Paparazzi UAS  v5.15_devel-113-g1b57ff1
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ak8963.c
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1 /*
2  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
3  *
4  * This file is part of paparazzi.
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6  * paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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20  */
21 
28 #include "peripherals/ak8963.h"
29 #include "std.h"
30 
34 void ak8963_init(struct Ak8963 *ak, struct i2c_periph *i2c_p, uint8_t addr)
35 {
36  /* set i2c_peripheral */
37  ak->i2c_p = i2c_p;
38  /* set i2c address */
39  ak->i2c_trans.slave_addr = addr;
41  ak->initialized = false;
43  ak->data_available = false;
44 }
45 
46 void ak8963_configure(struct Ak8963 *ak)
47 {
48  // Only configure when not busy
50  && ak->i2c_trans.status != I2CTransDone) {
51  return;
52  }
53 
54  // Only when succesfull continue with next
55  if (ak->i2c_trans.status == I2CTransSuccess) {
56  ak->init_status++;
57  }
58 
60  switch (ak->init_status) {
61 
62  // Soft Reset the device
63  case AK_CONF_UNINIT:
65  ak->i2c_trans.buf[1] = 1;
66  i2c_transmit(ak->i2c_p, &(ak->i2c_trans), ak->i2c_trans.slave_addr, 2);
67  break;
68 
69  // Set it to continious measuring mode 2
70  case AK_CONF_MODE:
73  i2c_transmit(ak->i2c_p, &(ak->i2c_trans), ak->i2c_trans.slave_addr, 2);
74  break;
75 
76  // Initialization done
77  default:
78  ak->initialized = true;
79  break;
80  }
81 }
82 
83 void ak8963_read(struct Ak8963 *ak)
84 {
85  if (ak->status != AK_STATUS_IDLE) {
86  return;
87  }
88 
89  // Read the status register
90  ak->i2c_trans.buf[0] = AK8963_REG_ST1;
91  i2c_transceive(ak->i2c_p, &(ak->i2c_trans), ak->i2c_trans.slave_addr, 1, 1);
92 }
93 
94 #define Int16FromBuf(_buf,_idx) ((int16_t)(_buf[_idx] | (_buf[_idx+1] << 8)))
95 void ak8963_event(struct Ak8963 *ak)
96 {
97  if (!ak->initialized) {
98  return;
99  }
100 
101  switch (ak->status) {
102  case AK_STATUS_IDLE:
103  // When DRDY start reading
104  if (ak->i2c_trans.status == I2CTransSuccess && ak->i2c_trans.buf[0] & 1) {
105  ak->i2c_trans.buf[0] = AK8963_REG_HXL;
106  i2c_transceive(ak->i2c_p, &(ak->i2c_trans), ak->i2c_trans.slave_addr, 1, 6);
107  ak->status++;
108  }
109  break;
110 
111  case AK_STATUS_READ:
112  if (ak->i2c_trans.status == I2CTransSuccess) {
113  // Copy the data
114  ak->data.vect.x = Int16FromBuf(ak->i2c_trans.buf, 0);
115  ak->data.vect.y = Int16FromBuf(ak->i2c_trans.buf, 2);
116  ak->data.vect.z = Int16FromBuf(ak->i2c_trans.buf, 4);
117  ak->data_available = true;
118 
119  // Read second status register to be ready for reading again
120  ak->i2c_trans.buf[0] = AK8963_REG_ST2;
121  i2c_transceive(ak->i2c_p, &(ak->i2c_trans), ak->i2c_trans.slave_addr, 1, 1);
122  ak->status++;
123  break;
124  }
125 
126  break;
127 
128  default:
130  // Goto idle
132  ak->status = AK_STATUS_IDLE;
133  // check overrun
134  //if (bit_is_set(ak->i2c_trans.buf[0], 3)) {
135  // ak->data_available = false;
136  //} else {
137  // ak->data_available = true;
138  //}
139  }
140  break;
141  }
142 }
143 
#define AK8963_REG_ST1
Definition: ak8963_regs.h:45
Register and address definitions for AK8963 magnetometer.
volatile uint8_t buf[I2C_BUF_LEN]
Transaction buffer With I2C_BUF_LEN number of bytes.
Definition: i2c.h:122
transaction successfully finished by I2C driver
Definition: i2c.h:57
#define AK8963_REG_CNTL2
Definition: ak8963_regs.h:54
#define Int16FromBuf(_buf, _idx)
Definition: ak8963.c:94
void ak8963_init(struct Ak8963 *ak, struct i2c_periph *i2c_p, uint8_t addr)
Initialize AK8963 struct.
Definition: ak8963.c:34
#define AK8963_REG_ST2
Definition: ak8963_regs.h:52
bool initialized
config done flag
Definition: ak8963.h:56
enum Ak8963Status status
main status
Definition: ak8963.h:58
Default Ak8963 structure.
Definition: ak8963.h:53
void ak8963_read(struct Ak8963 *ak)
Definition: ak8963.c:83
transaction set to done by user level
Definition: i2c.h:59
struct i2c_periph * i2c_p
peripheral used for communcation
Definition: ak8963.h:54
enum Ak8963ConfStatus init_status
init status
Definition: ak8963.h:59
#define AK8963_REG_CNTL1
Definition: ak8963_regs.h:53
transaction failed
Definition: i2c.h:58
bool i2c_transceive(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint8_t len_w, uint16_t len_r)
Submit a write/read transaction.
Definition: i2c.c:328
enum I2CTransactionStatus status
Transaction status.
Definition: i2c.h:126
bool i2c_transmit(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint8_t len)
Submit a write only transaction.
Definition: i2c.c:308
#define AK8963_REG_HXL
Definition: ak8963_regs.h:46
uint8_t slave_addr
Slave address.
Definition: i2c.h:104
I2C peripheral structure.
Definition: i2c.h:138
void ak8963_event(struct Ak8963 *ak)
Definition: ak8963.c:95
unsigned char uint8_t
Definition: types.h:14
union Ak8963::@301 data
void ak8963_configure(struct Ak8963 *ak)
Definition: ak8963.c:46
volatile bool data_available
data ready flag
Definition: ak8963.h:61
struct i2c_transaction i2c_trans
i2c transaction used for communication with the ak8936
Definition: ak8963.h:55
#define AK8963_CNTL1_CM_2
Definition: ak8963_regs.h:37