From acec109ae8ec5faf1bd8f7b5016f5be3998fc787 Mon Sep 17 00:00:00 2001 From: Pim van Pelt Date: Thu, 19 Apr 2018 17:52:06 +0200 Subject: [PATCH] Rename 'sensor' to 'imu' consistently --- include/mgos_mpu9250.h | 26 ++++---- src/mgos_mpu9250.c | 134 ++++++++++++++++++++--------------------- 2 files changed, 80 insertions(+), 80 deletions(-) diff --git a/include/mgos_mpu9250.h b/include/mgos_mpu9250.h index 024408a..e7971cb 100644 --- a/include/mgos_mpu9250.h +++ b/include/mgos_mpu9250.h @@ -54,7 +54,7 @@ enum mgos_mpu9250_magnetometer_speed { /* * Initialize a MPU9250 on the I2C bus `i2c` at address specified in `i2caddr` - * parameter (default MPU9250 is on address 0x68). The sensor will be polled for + * parameter (default MPU9250 is on address 0x68). The imu will be polled for * validity, upon success a new `struct mgos_mpu9250` is allocated and * returned. If the device could not be found, NULL is returned. */ @@ -66,21 +66,21 @@ struct mgos_mpu9250 *mgos_mpu9250_create(struct mgos_i2c *i2c, uint8_t i2caddr); * successful destruction, its associated memory will be freed and the pointer * set to NULL. */ -void mgos_mpu9250_destroy(struct mgos_mpu9250 **sensor); +void mgos_mpu9250_destroy(struct mgos_mpu9250 **imu); -bool mgos_mpu9250_set_accelerometer_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_accelerometer_range range); -bool mgos_mpu9250_get_accelerometer_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_accelerometer_range *range); -bool mgos_mpu9250_get_accelerometer(struct mgos_mpu9250 *sensor, float *x, float *y, float *z); +bool mgos_mpu9250_set_accelerometer_range(struct mgos_mpu9250 *imu, enum mgos_mpu9250_accelerometer_range range); +bool mgos_mpu9250_get_accelerometer_range(struct mgos_mpu9250 *imu, enum mgos_mpu9250_accelerometer_range *range); +bool mgos_mpu9250_get_accelerometer(struct mgos_mpu9250 *imu, float *x, float *y, float *z); -bool mgos_mpu9250_set_gyroscope_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_gyroscope_range range); -bool mgos_mpu9250_get_gyroscope_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_gyroscope_range *range); -bool mgos_mpu9250_get_gyroscope(struct mgos_mpu9250 *sensor, float *x, float *y, float *z); +bool mgos_mpu9250_set_gyroscope_range(struct mgos_mpu9250 *imu, enum mgos_mpu9250_gyroscope_range range); +bool mgos_mpu9250_get_gyroscope_range(struct mgos_mpu9250 *imu, enum mgos_mpu9250_gyroscope_range *range); +bool mgos_mpu9250_get_gyroscope(struct mgos_mpu9250 *imu, float *x, float *y, float *z); -bool mgos_mpu9250_set_magnetometer_scale(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_scale scale); -bool mgos_mpu9250_get_magnetometer_scale(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_scale *scale); -bool mgos_mpu9250_set_magnetometer_speed(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_speed speed); -bool mgos_mpu9250_get_magnetometer_speed(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_speed *speed); -bool mgos_mpu9250_get_magnetometer(struct mgos_mpu9250 *sensor, float *x, float *y, float *z); +bool mgos_mpu9250_set_magnetometer_scale(struct mgos_mpu9250 *imu, enum mgos_mpu9250_magnetometer_scale scale); +bool mgos_mpu9250_get_magnetometer_scale(struct mgos_mpu9250 *imu, enum mgos_mpu9250_magnetometer_scale *scale); +bool mgos_mpu9250_set_magnetometer_speed(struct mgos_mpu9250 *imu, enum mgos_mpu9250_magnetometer_speed speed); +bool mgos_mpu9250_get_magnetometer_speed(struct mgos_mpu9250 *imu, enum mgos_mpu9250_magnetometer_speed *speed); +bool mgos_mpu9250_get_magnetometer(struct mgos_mpu9250 *imu, float *x, float *y, float *z); /* * Initialization function for MGOS -- currently a noop. diff --git a/src/mgos_mpu9250.c b/src/mgos_mpu9250.c index c53e7c5..8179834 100644 --- a/src/mgos_mpu9250.c +++ b/src/mgos_mpu9250.c @@ -22,42 +22,42 @@ // // Private functions follow -static bool mgos_mpu9250_ak8963_init(struct mgos_mpu9250 *sensor, uint8_t i2caddr) { +static bool mgos_mpu9250_ak8963_init(struct mgos_mpu9250 *imu, uint8_t i2caddr) { int device_id; - if (!sensor) { + if (!imu) { return false; } - sensor->i2caddr_ak8963 = i2caddr; + imu->i2caddr_ak8963 = i2caddr; - device_id = mgos_i2c_read_reg_b(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_WHO_AM_I); + device_id = mgos_i2c_read_reg_b(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_WHO_AM_I); if (device_id != MGOS_MPU9250_DEVID_AK8963) { return false; } LOG(LL_INFO, ("Detected AK8963 at I2C 0x%02x", i2caddr)); - mgos_i2c_write_reg_b(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x00); + mgos_i2c_write_reg_b(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x00); mgos_usleep(10000); - mgos_i2c_write_reg_b(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x0F); + mgos_i2c_write_reg_b(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x0F); mgos_usleep(10000); uint8_t data[3]; - if (!mgos_i2c_read_reg_n(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_ASAX, 3, data)) { + if (!mgos_i2c_read_reg_n(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_ASAX, 3, data)) { LOG(LL_ERROR, ("Could not read magnetometer adjustment registers")); return false; } - sensor->mag_adj[0] = (float)(data[0] - 128) / 256. + 1.; - sensor->mag_adj[1] = (float)(data[1] - 128) / 256. + 1.; - sensor->mag_adj[2] = (float)(data[2] - 128) / 256. + 1.; - LOG(LL_DEBUG, ("magnetometer adjustment %.2f %.2f %.2f", sensor->mag_adj[0], sensor->mag_adj[1], sensor->mag_adj[2])); + imu->mag_adj[0] = (float)(data[0] - 128) / 256. + 1.; + imu->mag_adj[1] = (float)(data[1] - 128) / 256. + 1.; + imu->mag_adj[2] = (float)(data[2] - 128) / 256. + 1.; + LOG(LL_DEBUG, ("magnetometer adjustment %.2f %.2f %.2f", imu->mag_adj[0], imu->mag_adj[1], imu->mag_adj[2])); - mgos_i2c_write_reg_b(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x00); + mgos_i2c_write_reg_b(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x00); mgos_usleep(10000); // Set magnetometer data resolution and sample ODR - mgos_i2c_write_reg_b(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x16); + mgos_i2c_write_reg_b(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x16); mgos_usleep(10000); return true; @@ -67,19 +67,19 @@ static bool mgos_mpu9250_ak8963_init(struct mgos_mpu9250 *sensor, uint8_t i2cadd // Public functions follow struct mgos_mpu9250 *mgos_mpu9250_create(struct mgos_i2c *i2c, uint8_t i2caddr) { - struct mgos_mpu9250 *sensor; + struct mgos_mpu9250 *imu; int device_id; if (!i2c) { return NULL; } - sensor = calloc(1, sizeof(struct mgos_mpu9250)); - if (!sensor) { + imu = calloc(1, sizeof(struct mgos_mpu9250)); + if (!imu) { return NULL; } - sensor->i2caddr = i2caddr; - sensor->i2c = i2c; + imu->i2caddr = i2caddr; + imu->i2c = i2c; device_id = mgos_i2c_read_reg_b(i2c, i2caddr, MGOS_MPU9250_REG_WHO_AM_I); switch (device_id) { @@ -93,7 +93,7 @@ struct mgos_mpu9250 *mgos_mpu9250_create(struct mgos_i2c *i2c, uint8_t i2caddr) default: LOG(LL_ERROR, ("Failed to detect MPU9250 at I2C 0x%02x (device_id=0x%02x)", i2caddr, device_id)); - free(sensor); + free(imu); return NULL; } @@ -101,53 +101,53 @@ struct mgos_mpu9250 *mgos_mpu9250_create(struct mgos_i2c *i2c, uint8_t i2caddr) mgos_i2c_write_reg_b(i2c, i2caddr, MGOS_MPU9250_REG_PWR_MGMT_1, 0x80); mgos_usleep(100000); - // Enable sensors + // Enable imus mgos_i2c_write_reg_b(i2c, i2caddr, MGOS_MPU9250_REG_PWR_MGMT_2, 0x00); // Magnetometer enable mgos_i2c_write_reg_b(i2c, i2caddr, MGOS_MPU9250_REG_INT_PIN_CFG, 0x02); // TODO(pim): is the mag always on 0x0C ? - if (false == (sensor->mag_enabled = mgos_mpu9250_ak8963_init(sensor, MGOS_AK8963_DEFAULT_I2CADDR))) { + if (false == (imu->mag_enabled = mgos_mpu9250_ak8963_init(imu, MGOS_AK8963_DEFAULT_I2CADDR))) { LOG(LL_ERROR, ("Could not detect/initialize AK8963 magnetometer, disabling")); } - return sensor; + return imu; } -void mgos_mpu9250_destroy(struct mgos_mpu9250 **sensor) { - if (!*sensor) { +void mgos_mpu9250_destroy(struct mgos_mpu9250 **imu) { + if (!*imu) { return; } - free(*sensor); - *sensor = NULL; + free(*imu); + *imu = NULL; return; } -bool mgos_mpu9250_set_accelerometer_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_accelerometer_range range) { +bool mgos_mpu9250_set_accelerometer_range(struct mgos_mpu9250 *imu, enum mgos_mpu9250_accelerometer_range range) { int val; - if (!sensor) { + if (!imu) { return false; } - if ((val = mgos_i2c_read_reg_b(sensor->i2c, sensor->i2caddr, MGOS_MPU9250_REG_ACCEL_CONFIG)) < 0) { + if ((val = mgos_i2c_read_reg_b(imu->i2c, imu->i2caddr, MGOS_MPU9250_REG_ACCEL_CONFIG)) < 0) { return false; } val &= 0xE7; // 11100111 val |= range << 3; - return mgos_i2c_write_reg_b(sensor->i2c, sensor->i2caddr, MGOS_MPU9250_REG_ACCEL_CONFIG, val); + return mgos_i2c_write_reg_b(imu->i2c, imu->i2caddr, MGOS_MPU9250_REG_ACCEL_CONFIG, val); } -bool mgos_mpu9250_get_accelerometer_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_accelerometer_range *range) { +bool mgos_mpu9250_get_accelerometer_range(struct mgos_mpu9250 *imu, enum mgos_mpu9250_accelerometer_range *range) { int val; - if (!sensor) { + if (!imu) { return false; } - if ((val = mgos_i2c_read_reg_b(sensor->i2c, sensor->i2caddr, MGOS_MPU9250_REG_ACCEL_CONFIG)) < 0) { + if ((val = mgos_i2c_read_reg_b(imu->i2c, imu->i2caddr, MGOS_MPU9250_REG_ACCEL_CONFIG)) < 0) { return false; } val &= 0x18; // 00011000 @@ -156,19 +156,19 @@ bool mgos_mpu9250_get_accelerometer_range(struct mgos_mpu9250 *sensor, enum mgos return true; } -bool mgos_mpu9250_get_accelerometer(struct mgos_mpu9250 *sensor, float *x, float *y, float *z) { +bool mgos_mpu9250_get_accelerometer(struct mgos_mpu9250 *imu, float *x, float *y, float *z) { uint8_t data[6]; int16_t ax, ay, az; enum mgos_mpu9250_accelerometer_range acc_range; uint16_t divider; - if (!sensor) { + if (!imu) { return false; } - if (!mgos_mpu9250_get_accelerometer_range(sensor, &acc_range)) { + if (!mgos_mpu9250_get_accelerometer_range(imu, &acc_range)) { return false; } - if (!mgos_i2c_read_reg_n(sensor->i2c, sensor->i2caddr, MGOS_MPU9250_REG_ACCEL_XOUT_H, 6, data)) { + if (!mgos_i2c_read_reg_n(imu->i2c, imu->i2caddr, MGOS_MPU9250_REG_ACCEL_XOUT_H, 6, data)) { return false; } ax = (data[0] << 8) | (data[1]); @@ -194,30 +194,30 @@ bool mgos_mpu9250_get_accelerometer(struct mgos_mpu9250 *sensor, float *x, float return true; } -bool mgos_mpu9250_set_gyroscope_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_gyroscope_range range) { +bool mgos_mpu9250_set_gyroscope_range(struct mgos_mpu9250 *imu, enum mgos_mpu9250_gyroscope_range range) { int val; - if (!sensor) { + if (!imu) { return false; } - if ((val = mgos_i2c_read_reg_b(sensor->i2c, sensor->i2caddr, MGOS_MPU9250_REG_GYRO_CONFIG)) < 0) { + if ((val = mgos_i2c_read_reg_b(imu->i2c, imu->i2caddr, MGOS_MPU9250_REG_GYRO_CONFIG)) < 0) { return false; } val &= 0xE7; // 11100111 val |= range << 3; - return mgos_i2c_write_reg_b(sensor->i2c, sensor->i2caddr, MGOS_MPU9250_REG_GYRO_CONFIG, val); + return mgos_i2c_write_reg_b(imu->i2c, imu->i2caddr, MGOS_MPU9250_REG_GYRO_CONFIG, val); } -bool mgos_mpu9250_get_gyroscope_range(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_gyroscope_range *range) { +bool mgos_mpu9250_get_gyroscope_range(struct mgos_mpu9250 *imu, enum mgos_mpu9250_gyroscope_range *range) { int val; - if (!sensor) { + if (!imu) { return false; } - if ((val = mgos_i2c_read_reg_b(sensor->i2c, sensor->i2caddr, MGOS_MPU9250_REG_GYRO_CONFIG)) < 0) { + if ((val = mgos_i2c_read_reg_b(imu->i2c, imu->i2caddr, MGOS_MPU9250_REG_GYRO_CONFIG)) < 0) { return false; } val &= 0x18; // 00011000 @@ -226,19 +226,19 @@ bool mgos_mpu9250_get_gyroscope_range(struct mgos_mpu9250 *sensor, enum mgos_mpu return true; } -bool mgos_mpu9250_get_gyroscope(struct mgos_mpu9250 *sensor, float *x, float *y, float *z) { +bool mgos_mpu9250_get_gyroscope(struct mgos_mpu9250 *imu, float *x, float *y, float *z) { uint8_t data[6]; int16_t gx, gy, gz; enum mgos_mpu9250_gyroscope_range gyr_range; float divider; - if (!sensor) { + if (!imu) { return false; } - if (!mgos_mpu9250_get_gyroscope_range(sensor, &gyr_range)) { + if (!mgos_mpu9250_get_gyroscope_range(imu, &gyr_range)) { return false; } - if (!mgos_i2c_read_reg_n(sensor->i2c, sensor->i2caddr, MGOS_MPU9250_REG_GYRO_XOUT_H, 6, data)) { + if (!mgos_i2c_read_reg_n(imu->i2c, imu->i2caddr, MGOS_MPU9250_REG_GYRO_XOUT_H, 6, data)) { return false; } gx = (data[0] << 8) | (data[1]); @@ -263,66 +263,66 @@ bool mgos_mpu9250_get_gyroscope(struct mgos_mpu9250 *sensor, float *x, float *y, return true; } -bool mgos_mpu9250_set_magnetometer_scale(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_scale scale) { +bool mgos_mpu9250_set_magnetometer_scale(struct mgos_mpu9250 *imu, enum mgos_mpu9250_magnetometer_scale scale) { int val; - if (!sensor || !sensor->mag_enabled) { + if (!imu || !imu->mag_enabled) { return false; } - if ((val = mgos_i2c_read_reg_b(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL)) < 0) { + if ((val = mgos_i2c_read_reg_b(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL)) < 0) { return false; } val &= 0x06; - mgos_i2c_write_reg_b(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x00); + mgos_i2c_write_reg_b(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, 0x00); mgos_usleep(10000); - mgos_i2c_write_reg_b(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, (scale << 4) | val); + mgos_i2c_write_reg_b(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL, (scale << 4) | val); mgos_usleep(10000); return true; } -bool mgos_mpu9250_get_magnetometer_scale(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_scale *scale) { +bool mgos_mpu9250_get_magnetometer_scale(struct mgos_mpu9250 *imu, enum mgos_mpu9250_magnetometer_scale *scale) { int val; - if (!sensor || !sensor->mag_enabled) { + if (!imu || !imu->mag_enabled) { return false; } - if ((val = mgos_i2c_read_reg_b(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL)) < 0) { + if ((val = mgos_i2c_read_reg_b(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_CNTL)) < 0) { return false; } *scale = (val >> 4) & 0x01; return true; } -bool mgos_mpu9250_set_magnetometer_speed(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_speed speed) { - if (!sensor || !sensor->mag_enabled) { +bool mgos_mpu9250_set_magnetometer_speed(struct mgos_mpu9250 *imu, enum mgos_mpu9250_magnetometer_speed speed) { + if (!imu || !imu->mag_enabled) { return false; } return false; } -bool mgos_mpu9250_get_magnetometer_speed(struct mgos_mpu9250 *sensor, enum mgos_mpu9250_magnetometer_speed *speed) { - if (!sensor || !sensor->mag_enabled) { +bool mgos_mpu9250_get_magnetometer_speed(struct mgos_mpu9250 *imu, enum mgos_mpu9250_magnetometer_speed *speed) { + if (!imu || !imu->mag_enabled) { return false; } return false; } -bool mgos_mpu9250_get_magnetometer(struct mgos_mpu9250 *sensor, float *x, float *y, float *z) { +bool mgos_mpu9250_get_magnetometer(struct mgos_mpu9250 *imu, float *x, float *y, float *z) { uint8_t data[7]; int16_t mx, my, mz; enum mgos_mpu9250_magnetometer_scale mag_scale; float divider; - if (!sensor || !sensor->mag_enabled) { + if (!imu || !imu->mag_enabled) { return false; } - if (!mgos_mpu9250_get_magnetometer_scale(sensor, &mag_scale)) { + if (!mgos_mpu9250_get_magnetometer_scale(imu, &mag_scale)) { return false; } - if (!mgos_i2c_read_reg_n(sensor->i2c, sensor->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_XOUT_L, 7, data)) { + if (!mgos_i2c_read_reg_n(imu->i2c, imu->i2caddr_ak8963, MGOS_MPU9250_REG_AK8963_XOUT_L, 7, data)) { return false; } if (data[6] & 0x08) { @@ -341,9 +341,9 @@ bool mgos_mpu9250_get_magnetometer(struct mgos_mpu9250 *sensor, float *x, float default: return false; } - *x = (float)mx * 4912.0 * sensor->mag_adj[0] / divider; - *y = (float)my * 4912.0 * sensor->mag_adj[1] / divider; - *z = (float)mz * 4912.0 * sensor->mag_adj[2] / divider; + *x = (float)mx * 4912.0 * imu->mag_adj[0] / divider; + *y = (float)my * 4912.0 * imu->mag_adj[1] / divider; + *z = (float)mz * 4912.0 * imu->mag_adj[2] / divider; return true; }