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      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  */
     84 unsigned 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  */
    100 unsigned 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  */
    114 unsigned 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  */
    131 inv_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