RM3100驱动 C语言源码

/** File Name : RM3100.c version : V1.1 Description : This file provides code for the RM3100 driver interface. */ #include <stdint.h> #include "./user/mag_sensor/RM3100.h" #include "driver_init.h" /** * Gets the current single measurement mode config, POLL(0x00) * * @param smm pointer to read config into * @return 0 on success */ int RM3100_GetSingleMeasurementMode(void *self, struct SingleMeasurementMode *smm) { RM3100_Iface *iface = self; return iface->RM3100_read(iface, RM3100_REG_POLL, (uint8_t *)smm, sizeof(*smm)); } /** * Sets the current single measurement mode config * * @return 0 on success */ int RM3100_SetSingleMeasurementMode(void *self, uint8_t mode) { RM3100_Iface *iface = self; uint8_t smm = mode; return iface->RM3100_write(iface, RM3100_REG_POLL, (uint8_t *)&smm, sizeof(smm)); } /** * Gets the current continuous measurement mode config, CMM (0x01) * * @param cmm pointer to read config into * @return 0 on success */ int RM3100_GetContinuousMeasurementMode(void *self, struct ContinuousMeasurementMode *cmm) { RM3100_Iface *iface = self; return iface->RM3100_read(iface, RM3100_REG_CMM, (uint8_t *)cmm, sizeof(*cmm)); } /** * Sets the current continuous measurement mode config * * @param enabled enable CMM -- true = enabled, false = disabled * @return 0 on success */ int RM3100_StartContinuousMeasurementMode(void *self, uint8_t mode) { RM3100_Iface *iface = self; uint8_t cmm = (mode | 0x01); return iface->RM3100_write(iface, RM3100_REG_CMM, (uint8_t *)&cmm, sizeof(cmm)); } int RM3100_StopContinuousMeasurementMode(void *self, uint8_t mode) { RM3100_Iface *iface = self; uint8_t cmm = (mode | 0x00); return iface->RM3100_write(iface, RM3100_REG_CMM, (uint8_t *)&cmm, sizeof(cmm)); } /** * Gets the current cycle counts, CCX, CCY, CCZ (0x04 -- 0x09) * * @param cc pointer to read into * @return 0 on success */ int RM3100_GetCycleCounts(void *self, struct CycleCounts *cc) { RM3100_Iface *iface = self; uint8_t buffer[6]; int ret = iface->RM3100_read(iface, RM3100_REG_CCX, buffer, sizeof(buffer)); if (ret) { return ret; } cc->x = (buffer[0] << 8) | buffer[1]; cc->y = (buffer[2] << 8) | buffer[3]; cc->z = (buffer[4] << 8) | buffer[5]; return RM3100_RET_OK; } /* * Sets the current cycle counts (x, y, z) * * @param x cycle counts for X axis * @param y cycle counts for Y axis * @param z cycle counts for Z axis * @return 0 on success */ int RM3100_SetCycleCounts(void *self, uint16_t x, uint16_t y, uint16_t z) { RM3100_Iface *iface = self; struct CycleCounts cc = { .x = x, .y = y, .z = z, }; // convert to BE uint8_t buffer[] = { (cc.x >> 8), (cc.x & 0xFF), (cc.y >> 8), (cc.y & 0xFF), (cc.z >> 8), (cc.z & 0xFF), }; iface->ratio_x = 1.0f / ((x * 0.3627f) + 1.85f); iface->ratio_y = 1.0f / ((y * 0.3627f) + 1.85f); iface->ratio_z = 1.0f / ((z * 0.3627f) + 1.85f); return iface->RM3100_write(iface, RM3100_REG_CCX, buffer, sizeof(buffer)); } /** * Gets the continuous mode update rate, TMRC (0x0B) * * @param tmrc pointer to read into * @return 0 on success */ int RM3100_GetContinuousMeasurementModeUpdateRate(void *self, uint8_t *tmrc) { RM3100_Iface *iface = self; return iface->RM3100_read(iface, RM3100_REG_TMRC, tmrc, sizeof(*tmrc)); } /** * Sets the continuous mode update rate (TMRC) * * @param tmrc rate to set according to TMRC table * @return 0 on success */ int RM3100_SetContinuousMeasurementModeUpdateRate(void *self, uint8_t tmrc) { RM3100_Iface *iface = self; uint8_t value = (tmrc & RM3100_CMM_RATE_MASK) | RM3100_CMM_RATE_MSB; return iface->RM3100_write(iface, RM3100_REG_TMRC, &value, sizeof(value)); } /** * Sets the contiunous mode update rate (Hz) * * @param rate rate to set in Hz * @return 0 on success */ int RM3100_SetCMM_SampleRate(void *self, float rate) { RM3100_Iface *iface = self; float r = 600.0f; uint8_t tmrc = RM3100_CMM_RATE_600_0_HZ; while ((tmrc < RM3100_CMM_RATE_MASK) && ((r / 2.0f) >= rate)) { r /= 2.0f; tmrc++; } return RM3100_SetContinuousMeasurementModeUpdateRate(iface, tmrc); } /** * Gets the current status * * @param status pointer to read into * @return 0 on success */ int RM3100_GetStatus(void *self) { uint8_t status = 0; RM3100_Iface *iface = self; iface->RM3100_read(iface, RM3100_REG_STATUS, (uint8_t *)&status, sizeof(status)); return (status >> 7); } /** * Gets the current measurement data (24-bit signed) * * @param m pointer to read into * @return 0 on success */ int RM3100_GetXYZ_Raw(void *self, struct Measurement *m) { RM3100_Iface *iface = self; uint8_t buffer[9] = { 0 }; int ret = iface->RM3100_read(iface, RM3100_REG_MX, buffer, sizeof(buffer)); if (ret) { return ret; } m->x = (((int8_t)buffer[0]) << 16) | (buffer[1] << 8) | (buffer[2]); m->y = (((int8_t)buffer[3]) << 16) | (buffer[4] << 8) | (buffer[5]); m->z = (((int8_t)buffer[6]) << 16) | (buffer[7] << 8) | (buffer[8]); return RM3100_RET_OK; } /** * Gets the current measurement sample (scale to μT) * * @param s pointer to read into * @return 0 on success */ int RM3100_GetData(void *self, struct Data *s) { RM3100_Iface *iface = self; struct Measurement m = { 0 }; int ret = RM3100_GetXYZ_Raw(iface, &m); if (ret) { return ret; } s->x = (float)m.x * iface->ratio_x; s->y = (float)m.y * iface->ratio_y; s->z = (float)m.z * iface->ratio_z; return RM3100_RET_OK; } /** * Gets the current self-test config/result * * @param cfg pointer to read into * @return 0 on success */ int RM3100_GetSelfTestConfig(void *self, struct SelfTestConfig *cfg) { RM3100_Iface *iface = self; return iface->RM3100_read(iface, RM3100_REG_BIST, (uint8_t *)cfg, sizeof(*cfg)); } /** * Sets the current self-test config * * @param count LR periods * @param timeout sleep oscillation cycles * @return 0 on success */ int RM3100_SetSelfTestConfig(void *self, uint8_t count, uint8_t timeout, bool enabled) { RM3100_Iface *iface = self; struct SelfTestConfig cfg = { .bp = (count & RM3100_SELF_TEST_COUNT_MASK), .bw = (timeout & RM3100_SELF_TEST_TIMEOUT_MASK), .ste = enabled, }; return iface->RM3100_write(iface, RM3100_REG_BIST, (uint8_t *)&cfg, sizeof(cfg)); } /** * Clears the self-test config * * @return 0 on success */ int RM3100_ClearSelfTest(void *self) { uint8_t value = 0; RM3100_Iface *iface = self; return iface->RM3100_write(iface, RM3100_REG_BIST, &value, sizeof(value)); } /** * Performs a self-test, returning result * * @param count LR periods * @param timeout sleep oscillation cycles * @param result pointer to read result into * @return 0 on success */ int RM3100_PerformSelfTest(void *self, uint8_t count, uint8_t timeout, struct SelfTestConfig *result) { RM3100_Iface *iface = self; //--- configure test int ret = RM3100_SetSelfTestConfig(iface, count, timeout, true); if (ret) { return ret; } delay_us(1); //--- initiate single measurement ret = RM3100_SetSingleMeasurementMode(iface, CMM_AXIS_X|CMM_AXIS_Y|CMM_AXIS_Z); if (ret) { return ret; } //--- wait 1 ms for measurement delay_us(1); //--- get result ret = RM3100_GetSelfTestConfig(iface, result); if (ret) { return ret; } delay_us(1); return