embox

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/**
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 * @file
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 * @brief
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 *
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 * @date 21.04.2023
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 * @author Andrew Bursian
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 */
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#include <unistd.h>
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#include <util/log.h>
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#include <endian.h>
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#include "lis3mdl.h"
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#include "lis3mdl_transfer.h"
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#define LIS3MDL_WHO_AM_I	0xf
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#define LIS3MDL_CTRL_REG(i)	(0x20 + i - 1)
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#define LIS3MDL_STATUS_REG	0x27
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#define LIS3MDL_OUT_X_L		0x28
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#define LIS3MDL_OUT_X_H		0x29
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#define LIS3MDL_OUT_Y_L		0x2a
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#define LIS3MDL_OUT_Y_H		0x2b
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#define LIS3MDL_OUT_Z_L		0x2c
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#define LIS3MDL_OUT_Z_H		0x2d
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#define LIS3MDL_TEMP_OUT_L	0x2e
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#define LIS3MDL_TEMP_OUT_H	0x2f
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#define LIS3MDL_INT_CFG		0x30
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#define LIS3MDL_INT_SRC		0x31
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#define LIS3MDL_INT_THS_L	0x32
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#define LIS3MDL_INT_THS_H	0x33
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#define LIS3MDL_WHO_AM_I_VALUE 0x3d
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#define LIS3MDL_FS4_SENSITIVITY		6842
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#define LIS3MDL_FS8_SENSITIVITY		3421
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#define LIS3MDL_FS12_SENSITIVITY	2281
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#define LIS3MDL_FS16_SENSITIVITY	1711
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#define LIS3MDL_T_OFFSET		(25*8)
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extern struct lis3mdl_dev lis3mdl_dev0;
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static int sens;
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void lis3mdl_get_data(struct lis3mdl_s *data) {
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	struct lis3mdl_dev *dev = &lis3mdl_dev0;
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	union {int16_t val; uint8_t b[2];}m;
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	lis3mdl_readb(dev, LIS3MDL_OUT_X_L, &(m.b[0]));
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	lis3mdl_readb(dev, LIS3MDL_OUT_X_H, &(m.b[1]));
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	data->x = le16toh(m.val);
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	lis3mdl_readb(dev, LIS3MDL_OUT_Y_L, &(m.b[0]));
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	lis3mdl_readb(dev, LIS3MDL_OUT_Y_H, &(m.b[1]));
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	data->y = le16toh(m.val);
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	lis3mdl_readb(dev, LIS3MDL_OUT_Z_L, &(m.b[0]));
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	lis3mdl_readb(dev, LIS3MDL_OUT_Z_H, &(m.b[1]));
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	data->z = le16toh(m.val);
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	data->sens = sens;
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}
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int16_t lis3mdl_get_temp_x8(void) {
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	struct lis3mdl_dev *dev = &lis3mdl_dev0;
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	union {int16_t val; uint8_t b[2];}t;
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	lis3mdl_readb(dev, LIS3MDL_TEMP_OUT_L, &(t.b[0]));
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	lis3mdl_readb(dev, LIS3MDL_TEMP_OUT_H, &(t.b[1]));
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	return le16toh(t.val) + LIS3MDL_T_OFFSET;
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}
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int lis3mdl_init(void) {
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	int i;
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	uint8_t tmp;
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	struct lis3mdl_dev *dev = &lis3mdl_dev0;
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	if (lis3mdl_hw_init(dev) < 0) {
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		log_error("LIS3MDL hw init failed!");
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		return -1;
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	}
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	if (lis3mdl_readb(dev, LIS3MDL_WHO_AM_I, &tmp) < 0) {
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		log_error("LIS3MDL readb failed!");
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		return -1;
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	}
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	log_info("WHO_AM_I = 0x%02x", tmp);
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	if (tmp != LIS3MDL_WHO_AM_I_VALUE) {
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		log_error("LIS3MDL Device ID mismatch! %2x", tmp);
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		return -1;
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	}
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	tmp = 0x80;	/* Temperature sensor enable */
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	tmp |= 1<<2;	/* Output data rate 1.25 Hz */
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	lis3mdl_writeb(dev, LIS3MDL_CTRL_REG(1), tmp);
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	tmp = 0 << 5;	/* Full-scale +-4 gauss */
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	sens = LIS3MDL_FS4_SENSITIVITY;
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	lis3mdl_writeb(dev, LIS3MDL_CTRL_REG(2), tmp);
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	tmp = 0;	/* Continuous-conversion mode */
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	lis3mdl_writeb(dev, LIS3MDL_CTRL_REG(3), tmp);
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	tmp = 0x40;	/* Block data update for magnetic data */
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	lis3mdl_writeb(dev, LIS3MDL_CTRL_REG(5), tmp);
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	for (i = 1; i <= 3; i++) {
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		lis3mdl_readb(dev, LIS3MDL_CTRL_REG(i), &tmp);
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		log_info("CTRL_REG%d = 0x%02x", i, tmp);
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	}
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	lis3mdl_readb(dev, LIS3MDL_STATUS_REG, &tmp);
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	log_info("STATUS_REG = 0x%02x", tmp);
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	return 0;
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}
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