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LSM303DLH: Adding separate i2c contexts

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Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
This commit is contained in:
Abhishek Malik 2017-06-01 21:46:07 -07:00
parent 50bb4ae1be
commit b68eb5f6a6
2 changed files with 61 additions and 34 deletions
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87
src/lsm303dlh/lsm303dlh.cxx
View File

@ -36,33 +36,44 @@
using namespace upm;
LSM303DLH::LSM303DLH(int bus, int addrMag, int addrAcc, int accScale) :
m_i2c(bus)
m_i2cMag(bus), m_i2cAcc(bus)
{
m_addrMag = addrMag;
m_addrAcc = addrAcc;
if (m_i2cMag.address(m_addrMag) != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_address() failed");
}
if (m_i2cAcc.address(m_addrAcc) != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_address() failed");
}
// 0x27 is the 'normal' mode with X/Y/Z enable
setRegisterSafe(m_addrAcc, CTRL_REG1_A, 0x27);
setRegisterSafe(LSM303DLH_ACC_T, CTRL_REG1_A, 0x27);
// scale can be 2, 4 or 8
if (2 == accScale) {
setRegisterSafe(m_addrAcc, CTRL_REG4_A, 0x00);
setRegisterSafe(LSM303DLH_ACC_T, CTRL_REG4_A, 0x00);
} else if (4 == accScale) {
setRegisterSafe(m_addrAcc, CTRL_REG4_A, 0x10);
setRegisterSafe(LSM303DLH_ACC_T, CTRL_REG4_A, 0x10);
} else { // default; equivalent to 8g
setRegisterSafe(m_addrAcc, CTRL_REG4_A, 0x30);
setRegisterSafe(LSM303DLH_ACC_T, CTRL_REG4_A, 0x30);
}
// 0x10 = minimum datarate ~15Hz output rate
setRegisterSafe(m_addrMag, CRA_REG_M, 0x10);
setRegisterSafe(LSM303DLH_MAG_T, CRA_REG_M, 0x10);
// magnetic scale = +/-1.3
// Gaussmagnetic scale = +/-1.3Gauss (0x20)
// +-8.1Gauss (0xe0)
setRegisterSafe(m_addrMag, CRB_REG_M, 0xe0);
setRegisterSafe(LSM303DLH_MAG_T, CRB_REG_M, 0xe0);
// 0x00 = continouous conversion mode
setRegisterSafe(m_addrMag, MR_REG_M, 0x00);
setRegisterSafe(LSM303DLH_MAG_T, MR_REG_M, 0x00);
}
float
@ -116,10 +127,8 @@ LSM303DLH::getCoordinates()
mraa::Result ret = mraa::SUCCESS;
memset(&buf[0], 0, sizeof(uint8_t)*6);
ret = m_i2c.address(m_addrMag);
ret = m_i2c.writeByte(OUT_X_H_M);
ret = m_i2c.address(m_addrMag);
int num = m_i2c.read(buf, 6);
ret = m_i2cMag.writeByte(OUT_X_H_M);
int num = m_i2cMag.read(buf, 6);
if (num != 6) {
return ret;
}
@ -157,10 +166,8 @@ LSM303DLH::getCoorZ() {
int
LSM303DLH::readThenWrite(uint8_t reg)
{
m_i2c.address(m_addrAcc);
m_i2c.writeByte(reg);
m_i2c.address(m_addrAcc);
return (int) m_i2c.readByte();
m_i2cAcc.writeByte(reg);
return (int) m_i2cAcc.readByte();
}
mraa::Result
@ -181,26 +188,42 @@ LSM303DLH::getAcceleration()
// helper function that sets a register and then checks the set was succesful
mraa::Result
LSM303DLH::setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data)
LSM303DLH::setRegisterSafe(LSM303DLH_SLAVE_T slave, uint8_t sregister, uint8_t data)
{
buf[0] = sregister;
buf[1] = data;
uint8_t val;
if (m_i2c.address(slave) != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_address() failed");
return mraa::ERROR_INVALID_HANDLE;
}
if (m_i2c.write(buf, 2) != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write() failed");
return mraa::ERROR_INVALID_HANDLE;
}
uint8_t val = m_i2c.readReg(sregister);
if (val != data) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": failed to set register correctly");
return mraa::ERROR_UNSPECIFIED;
switch(slave) {
case LSM303DLH_MAG_T:
if (m_i2cMag.write(buf, 2) != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write() failed");
return mraa::ERROR_INVALID_HANDLE;
}
val = m_i2cMag.readReg(sregister);
if (val != data) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": failed to set register correctly");
return mraa::ERROR_UNSPECIFIED;
}
break;
case LSM303DLH_ACC_T:
if (m_i2cAcc.write(buf, 2) != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write() failed");
return mraa::ERROR_INVALID_HANDLE;
}
val = m_i2cAcc.readReg(sregister);
if (val != data) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": failed to set register correctly");
return mraa::ERROR_UNSPECIFIED;
}
break;
default:
return mraa::ERROR_UNSPECIFIED;
}
return mraa::SUCCESS;
}

8
src/lsm303dlh/lsm303dlh.hpp
View File

@ -88,6 +88,9 @@ namespace upm {
*/
class LSM303DLH {
public:
typedef enum {
LSM303DLH_MAG_T = 0,
LSM303DLH_ACC_T } LSM303DLH_SLAVE_T;
/**
* Instantiates an LSM303DLH object
*
@ -168,9 +171,10 @@ namespace upm {
private:
int readThenWrite(uint8_t reg);
mraa::Result setRegisterSafe(uint8_t slave, uint8_t sregister, uint8_t data);
mraa::Result setRegisterSafe(LSM303DLH_SLAVE_T slave, uint8_t sregister, uint8_t data);
mraa::I2c m_i2c;
mraa::I2c m_i2cMag;
mraa::I2c m_i2cAcc;
int m_addrMag;
int m_addrAcc;
uint8_t buf[6];