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/*
$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;
}
/**
* @}
*/
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