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217 | -- SPDX-FileCopyrightText: 2024 Max Reznik <reznikmm@gmail.com>
--
-- SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
----------------------------------------------------------------
pragma Ada_2022;
with Ada.Unchecked_Conversion;
package body HMC5883.Internal is
-------------------
-- Check_Chip_Id --
-------------------
function Check_Chip_Id (Device : Device_Context) return Boolean is
use type HAL.UInt8_Array;
Ok : Boolean;
Data : HAL.UInt8_Array (10 .. 12);
begin
Read (Device, Data, Ok);
return Ok and Data = [16#48#, 16#34#, 16#33#];
end Check_Chip_Id;
---------------
-- Configure --
---------------
procedure Configure
(Device : Device_Context;
Value : Sensor_Configuration;
Gain : out Raw_Gain;
Success : out Boolean)
is
use type HAL.UInt8;
type CRA_Register is record
MS : Natural range 0 .. 3;
DOR : Natural range 0 .. 7;
MA : Natural range 0 .. 3;
Reserved : Natural range 0 .. 0 := 0;
end record;
for CRA_Register use record
MS at 0 range 0 .. 1;
DOR at 0 range 2 .. 4;
MA at 0 range 5 .. 6;
Reserved at 0 range 7 .. 7;
end record;
function Cast_CRA is new Ada.Unchecked_Conversion
(CRA_Register, HAL.UInt8);
type CRB_Register is record
Reserved : Natural range 0 .. 0 := 0;
GN : Natural range 0 .. 7;
end record;
for CRB_Register use record
Reserved at 0 range 0 .. 4;
GN at 0 range 5 .. 7;
end record;
function Cast_CRB is new Ada.Unchecked_Conversion
(CRB_Register, HAL.UInt8);
MA : constant Natural :=
(case Value.Average is
when 1 => 0,
when 2 => 1,
when 4 => 2,
when 8 => 3);
DOR : constant Natural :=
(if Value.ODR = 0.75 then 0
elsif Value.ODR = 1.5 then 1
elsif Value.ODR = 3.0 then 2
elsif Value.ODR = 7.5 then 3
elsif Value.ODR = 15.0 then 4
elsif Value.ODR = 30.0 then 5
else 6);
MS : constant Natural := Self_Test_Bias'Pos (Value.Bias);
GN : constant Raw_Gain :=
(case Value.Gain is
when 230 => 7,
when 330 => 6,
when 390 => 5,
when 440 => 4,
when 660 => 3,
when 820 => 2,
when 1090 => 1,
when 1370 => 0);
Data : constant HAL.UInt8_Array (00 .. 01) :=
[00 => Cast_CRA ((MS => MS, DOR => DOR, MA => MA, Reserved => 0)),
01 => Cast_CRB ((GN => GN, Reserved => 0))];
begin
Write (Device, Data, Success);
Gain := GN;
end Configure;
-------------
-- Is_Idle --
-------------
function Is_Idle (Device : Device_Context) return Boolean is
use type HAL.UInt8;
Ok : Boolean;
Data : HAL.UInt8_Array (02 .. 02);
begin
Read (Device, Data, Ok);
return Ok and (Data (Data'First) and 2) /= 0;
end Is_Idle;
----------------
-- Is_Writing --
----------------
function Is_Writing (Device : Device_Context) return Boolean is
use type HAL.UInt8;
Ok : Boolean;
Data : HAL.UInt8_Array (09 .. 09);
begin
Read (Device, Data, Ok);
-- 0 bit - Ready Bit. Set when data is written to all six data
-- registers. Cleared when device initiates a write to the data output
-- registers and after one or more of the data output registers are
-- written to. When RDY bit is clear it shall remain cleared for a
-- 250 us
return Ok and (Data (Data'First) and 1) = 0;
end Is_Writing;
----------------------
-- Read_Measurement --
----------------------
procedure Read_Measurement
(Device : Device_Context;
Gain : Raw_Gain;
Value : out Magnetic_Field_Vector;
Success : out Boolean)
is
subtype Valid is Valid_Raw_Value;
Overflow : constant Optional_Magnetic_Field := (Is_Overflow => True);
type Int is delta 1.0 range -2048.0 .. 2047.0;
Scale : constant Full_Scale_Range := Scale_Map (Gain);
Raw : Raw_Vector;
begin
Read_Raw_Measurement (Device, Raw, Success);
if Success then
Value :=
(X => (if Raw.X in Valid then (False, Scale * Int (Raw.X))
else Overflow),
Y => (if Raw.Y in Valid then (False, Scale * Int (Raw.Y))
else Overflow),
Z => (if Raw.Z in Valid then (False, Scale * Int (Raw.Z))
else Overflow));
else
Value := (X | Y | Z => Overflow);
end if;
end Read_Measurement;
----------------------
-- Read_Measurement --
----------------------
procedure Read_Raw_Measurement
(Device : Device_Context;
Value : out Raw_Vector;
Success : out Boolean)
is
use Interfaces;
function Cast is new Ada.Unchecked_Conversion
(Unsigned_16, Integer_16);
function Decode (Data : HAL.UInt8_Array) return Integer_16 is
(Cast (Shift_Left (Unsigned_16 (Data (Data'First)), 8)
+ Unsigned_16 (Data (Data'Last))));
Data : HAL.UInt8_Array (3 .. 8);
begin
Read (Device, Data, Success);
if Success then
Value.X := Decode (Data (3 .. 4));
Value.Y := Decode (Data (5 .. 6));
Value.Z := Decode (Data (7 .. 8));
end if;
end Read_Raw_Measurement;
--------------
-- Set_Mode --
--------------
procedure Set_Mode
(Device : Device_Context;
Mode : Operating_Mode;
Success : out Boolean) is
begin
Write (Device, [02 => Operating_Mode'Pos (Mode)], Success);
end Set_Mode;
end HMC5883.Internal;
|