ticks) gyro_tick_do(mdata); return false; } static void i2c_write_fifo_ctl_cb(void *cb_data, struct sol_i2c *i2c, uint8_t reg, uint8_t *data, ssize_t status) { struct gyroscope_l3g4200d_data *mdata = cb_data; mdata->i2c_pending = NULL; if (status < 0) { SOL_WRN("could not set L3G4200D gyro sensor's stream mode"); return; } if (gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_ready) < 0) SOL_WRN("error in scheduling a L3G4200D gyro's init command"); } static bool gyro_init_stream(void *data) { struct gyroscope_l3g4200d_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_init_stream); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, GYRO_ADDRESS)) { SOL_WRN("Failed to set slave at address 0x%02x\n", GYRO_ADDRESS); return false; } /* enable FIFO in stream mode */ mdata->common.buffer[0] = GYRO_REG_FIFO_CTL_STREAM; mdata->i2c_pending = sol_i2c_write_register(mdata->i2c, GYRO_REG_FIFO_CTL, mdata->common.buffer, 1, i2c_write_fifo_ctl_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("could not set L3G4200D gyro sensor's stream mode"); return false; } static void i2c_write_ctrl_reg5_cb(void *cb_data, struct sol_i2c *i2c, uint8_t reg, uint8_t *data, ssize_t status) { struct gyroscope_l3g4200d_data *mdata = cb_data; mdata->i2c_pending = NULL; if (status < 0) { SOL_WRN("could not set L3G4200D gyro sensor's fifo mode"); return; } if (gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_init_stream) < 0) SOL_WRN("error in scheduling a L3G4200D gyro's init command"); } static bool gyro_init_fifo(void *data) { struct gyroscope_l3g4200d_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_init_fifo); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, GYRO_ADDRESS)) { SOL_WRN("Failed to set slave at address 0x%02x\n", GYRO_ADDRESS); return false; } mdata->common.buffer[0] = GYRO_REG_CTRL_REG5_FIFO_EN; mdata->i2c_pending = sol_i2c_write_register(mdata->i2c, GYRO_REG_CTRL_REG5, mdata->common.buffer, 1, i2c_write_ctrl_reg5_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("could not set L3G4200D gyro sensor's fifo mode"); return false; } static void i2c_write_ctrl_reg4_cb(void *cb_data, struct sol_i2c *i2c, uint8_t reg, uint8_t *data, ssize_t status) { struct gyroscope_l3g4200d_data *mdata = cb_data; mdata->i2c_pending = NULL; if (status < 0) { SOL_WRN("could not set L3G4200D gyro sensor's resolution"); return; } if (gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_init_fifo) < 0) SOL_WRN("error in scheduling a L3G4200D gyro's init command"); } static bool gyro_init_range(void *data) { struct gyroscope_l3g4200d_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_init_range); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, GYRO_ADDRESS)) { SOL_WRN("Failed to set slave at address 0x%02x\n", GYRO_ADDRESS); return false; } /* setup for 2000 degrees/sec */ mdata->common.buffer[0] = GYRO_REG_CTRL_REG4_FS_2000; mdata->i2c_pending = sol_i2c_write_register(mdata->i2c, GYRO_REG_CTRL_REG4, mdata->common.buffer, 1, i2c_write_ctrl_reg4_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("could not set L3G4200D gyro sensor's resolution"); return false; } static bool gyro_init_sampling(void *data); static void i2c_write_ctrl_reg1_cb(void *cb_data, struct sol_i2c *i2c, uint8_t reg, uint8_t *data, ssize_t status) { struct gyroscope_l3g4200d_data *mdata = cb_data; mdata->i2c_pending = NULL; if (status < 0) { SOL_WRN("could not set L3G4200D gyro sensor's sampling rate"); return; } mdata->init_sampling_cnt--; if (gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, mdata->init_sampling_cnt ? gyro_init_sampling : gyro_init_range) < 0) { SOL_WRN("error in scheduling a L3G4200D gyro's init command"); } } /* meant to run 3 times */ static bool gyro_init_sampling(void *data) { struct gyroscope_l3g4200d_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_init_sampling); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, GYRO_ADDRESS)) { SOL_WRN("Failed to set slave at address 0x%02x\n", GYRO_ADDRESS); return false; } /* setup for 800Hz sampling with 110Hz filter */ mdata->common.buffer[0] = GYRO_REG_CTRL_REG1_DRBW_800_110 | GYRO_REG_CTRL_REG1_PD | GYRO_REG_CTRL_REG1_XYZ_ENABLE; mdata->i2c_pending = sol_i2c_write_register(mdata->i2c, GYRO_REG_CTRL_REG1, mdata->common.buffer, 1, i2c_write_ctrl_reg1_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("could not set L3G4200D gyro sensor's sampling rate"); return false; } static void i2c_read_who_am_i_cb(void *cb_data, struct sol_i2c *i2c, uint8_t reg, uint8_t *data, ssize_t status) { struct gyroscope_l3g4200d_data *mdata = cb_data; mdata->i2c_pending = NULL; if (status < 0) { SOL_WRN("Failed to read i2c register"); return; } if (mdata->common.buffer[0] != GYRO_REG_WHO_AM_I_VALUE) { SOL_WRN("could not find L3G4200D gyro sensor"); return; } gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_init_sampling); } static bool gyro_init(void *data) { struct gyroscope_l3g4200d_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { gyro_timer_resched(mdata, GYRO_INIT_STEP_TIME, gyro_init); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, GYRO_ADDRESS)) { SOL_WRN("Failed to set slave at address 0x%02x\n", GYRO_ADDRESS); return false; } mdata->i2c_pending = sol_i2c_read_register(mdata->i2c, GYRO_REG_WHO_AM_I, mdata->common.buffer, 1, i2c_read_who_am_i_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("Failed to read i2c register"); return false; } static int gyroscope_l3g4200d_open(struct sol_flow_node *node, void *data, const struct sol_flow_node_options *options) { struct gyroscope_l3g4200d_data *mdata = data; const struct sol_flow_node_type_gyroscope_l3g4200d_options *opts = (const struct sol_flow_node_type_gyroscope_l3g4200d_options *)options; SOL_NULL_CHECK(options, -EINVAL); mdata->i2c = sol_i2c_open(opts->i2c_bus, I2C_SPEED); SOL_NULL_CHECK_MSG(mdata->i2c, -EIO, "Failed to open i2c bus"); mdata->use_rad = opts->output_radians; mdata->init_sampling_cnt = 3; mdata->node = node; gyro_init(mdata); return 0; } static void gyroscope_l3g4200d_close(struct sol_flow_node *node, void *data) { struct gyroscope_l3g4200d_data *mdata = data; if (mdata->i2c_pending) sol_i2c_pending_cancel(mdata->i2c, mdata->i2c_pending); if (mdata->i2c) sol_i2c_close(mdata->i2c); if (mdata->timer) sol_timeout_del(mdata->timer); } static int gyroscope_l3g4200d_tick(struct sol_flow_node *node, void *data, uint16_t port, uint16_t conn_id, const struct sol_flow_packet *packet) { struct gyroscope_l3g4200d_data *mdata = data; if (!mdata->ready || mdata->pending_ticks) { mdata->pending_ticks++; return 0; } gyro_tick_do(mdata); return 0; }
static void _lsm303_send_output_packets(struct accelerometer_lsm303_data *mdata) { struct sol_direction_vector val = { .min = -mdata->scale, .max = mdata->scale, .x = mdata->reading[0], .y = mdata->reading[1], .z = mdata->reading[2] }; sol_flow_send_direction_vector_packet(mdata->node, SOL_FLOW_NODE_TYPE_ACCELEROMETER_LSM303__OUT__RAW, &val); val.x = val.x * GRAVITY_MSS; val.y = val.y * GRAVITY_MSS; val.z = val.z * GRAVITY_MSS; sol_flow_send_direction_vector_packet(mdata->node, SOL_FLOW_NODE_TYPE_ACCELEROMETER_LSM303__OUT__OUT, &val); mdata->pending_ticks--; if (mdata->pending_ticks) lsm303_read_data(mdata); } static void i2c_read_data_cb(void *cb_data, struct sol_i2c *i2c, uint8_t reg, uint8_t *buffer, ssize_t status) { struct accelerometer_lsm303_data *mdata = cb_data; mdata->i2c_pending = NULL; if (status < 0) { SOL_WRN("Could not enable LSM303 accelerometer"); return; } /* http://stackoverflow.com/a/19164062 says that it's necessary to >> 4 buffer result. * https://github.com/adafruit/Adafruit_LSM303/blob/master/Adafruit_LSM303.cpp does the shift * Doing it here, but it's interesting to check it. Datasheet says nothing about it, though. */ mdata->reading[0] = ((buffer[0] | (buffer[1] << 8)) >> 4) * mdata->sensitivity; mdata->reading[1] = ((buffer[2] | (buffer[3] << 8)) >> 4) * mdata->sensitivity; mdata->reading[2] = ((buffer[4] | (buffer[5] << 8)) >> 4) * mdata->sensitivity; _lsm303_send_output_packets(mdata); } static bool lsm303_read_data(void *data) { struct accelerometer_lsm303_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { lsm303_timer_resched(mdata, ACCEL_STEP_TIME, lsm303_read_data); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, mdata->slave)) { SOL_WRN("Failed to set slave at address 0x%02x\n", mdata->slave); return false; } /* ORing with 0x80 to read all bytes in a row */ mdata->i2c_pending = sol_i2c_read_register(mdata->i2c, LSM303_ACCEL_REG_OUT_X_H_A | 0x80, mdata->i2c_buffer, sizeof(mdata->i2c_buffer), i2c_read_data_cb, mdata); if (!mdata->i2c_pending) SOL_WRN("Failed to read LSM303 accel samples"); return false; } static int accelerometer_lsm303_tick(struct sol_flow_node *node, void *data, uint16_t port, uint16_t conn_id, const struct sol_flow_packet *packet) { struct accelerometer_lsm303_data *mdata = data; if (!mdata->ready || mdata->pending_ticks) { mdata->pending_ticks++; return 0; } lsm303_read_data(mdata); return 0; }
static void _lsm303_send_output_packets(struct magnetometer_lsm303_data *mdata) { struct sol_direction_vector val = { .min = -mdata->scale, .max = mdata->scale, .x = mdata->reading[0], .y = mdata->reading[1], .z = mdata->reading[2] }; sol_flow_send_direction_vector_packet(mdata->node, SOL_FLOW_NODE_TYPE_MAGNETOMETER_LSM303__OUT__OUT, &val); } static void i2c_lsm303_read_data_cb(void *cb_data, struct sol_i2c *i2c, uint8_t reg, uint8_t *data, ssize_t status) { struct magnetometer_lsm303_data *mdata = cb_data; uint8_t *buffer = mdata->i2c_buffer; mdata->i2c_pending = NULL; if (status < 0) { const char errmsg[] = "Failed to read LSM303 magnetometer samples"; SOL_WRN(errmsg); sol_flow_send_error_packet(mdata->node, EIO, errmsg); return; } /* Get X, Z and Y. That's why reading[] is indexed 0, 2 and 1. */ mdata->reading[0] = ((buffer[0] << 8) | buffer[1]) / mdata->gain_xy; mdata->reading[2] = ((buffer[2] << 8) | buffer[3]) / mdata->gain_z; mdata->reading[1] = ((buffer[4] << 8) | buffer[5]) / mdata->gain_xy; _lsm303_send_output_packets(mdata); mdata->pending_ticks--; if (mdata->pending_ticks) magnetometer_lsm303_tick_do(mdata); } static bool magnetometer_lsm303_tick_do(void *data) { struct magnetometer_lsm303_data *mdata = data; mdata->timer = NULL; if (sol_i2c_busy(mdata->i2c)) { timer_sched(mdata, MAG_STEP_TIME, magnetometer_lsm303_tick_do); return false; } if (!sol_i2c_set_slave_address(mdata->i2c, mdata->slave)) { const char errmsg[] = "Failed to set slave at address 0x%02x"; SOL_WRN(errmsg, mdata->slave); sol_flow_send_error_packet(mdata->node, EIO, errmsg, mdata->slave); return false; } mdata->i2c_pending = sol_i2c_read_register(mdata->i2c, LSM303_ACCEL_REG_OUT_X_H_M, mdata->i2c_buffer, sizeof(mdata->i2c_buffer), i2c_lsm303_read_data_cb, mdata); if (!mdata->i2c_pending) { const char errmsg[] = "Failed to read LSM303 magnetometer samples"; SOL_WRN(errmsg); sol_flow_send_error_packet(mdata->node, EIO, errmsg); } return false; } static int magnetometer_lsm303_tick(struct sol_flow_node *node, void *data, uint16_t port, uint16_t conn_id, const struct sol_flow_packet *packet) { struct magnetometer_lsm303_data *mdata = data; if (!mdata->ready || mdata->pending_ticks) { mdata->pending_ticks++; return 0; } magnetometer_lsm303_tick_do(mdata); return 0; }