imu_functions.h File Reference

Rev 0 - 06/11/2012 RLEG project - 2012. More...

#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include "imu_regs.h"

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Macros
#define	ASCII_0   0x30
#define	SUCCESS   1
#define	FAILURE   -1
#define	ADD_ADXL345   0x53
#define	ADD_ITG3200   0x68
#define	ADD_HMC5883   0x1E

Functions
int	acc_write_reg (int i2c_dev, uint8_t reg, uint8_t data)
	WRITE TO REGISTER. More...
uint8_t *	acc_read_reg (int i2c_dev, uint8_t reg, uint8_t count)
	READ COUNT 8-BIT REGISTER IN SEQUENCE More...
int	acc_init (int i2c_dev, uint8_t full_res, uint16_t rate, uint8_t range)
	INITIALIZE ACCELEROMETER. More...
int	acc_read_all_data (int i2c_dev, short int *data)
	READ ALL DATA AT ONCE (X, Y and Z) More...
short int	acc_read_data (int i2c_dev, int axis)
	READ DATA (X, Y or Z) More...
char *	conv_byte_hex_bin (uint8_t *hvalue)
int	acc_read_all_reg (int i2c_dev)
	Read all accelerometer data and print in stdio. More...
int	gyr_write_reg (int i2c_dev, uint8_t reg, uint8_t data)
	WRITE TO REGISTER. More...
uint8_t *	gyr_read_reg (int i2c_dev, uint8_t reg, uint8_t count)
	READ COUNT 8-BIT REGISTER IN SEQUENCE. More...
int	gyr_init (int i2c_dev, float rate, short int lpf_bw, char clk_source, char *act)
	INITIALIZE GYROMETER. More...
int	gyr_read_all_data (int i2c_dev, short int *data)
	READ ALL DATA AT ONCE (X, Y, Z and T) More...
short int	gyr_read_data (int i2c_dev, int type)
	READ DATA (X, Y, Z or T) More...
int	mag_write_reg (int i2c_dev, uint8_t reg, uint8_t data)
	WRITE TO REGISTER. More...
uint8_t *	mag_read_reg (int i2c_dev, uint8_t reg, uint8_t count)
	READ COUNT 8-BIT REGISTER IN SEQUENCE. More...
int	mag_init (int i2c_dev, uint8_t rate, uint8_t range, uint8_t samples_avg, uint8_t meas_mode, uint8_t op_mode)
	INITIALIZE MAGNETOMETER. More...
int	mag_read_all_data (int i2c_dev, short int *data)
	READ ALL DATA AT ONCE (X, Y and Z) More...
short int	mag_read_data (int i2c_dev, int axis)
	READ DATA (X, Y or Z) More...

Detailed Description

Rev 0 - 06/11/2012 RLEG project - 2012.

library of the I2C communication between Gumstix Overo Fire and 3 different devices: ADXL345, ITG3200 and HMC5883

Author

Caio Gustavo Mesquita Ângelo

Date

2012-2013

Definition in file imu_functions.h.

Macro Definition Documentation

#define ADD_ADXL345   0x53

Definition at line 36 of file imu_functions.h.

Referenced by devices_init(), and read_all_data().

#define ADD_HMC5883   0x1E

Definition at line 38 of file imu_functions.h.

Referenced by devices_init(), and read_all_data().

#define ADD_ITG3200   0x68

Definition at line 37 of file imu_functions.h.

Referenced by devices_init(), and read_all_data().

#define ASCII_0   0x30

Definition at line 27 of file imu_functions.h.

Referenced by conv_byte_hex_bin().

#define FAILURE   -1

Definition at line 30 of file imu_functions.h.

#define SUCCESS   1

Definition at line 29 of file imu_functions.h.

Function Documentation

char* conv_byte_hex_bin

(

uint8_t *

hvalue

)

Definition at line 184 of file acc_functions.c.

References ASCII_0, and bits.

Referenced by acc_read_all_reg().

{
  char bits[9];
  int i;
  for( i=0; i<8; i++)
  {
    bits[i]=((*hvalue)<<i)>>7+ASCII_0;
  }
  bits[8]='\0';
  return bits;
}

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int mag_init	(	int	i2c_dev,
		uint8_t	rate,
		uint8_t	range,
		uint8_t	samples_avg,
		uint8_t	meas_mode,
		uint8_t	op_mode
	)

INITIALIZE MAGNETOMETER.

Definition at line 53 of file mag_functions.c.

References MAG_CONFIG_A, MAG_CONFIG_B, MAG_MODE, and mag_write_reg().

Referenced by devices_init().

{ 
  uint8_t data=0;

  switch(rate){
    case 15:
      data=0x10;
      break;
    case 0:
      data=0x00;
      break;
    case 1:
      data=0x04;
      break;
    case 3:
      data=0x08;
      break;
    case 7:
      data=0x0C;
      break;
    case 30:
      data=0x14;
      break;
    case 75:
      data=0x18;
      break;
    default:
      perror("Wrong rate value");
      break;
  }
  
  switch(samples_avg){
    case 8:
      data=data|0x60;
      break;
    case 1:
      break;
    case 2:
      data=data|0x20;
      break;
    case 4:
      data=data|0x40;
      break;
    default:
      perror("Wrong samples_avg value");
      break;
  }
  
  data+=meas_mode;
  
  if(mag_write_reg(i2c_dev, MAG_CONFIG_A, data)<0){
    perror("Write in Configuration register A unsuccesful");
    return -1;
  }
  
  if(mag_write_reg(i2c_dev, MAG_CONFIG_B, range<<5)<0){
    perror("Write in configuration register B unsuccesful");
    return -1;
  }
  
  if(mag_write_reg(i2c_dev, MAG_MODE, op_mode)<0){
    perror("Write in mode register unsuccesful");
    return -1;
  }
  
  return 1;
}

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