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173 | -- SPDX-FileCopyrightText: 2024 Max Reznik <reznikmm@gmail.com>
--
-- SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
----------------------------------------------------------------
with Ada.Unchecked_Conversion;
package body QMC5883.Internal is
-------------------
-- Check_Chip_Id --
-------------------
function Check_Chip_Id (Device : Device_Context) return Boolean is
use type HAL.UInt8;
Ok : Boolean;
Data : HAL.UInt8_Array (16#0D# .. 16#0D#);
begin
Read (Device, Data, Ok);
return Ok and Data (Data'First) = 16#FF#;
end Check_Chip_Id;
---------------
-- Configure --
---------------
procedure Configure
(Device : Device_Context;
Value : Sensor_Configuration;
Success : out Boolean)
is
use type HAL.UInt8;
type Control_Register is record
Mode : Natural range 0 .. 3;
ODR : Natural range 0 .. 3;
RNG : Natural range 0 .. 3;
OSR : Natural range 0 .. 3;
end record;
for Control_Register use record
Mode at 0 range 0 .. 1;
ODR at 0 range 2 .. 3;
RNG at 0 range 4 .. 5;
OSR at 0 range 6 .. 7;
end record;
function Cast_Control is new Ada.Unchecked_Conversion
(Control_Register, HAL.UInt8);
Mode : constant Natural := Operating_Mode'Pos (Value.Mode);
ODR : constant Natural :=
(case Value.Data_Rate is
when 10 => 0,
when 50 => 1,
when 100 => 2,
when 200 => 3);
RNG : constant Natural := Boolean'Pos (Value.Full_Range = 8);
OSR : constant Natural :=
(case Value.Over_Sample is
when 512 => 0,
when 256 => 1,
when 128 => 2,
when 64 => 3);
Data : constant HAL.UInt8_Array (16#09# .. 16#09#) :=
(09 => Cast_Control
((Mode => Mode, ODR => ODR, RNG => RNG, OSR => OSR)));
begin
Write (Device, Data, Success);
end Configure;
-------------------
-- Is_Data_Ready --
-------------------
function Is_Data_Ready (Device : Device_Context) return Boolean is
use type HAL.UInt8;
Ok : Boolean;
Data : HAL.UInt8_Array (06 .. 06);
begin
Read (Device, Data, Ok);
return Ok and (Data (Data'First) and 1) /= 0;
end Is_Data_Ready;
----------------------
-- Read_Measurement --
----------------------
procedure Read_Measurement
(Device : Device_Context;
Full_Range : Full_Scale_Range;
Value : out Magnetic_Field_Vector;
Success : out Boolean)
is
Scale : constant := 2.0 ** 14 / 12_000.0; -- Sensitivity 12000 LSB/G
Raw : Raw_Vector;
begin
Read_Raw_Measurement (Device, Raw, Success);
Value :=
(X => Magnetic_Field'Small * Integer (Raw.X),
Y => Magnetic_Field'Small * Integer (Raw.Y),
Z => Magnetic_Field'Small * Integer (Raw.Z));
if Full_Range = 2 then
Value :=
(X => Value.X * Scale,
Y => Value.Y * Scale,
Z => Value.Z * Scale);
else
Value :=
(X => Value.X * 4 * Scale,
Y => Value.Y * 4 * Scale,
Z => Value.Z * 4 * Scale);
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'Last)), 8)
+ Unsigned_16 (Data (Data'First))));
Data : HAL.UInt8_Array (0 .. 5);
begin
Read (Device, Data, Success);
if Success then
Value :=
(X => Decode (Data (0 .. 1)),
Y => Decode (Data (2 .. 3)),
Z => Decode (Data (4 .. 5)));
else
Value := (X | Y | Z => 0);
end if;
end Read_Raw_Measurement;
-----------
-- Reset --
-----------
procedure Reset
(Device : Device_Context;
Success : out Boolean) is
begin
Write (Device, (16#0A# => 16#80#), Success);
if Success then
Write (Device, (16#0B# => 16#01#), Success);
end if;
end Reset;
end QMC5883.Internal;
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