138 lines
3.9 KiB
C++
138 lines
3.9 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Teensy
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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// The MPU-9250 driver code is based on code generously supplied by
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// staslock@gmail.com (www.clickdrive.io)
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#include "RTIMUHal.h"
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#include "I2Cdev.h"
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#include <SPI.h>
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RTIMUHal::RTIMUHal()
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{
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}
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RTIMUHal::~RTIMUHal()
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{
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}
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bool RTIMUHal::HALOpen()
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{
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if (m_busIsI2C)
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return true;
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SPI.begin();
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pinMode(m_SPISelect, OUTPUT);
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m_SPISettings = SPISettings(m_SPISpeed, MSBFIRST, SPI_MODE0);
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return true;
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}
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void RTIMUHal::HALClose()
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{
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I2CClose();
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SPIClose();
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}
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void RTIMUHal::I2CClose()
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{
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}
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void RTIMUHal::SPIClose()
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{
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SPI.end();
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}
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bool RTIMUHal::HALRead(unsigned char slaveAddr, unsigned char regAddr, unsigned char length,
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unsigned char *data, const char *errorMsg)
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{
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if (m_busIsI2C) {
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if (I2Cdev::readBytes(slaveAddr, regAddr, length, data, 10) == length)
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return true;
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if (strlen(errorMsg) > 0)
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HAL_ERROR1("I2C read failed - %s\n", errorMsg);
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return false;
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} else {
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SPI.beginTransaction(m_SPISettings);
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digitalWrite(m_SPISelect, LOW);
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SPI.transfer(regAddr | 0x80);
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for (int i = 0; i < length; i++)
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data[i] = SPI.transfer(0);
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digitalWrite(m_SPISelect, HIGH);
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SPI.endTransaction();
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return true;
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}
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}
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bool RTIMUHal::HALWrite(unsigned char slaveAddr, unsigned char regAddr,
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unsigned char length, unsigned char const *data, const char *errorMsg)
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{
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if (m_busIsI2C) {
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if (I2Cdev::writeBytes(slaveAddr, regAddr, length, (unsigned char *)data) > 0)
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return true;
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if (strlen(errorMsg) > 0)
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HAL_ERROR1("I2C write failed - %s\n", errorMsg);
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return false;
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} else {
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SPI.beginTransaction(m_SPISettings);
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digitalWrite(m_SPISelect, LOW);
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SPI.transfer(regAddr);
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for (int i = 0; i < length; i++)
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SPI.transfer(data[i]);
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digitalWrite(m_SPISelect, HIGH);
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SPI.endTransaction();
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return true;
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}
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}
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bool RTIMUHal::HALWrite(unsigned char slaveAddr, unsigned char regAddr,
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unsigned char const data, const char *errorMsg)
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{
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if (m_busIsI2C) {
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if (I2Cdev::writeByte(slaveAddr, regAddr, data))
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return true;
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if (strlen(errorMsg) > 0)
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HAL_ERROR1("I2C write failed - %s\n", errorMsg);
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return false;
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} else {
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SPI.beginTransaction(m_SPISettings);
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digitalWrite(m_SPISelect, LOW);
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SPI.transfer(regAddr);
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SPI.transfer(data);
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digitalWrite(m_SPISelect, HIGH);
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SPI.endTransaction();
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return true;
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}
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}
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void RTIMUHal::delayMs(int milliSeconds)
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{
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delay(milliSeconds);
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}
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