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Diffstat (limited to 'libsensors/mlsdk/mllite/pressure.c')
| -rw-r--r-- | libsensors/mlsdk/mllite/pressure.c | 166 |
1 files changed, 166 insertions, 0 deletions
diff --git a/libsensors/mlsdk/mllite/pressure.c b/libsensors/mlsdk/mllite/pressure.c new file mode 100644 index 0000000..f32229f --- /dev/null +++ b/libsensors/mlsdk/mllite/pressure.c @@ -0,0 +1,166 @@ +/* + $License: + Copyright 2011 InvenSense, Inc. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + $ + */ +/******************************************************************************* + * + * $Id: pressure.c 4120 2010-11-21 19:56:16Z mcaramello $ + * + *******************************************************************************/ + +/** + * @defgroup PRESSUREDL + * @brief Motion Library - Pressure Driver Layer. + * Provides the interface to setup and handle a pressure sensor + * connected to either the primary or the seconday I2C interface + * of the gyroscope. + * + * @{ + * @file pressure.c + * @brief Pressure setup and handling methods. +**/ + +/* ------------------ */ +/* - Include Files. - */ +/* ------------------ */ + +#include <string.h> + +#include "pressure.h" + +#include "ml.h" +#include "mlinclude.h" +#include "dmpKey.h" +#include "mlFIFO.h" +#include "mldl.h" +#include "mldl_cfg.h" +#include "mlMathFunc.h" +#include "mlsl.h" +#include "mlos.h" + +#include "log.h" +#undef MPL_LOG_TAG +#define MPL_LOG_TAG "MPL-pressure" + +#define _pressureDebug(x) //{x} + +/* --------------------- */ +/* - Global Variables. - */ +/* --------------------- */ + +/* --------------------- */ +/* - Static Variables. - */ +/* --------------------- */ + +/* --------------- */ +/* - Prototypes. - */ +/* --------------- */ + +/* -------------- */ +/* - Externs. - */ +/* -------------- */ + +/* -------------- */ +/* - Functions. - */ +/* -------------- */ + +/** + * @brief Is a pressure configured and used by MPL? + * @return INV_SUCCESS if the pressure is present. + */ +unsigned char inv_pressure_present(void) +{ + INVENSENSE_FUNC_START; + struct mldl_cfg *mldl_cfg = inv_get_dl_config(); + if (NULL != mldl_cfg->pressure && + NULL != mldl_cfg->pressure->resume && + mldl_cfg->requested_sensors & INV_THREE_AXIS_PRESSURE) + return TRUE; + else + return FALSE; +} + +/** + * @brief Query the pressure slave address. + * @return The 7-bit pressure slave address. + */ +unsigned char inv_get_pressure_slave_addr(void) +{ + INVENSENSE_FUNC_START; + struct mldl_cfg *mldl_cfg = inv_get_dl_config(); + if (NULL != mldl_cfg->pdata) + return mldl_cfg->pdata->pressure.address; + else + return 0; +} + +/** + * @brief Get the ID of the pressure in use. + * @return ID of the pressure in use. + */ +unsigned short inv_get_pressure_id(void) +{ + INVENSENSE_FUNC_START; + struct mldl_cfg *mldl_cfg = inv_get_dl_config(); + if (NULL != mldl_cfg->pressure) { + return mldl_cfg->pressure->id; + } + return ID_INVALID; +} + +/** + * @brief Get a sample of pressure data from the device. + * @param data + * the buffer to store the pressure raw data for + * X, Y, and Z axes. + * @return INV_SUCCESS or a non-zero error code. + */ +inv_error_t inv_get_pressure_data(long *data) +{ + inv_error_t result = INV_SUCCESS; + unsigned char tmp[3]; + struct mldl_cfg *mldl_cfg = inv_get_dl_config(); + + /*--- read the pressure sensor data. + The pressure read function may return an INV_ERROR_PRESSURE_* errors + when the data is not ready (read/refresh frequency mismatch) or + the internal data sampling timing of the device was not respected. + Returning the error code will make the sensor fusion supervisor + ignore this pressure data sample. ---*/ + result = (inv_error_t) inv_mpu_read_pressure(mldl_cfg, + inv_get_serial_handle(), + inv_get_serial_handle(), tmp); + if (result) { + _pressureDebug(MPL_LOGV + ("inv_mpu_read_pressure returned %d (%s)\n", result, + MLErrorCode(result))); + return result; + } + if (EXT_SLAVE_BIG_ENDIAN == mldl_cfg->pressure->endian) + data[0] = + (((long)((signed char)tmp[0])) << 16) + (((long)tmp[1]) << 8) + + ((long)tmp[2]); + else + data[0] = + (((long)((signed char)tmp[2])) << 16) + (((long)tmp[1]) << 8) + + ((long)tmp[0]); + + return INV_SUCCESS; +} + +/** + * @} + */ |