pressure.c revision 501aae5c0464eab71924aa4e382e5f3c8885aece 
1/*
2 $License:
3   Copyright 2011 InvenSense, Inc.
4
5 Licensed under the Apache License, Version 2.0 (the "License");
6 you may not use this file except in compliance with the License.
7 You may obtain a copy of the License at
8
9 http://www.apache.org/licenses/LICENSE-2.0
10
11 Unless required by applicable law or agreed to in writing, software
12 distributed under the License is distributed on an "AS IS" BASIS,
13 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 See the License for the specific language governing permissions and
15 limitations under the License.
16  $
17 */
18/*******************************************************************************
19 *
20 * $Id: pressure.c 4120 2010-11-21 19:56:16Z mcaramello $
21 *
22 *******************************************************************************/
23
24/**
25 *  @defgroup PRESSUREDL
26 *  @brief  Motion Library - Pressure Driver Layer.
27 *          Provides the interface to setup and handle a pressure sensor
28 *          connected to either the primary or the seconday I2C interface
29 *          of the gyroscope.
30 *
31 *  @{
32 *      @file   pressure.c
33 *      @brief  Pressure setup and handling methods.
34**/
35
36/* ------------------ */
37/* - Include Files. - */
38/* ------------------ */
39
40#include <string.h>
41
42#include "pressure.h"
43
44#include "ml.h"
45#include "mlinclude.h"
46#include "dmpKey.h"
47#include "mlFIFO.h"
48#include "mldl.h"
49#include "mldl_cfg.h"
50#include "mlMathFunc.h"
51#include "mlsl.h"
52#include "mlos.h"
53
54#include "log.h"
55#undef MPL_LOG_TAG
56#define MPL_LOG_TAG "MPL-pressure"
57
58#define _pressureDebug(x)       //{x}
59
60/* --------------------- */
61/* - Global Variables. - */
62/* --------------------- */
63
64/* --------------------- */
65/* - Static Variables. - */
66/* --------------------- */
67
68/* --------------- */
69/* - Prototypes. - */
70/* --------------- */
71
72/* -------------- */
73/* - Externs.   - */
74/* -------------- */
75
76/* -------------- */
77/* - Functions. - */
78/* -------------- */
79
80/**
81 *  @brief  Is a pressure configured and used by MPL?
82 *  @return INV_SUCCESS if the pressure is present.
83 */
84unsigned char inv_pressure_present(void)
85{
86    INVENSENSE_FUNC_START;
87    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
88    if (NULL != mldl_cfg->pressure &&
89        NULL != mldl_cfg->pressure->resume &&
90        mldl_cfg->requested_sensors & INV_THREE_AXIS_PRESSURE)
91        return TRUE;
92    else
93        return FALSE;
94}
95
96/**
97 *  @brief   Query the pressure slave address.
98 *  @return  The 7-bit pressure slave address.
99 */
100unsigned char inv_get_pressure_slave_addr(void)
101{
102    INVENSENSE_FUNC_START;
103    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
104    if (NULL != mldl_cfg->pdata)
105        return mldl_cfg->pdata->pressure.address;
106    else
107        return 0;
108}
109
110/**
111 *  @brief   Get the ID of the pressure in use.
112 *  @return  ID of the pressure in use.
113 */
114unsigned short inv_get_pressure_id(void)
115{
116    INVENSENSE_FUNC_START;
117    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
118    if (NULL != mldl_cfg->pressure) {
119        return mldl_cfg->pressure->id;
120    }
121    return ID_INVALID;
122}
123
124/**
125 *  @brief  Get a sample of pressure data from the device.
126 *  @param  data
127 *              the buffer to store the pressure raw data for
128 *              X, Y, and Z axes.
129 *  @return INV_SUCCESS or a non-zero error code.
130 */
131inv_error_t inv_get_pressure_data(long *data)
132{
133    inv_error_t result = INV_SUCCESS;
134    unsigned char tmp[3];
135    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
136
137    /*--- read the pressure sensor data.
138          The pressure read function may return an INV_ERROR_PRESSURE_* errors
139          when the data is not ready (read/refresh frequency mismatch) or
140          the internal data sampling timing of the device was not respected.
141          Returning the error code will make the sensor fusion supervisor
142          ignore this pressure data sample. ---*/
143    result = (inv_error_t) inv_mpu_read_pressure(mldl_cfg,
144                                                 inv_get_serial_handle(),
145                                                 inv_get_serial_handle(), tmp);
146    if (result) {
147        _pressureDebug(MPL_LOGV
148                       ("inv_mpu_read_pressure returned %d (%s)\n", result,
149                        MLErrorCode(result)));
150        return result;
151    }
152    if (EXT_SLAVE_BIG_ENDIAN == mldl_cfg->pressure->endian)
153        data[0] =
154            (((long)((signed char)tmp[0])) << 16) + (((long)tmp[1]) << 8) +
155            ((long)tmp[2]);
156    else
157        data[0] =
158            (((long)((signed char)tmp[2])) << 16) + (((long)tmp[1]) << 8) +
159            ((long)tmp[0]);
160
161    return INV_SUCCESS;
162}
163
164/**
165 *  @}
166 */
167