CrossWorks Device Library€¦ · CrossWorks Device Library Contents 7 Clock ..... 163

CrossWorks Device Library

Version: 3.3

© 2014 Rowley Associates Limited

CrossWorks Device Library

2

CrossWorks Device Library Contents

3

ContentsCrossWorks Device Library .................................................................................................................................................................. 15

Protocol API Reference ........................................................................................................................................................... 17

<ctl_bus.h> .................................................................................................................................................................... 17

CTL_PARALLEL_BUS_t ................................................................................................................................ 18

ctl_bus_lock .................................................................................................................................................... 19

ctl_bus_lock_ex ............................................................................................................................................. 20

ctl_bus_read ................................................................................................................................................... 21

ctl_bus_read_bit ........................................................................................................................................... 22

ctl_bus_set_direction ................................................................................................................................. 23

ctl_bus_set_input_mode ........................................................................................................................... 24

ctl_bus_set_output_mode ....................................................................................................................... 25

ctl_bus_unlock ............................................................................................................................................... 26

ctl_bus_write .................................................................................................................................................. 27

ctl_bus_write_bit .......................................................................................................................................... 28

ctl_bus_write_bits ........................................................................................................................................ 29

ctl_parallel_bus_initialize ......................................................................................................................... 30

<ctl_i2c.h> ...................................................................................................................................................................... 31

CTL_I2C_BUS_t .............................................................................................................................................. 32

CTL_I2C_FAST_MODE_PLUS_SPEED .................................................................................................... 33

CTL_I2C_FAST_MODE_SPEED ................................................................................................................. 34

CTL_I2C_REQUEST_t .................................................................................................................................... 35

CTL_I2C_STANDARD_SPEED .................................................................................................................... 36

ctl_i2c_lock_bus ............................................................................................................................................ 37


4

ctl_i2c_lock_bus_ex ..................................................................................................................................... 38

ctl_i2c_read ..................................................................................................................................................... 39

ctl_i2c_set_speed ......................................................................................................................................... 40

ctl_i2c_unlock_bus ...................................................................................................................................... 41

ctl_i2c_write .................................................................................................................................................... 42

ctl_i2c_write_read ........................................................................................................................................ 43

<ctl_spi.h> ..................................................................................................................................................................... 44

CTL_SPI_BUS_t ............................................................................................................................................... 46

CTL_SPI_DEVICE_t ........................................................................................................................................ 47

CTL_SPI_EXCHANGE_FN_t ........................................................................................................................ 48

CTL_SPI_MODE_t .......................................................................................................................................... 49

CTL_SPI_PROTOCOL_t ................................................................................................................................ 50

CTL_SPI_SET_PROTOCOL_FN_t .............................................................................................................. 51

ctl_spi_attach_device ................................................................................................................................. 52

ctl_spi_deselect_device ............................................................................................................................. 53

ctl_spi_detach_device ................................................................................................................................ 54

ctl_spi_exchange .......................................................................................................................................... 55

ctl_spi_get ....................................................................................................................................................... 56

ctl_spi_issue_deselected_clocks ............................................................................................................ 57

ctl_spi_lock_bus ............................................................................................................................................ 58

ctl_spi_lock_bus_ex .................................................................................................................................... 59

ctl_spi_put ....................................................................................................................................................... 60

ctl_spi_put_get .............................................................................................................................................. 61

ctl_spi_read ..................................................................................................................................................... 62

ctl_spi_select_device .................................................................................................................................. 63

ctl_spi_set_idle .............................................................................................................................................. 64

ctl_spi_set_mode .......................................................................................................................................... 65

ctl_spi_set_protocol .................................................................................................................................... 66

ctl_spi_set_speed ......................................................................................................................................... 67

ctl_spi_set_width .......................................................................................................................................... 68

ctl_spi_unlock_bus ...................................................................................................................................... 69

ctl_spi_write .................................................................................................................................................... 70

<ctl_sensors.h> ............................................................................................................................................................ 71

CTL_ACCELEROMETER_t ............................................................................................................................ 73

CTL_AXIS_TRANSFORMATION ................................................................................................................ 75

CTL_GYROSCOPE_t ...................................................................................................................................... 76

CTL_HUMIDITY_SENSOR_t ....................................................................................................................... 78

CTL_IMU_t ....................................................................................................................................................... 79

CTL_LIGHT_SENSOR_t ................................................................................................................................ 80

CTL_MAGNETOMETER_t ............................................................................................................................ 81

CTL_PRESSURE_SENSOR_t ....................................................................................................................... 82


5

CTL_TEMPERATURE_SENSOR_t .............................................................................................................. 83

ctl_accelerometer_measure ..................................................................................................................... 84

ctl_accelerometer_set_bandwidth ....................................................................................................... 85

ctl_accelerometer_set_range .................................................................................................................. 86

ctl_forward_transform_axes ................................................................................................................... 87

ctl_generate_axis_transform .................................................................................................................. 88

ctl_gyroscope_measure ............................................................................................................................. 89

ctl_gyroscope_set_bandwidth ............................................................................................................... 90

ctl_gyroscope_set_range .......................................................................................................................... 91

ctl_humidity_sensor_measure ............................................................................................................... 92

ctl_light_sensor_measure ......................................................................................................................... 93

ctl_magnetometer_measure ................................................................................................................... 94

ctl_magnetometer_set_bandwidth ...................................................................................................... 95

ctl_pressure_sensor_measure ................................................................................................................ 96

ctl_temperature_sensor_measure ........................................................................................................ 97

ctl_temperature_sensor_set_resolution ............................................................................................ 98

<ctl_transport.h> ........................................................................................................................................................ 99

CTL_TRANSPORT_BUS_t ......................................................................................................................... 101

CTL_TRANSPORT_t .................................................................................................................................... 102

ctl_transport_initialize_i2c .................................................................................................................... 103

ctl_transport_initialize_spi .................................................................................................................... 104

ctl_transport_lock ...................................................................................................................................... 105

ctl_transport_read_16b_register ........................................................................................................ 106



ctl_transport_read_8b_register ........................................................................................................... 109

ctl_transport_read_registers ................................................................................................................ 110

ctl_transport_read_registers_fail ........................................................................................................ 111

ctl_transport_read_registers_i2c ........................................................................................................ 112

ctl_transport_rmw_16b_register ........................................................................................................ 113



ctl_transport_rmw_8b_register ........................................................................................................... 116

ctl_transport_unlock ................................................................................................................................ 117

ctl_transport_write_16b_register ....................................................................................................... 118



ctl_transport_write_8b_register ......................................................................................................... 121

ctl_transport_write_registers ............................................................................................................... 122

ctl_transport_write_registers_fail ...................................................................................................... 123

ctl_transport_write_registers_i2c ....................................................................................................... 124


6

<ctl_uart.h> ................................................................................................................................................................ 125

ctl_uart_getc ................................................................................................................................................ 126

ctl_uart_getc_nb ........................................................................................................................................ 127

ctl_uart_putc ................................................................................................................................................ 128

ctl_uart_puts ................................................................................................................................................ 129

Device API Reference ............................................................................................................................................................ 130

Analog ........................................................................................................................................................................... 130

<adc101s021.h> ......................................................................................................................................... 130

adc101s021_init ........................................................................................................................... 131

adc101s021_measure_raw ...................................................................................................... 132

<ltc2309.h> ................................................................................................................................................... 133

LTC2309_I2C_ADDR ................................................................................................................... 134

ltc2309_init_i2c ............................................................................................................................ 135

ltc2309_sample_differential_bipolar .................................................................................. 136

ltc2309_sample_differential_unipolar ............................................................................... 137

ltc2309_sample_single_ended_bipolar ............................................................................. 138

ltc2309_sample_single_ended_unipolar .......................................................................... 139

Digital ............................................................................................................................................................................ 140

<mcp23016.h> ............................................................................................................................................ 140

MCP23016_I2C_ADDR ............................................................................................................... 141

mcp23016_initialize_i2c ........................................................................................................... 142

<mcp23x08.h> ............................................................................................................................................ 143

MCP23008_I2C_ADDR ............................................................................................................... 144

mcp23x08_initialize_i2c ........................................................................................................... 145

mcp23x08_initialize_spi ........................................................................................................... 146

<mcp23x17.h> ............................................................................................................................................ 147

MCP23017_I2C_ADDR ............................................................................................................... 148

mcp23x17_initialize_i2c ........................................................................................................... 149

mcp23x17_initialize_spi ........................................................................................................... 150

<pca9532.h> ................................................................................................................................................ 151

PCA9532_I2C_ADDR ................................................................................................................... 152

pca9532_initialize_i2c ............................................................................................................... 153

pca9532_led_mode .................................................................................................................... 154

pca9532_set_duty_cycle .......................................................................................................... 155

pca9532_set_led_mode ............................................................................................................ 156

pca9532_set_pwm_frequency ............................................................................................... 157

<pca9672.h> ................................................................................................................................................ 158

pca9672_initialize_i2c ............................................................................................................... 159

<pcf8575.h> ................................................................................................................................................. 160

PCF8575_I2C_ADDR ................................................................................................................... 161

pcf8575_initialize_i2c ................................................................................................................ 162


7

Clock ............................................................................................................................................................................... 163

<ltc6904.h> ................................................................................................................................................... 163

LTC6904_I2C_ADDR_ADR0 ..................................................................................................... 165

LTC6904_I2C_ADDR_ADR1 ..................................................................................................... 166

LTC6904_MODE_CLK_OFF_nCLK_ON ................................................................................. 167

LTC6904_MODE_CLK_ON_nCLK_OFF ................................................................................. 168

LTC6904_MODE_CLK_ON_nCLK_ON .................................................................................. 169

LTC6904_MODE_POWER_DOWN ......................................................................................... 170

LTC6904_OSCILLATOR_t .......................................................................................................... 171

ltc6904_get_selected_frequency ......................................................................................... 172

ltc6904_init_i2c ............................................................................................................................ 173

ltc6904_set_frequency .............................................................................................................. 174

ltc6904_set_mode ....................................................................................................................... 175

Environmental ........................................................................................................................................................... 176

<adt7410.h> ................................................................................................................................................. 176

ADT7410_I2C_ADDR .................................................................................................................. 177

adt7410_initialize_i2c ................................................................................................................ 178

<bmp085.h> ................................................................................................................................................. 179

BMP085_BAROMETER_t ........................................................................................................... 180

BMP085_I2C_ADDR .................................................................................................................... 181

bmp085_initialize_i2c ............................................................................................................... 182

bmp085_set_resolution ............................................................................................................ 183

<dht.h> ........................................................................................................................................................... 184

dht_read_humidity ..................................................................................................................... 185

<hih6130.h> ................................................................................................................................................. 186

HIH6130_I2C_ADDR ................................................................................................................... 187

hih6130_initialize_i2c ................................................................................................................ 188

<isl29023.h> ................................................................................................................................................. 189

ISL29023_DRIVER_t .................................................................................................................... 191

ISL29023_I2C_ADDR .................................................................................................................. 192

isl29023_initialize_i2c ............................................................................................................... 193

isl29023_set_range ..................................................................................................................... 194

isl29023_set_resolution_bits .................................................................................................. 195

<lm75.h> ........................................................................................................................................................ 196

LM75_I2C_ADDR .......................................................................................................................... 197

lm75_initialize_i2c ...................................................................................................................... 198

lm75_initialize_i2c_ex ............................................................................................................... 199

<lps331ap.h> ............................................................................................................................................... 200

LPS331AP_I2C_ADDR ................................................................................................................ 201

lps331ap_initialize_i2c .............................................................................................................. 202

<ltr501als.h> ................................................................................................................................................ 203


8

LTR501ALS_I2C_ADDR .............................................................................................................. 204

ltr501als_initialize_i2c ............................................................................................................... 205

<max6675.h> ............................................................................................................................................... 206

max6675_initialize_spi .............................................................................................................. 207

<mpl115a.h> ................................................................................................................................................ 208

MPL115A2_I2C_ADDRESS ........................................................................................................ 210

mpl115a_initialize_i2c ............................................................................................................... 211

mpl115a_initialize_spi .............................................................................................................. 212

<mpl3115a2.h> ........................................................................................................................................... 213

MPL3115A2_I2C_ADDRESS ..................................................................................................... 214

mpl3115a2_initialize_i2c ......................................................................................................... 215

<sht1x.h> ....................................................................................................................................................... 216

SHT1X_HIGH_RESOLUTION ..................................................................................................... 218

SHT1X_LOW_RESOLUTION ...................................................................................................... 219

sht1x_initialize .............................................................................................................................. 220

sht1x_read_linear_humidity ................................................................................................... 221

sht1x_read_raw_humidity ....................................................................................................... 222

sht1x_read_raw_temperature ............................................................................................... 223

sht1x_read_status ....................................................................................................................... 224

sht1x_read_temperature ......................................................................................................... 225

sht1x_read_true_humidity ...................................................................................................... 226

sht1x_set_resolution .................................................................................................................. 227

sht1x_set_supply_voltage ....................................................................................................... 228

sht1x_soft_reset ........................................................................................................................... 229

sht1x_write_status ...................................................................................................................... 230

<sht2x.h> ....................................................................................................................................................... 231

SHT2x_I2C_ADDR ........................................................................................................................ 233

SHT2x_RESOLUTION_t .............................................................................................................. 234

sht2x_get_resolution ................................................................................................................. 235

sht2x_initialize_i2c ..................................................................................................................... 236

sht2x_read_user ........................................................................................................................... 237

sht2x_set_resolution .................................................................................................................. 238

sht2x_write_user ......................................................................................................................... 239

<si7005.h> ..................................................................................................................................................... 240

SI7005_I2C_ADDR ....................................................................................................................... 241

si7005_initialize_i2c ................................................................................................................... 242

<tmp100.h> .................................................................................................................................................. 243

TMP100_I2C_ADDR ..................................................................................................................... 244

tmp100_initialize_i2c ................................................................................................................. 245

<tmp102.h> .................................................................................................................................................. 246

TMP102_I2C_ADDR ..................................................................................................................... 248


9

TMP275_I2C_ADDR ..................................................................................................................... 249

tmp102_initialize_i2c ................................................................................................................. 250

tmp102_set_extended_mode ................................................................................................ 251

<tsl2561.h> ................................................................................................................................................... 252

TSL2561_DRIVER_t ...................................................................................................................... 253

TSL2561_I2C_ADDR_FLOAT .................................................................................................... 254

TSL2561_I2C_ADDR_GND ........................................................................................................ 255

TSL2561_I2C_ADDR_VDD ........................................................................................................ 256

tsl2561_initialize_i2c .................................................................................................................. 257

tsl2561_set_integration_time ................................................................................................ 258

HMI .................................................................................................................................................................................. 259

<ads7846.h> ................................................................................................................................................. 259

ads7846_init .................................................................................................................................. 260

<hd44780.h> ................................................................................................................................................ 261

HD44780_4BIT_INTERFACE ..................................................................................................... 263

HD44780_ANSI_DRIVER_t ........................................................................................................ 264

HD44780_BIDIRECTIONAL_DBUS ......................................................................................... 265

HD44780_DRIVER_t .................................................................................................................... 266

hd44780_ansi_init ....................................................................................................................... 268

hd44780_clear .............................................................................................................................. 269

hd44780_cursor_off ................................................................................................................... 270

hd44780_cursor_on .................................................................................................................... 271

hd44780_display_off ................................................................................................................. 272

hd44780_display_on .................................................................................................................. 273

hd44780_putc ............................................................................................................................... 274

hd44780_puts ............................................................................................................................... 275

hd44780_reset .............................................................................................................................. 276

hd44780_send_cmd ................................................................................................................... 277

hd44780_set_backlight ............................................................................................................ 278

hd44780_set_cursor_position ............................................................................................... 279

hd44780_write .............................................................................................................................. 280

<mpr121.h> .................................................................................................................................................. 281

MPR121_ADDRESS_SCL ............................................................................................................ 282

MPR121_ADDRESS_SDA ........................................................................................................... 283

MPR121_ADDRESS_VDD .......................................................................................................... 284

MPR121_ADDRESS_VSS ............................................................................................................ 285

<wii_controller.h> ..................................................................................................................................... 286

WII_CLASSIC_REPORT_t ............................................................................................................ 288

WII_NUNCHUK_REPORT_t ....................................................................................................... 289

wii_classic_sample ...................................................................................................................... 290

wii_extension_controller_initialize ...................................................................................... 291


10

wii_extension_controller_read_memory .......................................................................... 292

wii_extension_controller_write_memory_byte ............................................................. 293

wii_nunchuk_accelerometer_interface ............................................................................. 294

wii_nunchuk_sample ................................................................................................................. 295

Magnetics ..................................................................................................................................................................... 296

<ak8975.h> ................................................................................................................................................... 296

AK8975_I2C_ADDR ..................................................................................................................... 298

ak8975_initialize_i2c .................................................................................................................. 299

ak8975_initialize_transport .................................................................................................... 300

<bmm150.h> ............................................................................................................................................... 301

BMM150_I2C_ADDR ................................................................................................................... 302

bmm150_initialize_i2c .............................................................................................................. 303

bmm150_initialize_spi .............................................................................................................. 304

<fxos8700cq.h> .......................................................................................................................................... 305

FXOS8700CQ_I2C_ADDR .......................................................................................................... 306

FXOS8700CQ_t ............................................................................................................................. 307

fxos8700cq_initialize_i2c ......................................................................................................... 308

<hmc5843.h> ............................................................................................................................................... 309

HMC5843_I2C_ADDR ................................................................................................................. 310

hmc5843_initialize_i2c .............................................................................................................. 311

<hmc5883l.h> .............................................................................................................................................. 312

HMC5883L_I2C_ADDR ............................................................................................................... 314

hmc5883l_initialize_i2c ............................................................................................................ 315

hmc5883l_initialize_transport ............................................................................................... 316

<hmc6343.h> ............................................................................................................................................... 317

HMC6343_I2C_ADDR ................................................................................................................. 318

hmc6343_read_heading ........................................................................................................... 319

<hmc6352.h> ............................................................................................................................................... 320

HMC6352_I2C_ADDR ................................................................................................................. 321

hmc6352_read_heading ........................................................................................................... 322

<mag3110.h> ............................................................................................................................................... 323

MAG3110_I2C_ADDR ................................................................................................................. 325

mag3110_initialize_i2c ............................................................................................................. 326

mag3110_read_die_temperature ........................................................................................ 327

mag3110_set_oversampling_ratio ...................................................................................... 328

Motion ........................................................................................................................................................................... 329

<adxl345.h> .................................................................................................................................................. 329

ADXL345_I2C_ADDR_ALTERNATE ....................................................................................... 331

ADXL345_I2C_ADDR_DEFAULT ............................................................................................ 332

adxl345_initialize_i2c ................................................................................................................ 333

adxl345_initialize_spi ................................................................................................................ 334


11

<adxl362.h> .................................................................................................................................................. 335

adxl362_initialize_spi ................................................................................................................ 336

<atavrsbin1.h> ............................................................................................................................................ 337

ATAVRSBIN1_t ............................................................................................................................... 338

atavrsbin1_initialize_i2c ........................................................................................................... 339

<atavrsbin2.h> ............................................................................................................................................ 340

ATAVRSBIN2_t ............................................................................................................................... 341

atavrsbin2_initialize_i2c ........................................................................................................... 342

<bma150.h> ................................................................................................................................................. 343

BMA150_I2C_ADDR .................................................................................................................... 345

bma150_initialize_i2c ................................................................................................................ 346

bma150_initialize_spi ................................................................................................................ 347

bma150_read_chip_id ............................................................................................................... 348

bma150_read_die_temperature ........................................................................................... 349

bma150_soft_reset ..................................................................................................................... 350

<bma250.h> ................................................................................................................................................. 351

BMA250_I2C_ADDR .................................................................................................................... 352

bma250_initialize_i2c ................................................................................................................ 353

bma250_initialize_spi ................................................................................................................ 354

bma250_read_chip_id ............................................................................................................... 355

bma250_read_die_temperature ........................................................................................... 356

<imu3000.h> ................................................................................................................................................ 357

IMU3000_I2C_ADDR ................................................................................................................... 358

imu3000_initialize_i2c .............................................................................................................. 359

imu3000_read_die_temperature .......................................................................................... 360

<imu3000_combo.h> ............................................................................................................................... 361

IMU3000_COMBO_t .................................................................................................................... 362

imu3000_combo_initialize_i2c .............................................................................................. 363

<itg3200.h> .................................................................................................................................................. 364

ITG3200_I2C_ADDR .................................................................................................................... 365

itg3200_initialize_i2c ................................................................................................................. 366

itg3200_read_die_temperature ............................................................................................ 367

<kxp84.h> ..................................................................................................................................................... 368

KXP84_I2C_ADDR ........................................................................................................................ 369

kxp84_initialize_i2c .................................................................................................................... 370

kxp84_initialize_spi .................................................................................................................... 371

<kxtf9.h> ....................................................................................................................................................... 372

KXTF9_I2C_ADDR ........................................................................................................................ 373

kxtf9_initialize_i2c ...................................................................................................................... 374

<l3g4200d.h> .............................................................................................................................................. 375

L3G4200D_I2C_ADDR ................................................................................................................ 376


12

l3g4200d_initialize_i2c ............................................................................................................. 377

<l3gd20.h> .................................................................................................................................................... 378

L3GD20_I2C_ADDR ..................................................................................................................... 379

l3gd20_initialize_i2c .................................................................................................................. 380

<lis302dl.h> .................................................................................................................................................. 381

LIS302DL_I2C_ADDR .................................................................................................................. 383

lis302dl_initialize_i2c ................................................................................................................. 384

lis302dl_initialize_spi ................................................................................................................. 385

<lis331dlh.h> ............................................................................................................................................... 386

LIS331DLH_I2C_ADDR ............................................................................................................... 388

lis331dlh_initialize_i2c .............................................................................................................. 389

lis331dlh_initialize_spi .............................................................................................................. 390

<lis331hh.h> ................................................................................................................................................ 391

LIS331HH_I2C_ADDR ................................................................................................................. 393

lis331hh_initialize_i2c ............................................................................................................... 394

lis331hh_initialize_spi ............................................................................................................... 395

<lis3dsh.h> ................................................................................................................................................... 396

LIS3DSH_I2C_ADDR .................................................................................................................... 397

lis3dsh_initialize_i2c .................................................................................................................. 398

lis3dsh_initialize_spi .................................................................................................................. 399

<lis3lv02dl.h> .............................................................................................................................................. 400

LIS3LV02DL_I2C_ADDR ............................................................................................................. 401

lis3lv02dl_initialize_i2c ............................................................................................................. 402

lis3lv02dl_initialize_spi ............................................................................................................. 403

<mma7455l.h> ............................................................................................................................................ 404

MMA7455_I2C_ADDR ................................................................................................................ 405

mma7455l_initialize_i2c ........................................................................................................... 406

mma7455l_initialize_spi ........................................................................................................... 407

<mma7660fc.h> .......................................................................................................................................... 408

MMA7660FC_I2C_ADDR ........................................................................................................... 409

mma7660fc_initialize_i2c ........................................................................................................ 410

<mma845xq.h> ........................................................................................................................................... 411

MMA8451Q_I2C_ADDR ............................................................................................................. 413

mma8451q_initialize_i2c ......................................................................................................... 414

<mma8491q.h> .......................................................................................................................................... 415

MMA8491Q_I2C_ADDR ............................................................................................................. 416

mma8491q_initialize_i2c ......................................................................................................... 417

<mpu6000.h> .............................................................................................................................................. 418

MPU6000_I2C_ADDR ................................................................................................................. 419

MPU6000_t ..................................................................................................................................... 420

mpu6000_aux_transport_setup ........................................................................................... 421


13

mpu6000_initialize_i2c ............................................................................................................. 422

mpu6000_initialize_spi ............................................................................................................. 423

mpu6000_read_die_temperature ........................................................................................ 424

mpu6000_revision ...................................................................................................................... 425

<sca3000.h> ................................................................................................................................................. 426

sca3000_initialize_i2c ................................................................................................................ 428

sca3000_initialize_spi ................................................................................................................ 429


14

CrossWorks Device Library CrossWorks Device Library

15

CrossWorks Device LibraryThe CrossWorks Device Library contains pre-written, tested device driver software to interact with a range of

common sensors and devices. This library will be extended over time, as more devices become available and are

considered for inclusion in the library.

The device library is split into two parts:

• Protocol API: provides an abstract interface to common industry protocols, such as I2C and SPI, along with

an API for generic sensor functions.

• Device API: provides specific device implementations for the generic sensor functions and drivers for

unique or special devices.

Architecture

The CrossWorks Device Library is one part of the CrossWorks Target Library. Many of the low-level functions

provided by the target library are built using features of the CrossWorks Tasking Library for multi-threaded

operation.

Delivery format

The CrossWorks Device Library is delivered in source form.

License

The source files in this package are not public domain and are not open source. They represent a substantial

investment undertaken by Rowley Associates to assist CrossWorks customers in prototyping solutions using

well-written, tested drivers.


16

If you hold a paid-for CrossWorks Version 3 or later commercial license, you are free to compile this package and

incorporate the resulting object code in your own products without royalties and without additional license

fees. Customers holding a CrossWorks Version 1 or 2 commercial license are required to upgrade to CrossWorks

Version 3 to use this software.

If you hold a paid-for CrossWorks Version 3 or later non-commercial license, you are free to compile this package

and incorporate the resulting object code in your own projects, for your own use, without royalties and without

additional license fees. You are, however, prohibited from distributing the linked code, incorporating the object

code from this library, in binary form. Customers holding a CrossWorks Version 1 or 2 non-commercial license are

required to purchase CrossWorks Version 3 to use this software.

Feedback

This facility is a work in progress and may undergo rapid change. If you have comments, observations,

suggestions, or problems, please feel free to air them on the CrossWorks Target and Platform API discussion

forum.

https://rowley.zendesk.com/forums/21762187-the-crossworks-target-and-platform-api


17

<ctl_bus.h>

Overview

Abstract parallel digital bus.

The types and functions in <ctl_i2c.h> provide a high-level set of services that implement a parallel bus.

The CrossWorks Device Library provides drivers for the following devices that implement a parallel bus but are

connected using I2C or SPI:

• MCP23x08

• MCP23016

• MCP23x17

• PCF8575

• PCA9672

API Summary

Bus

CTL_PARALLEL_BUS_t Abstract parallel bus interface

ctl_bus_lock Acquire exclusive bus lock

ctl_bus_lock_ex Acquire exclusive bus lock (extended)

ctl_bus_unlock Release exclusive bus lock

ctl_parallel_bus_initialize Initialize structure

Configuration

ctl_bus_set_direction Set bus input-output direction

ctl_bus_set_input_mode Set selected bus bits to input direction

ctl_bus_set_output_mode Set selected bus bits to output direction

I/O

ctl_bus_read Read entire bus

ctl_bus_read_bit Read a single bit from bus

ctl_bus_write Write entire bus output

ctl_bus_write_bit Write a single bit to bus

ctl_bus_write_bits Write bits to bus through a mask


18

CTL_PARALLEL_BUS_t

Synopsis

typedef struct { CTL_TRANSPORT_t transport; CTL_STATUS_t (*set_direction)(CTL_PARALLEL_BUS_s *, unsigned); CTL_STATUS_t (*write)(CTL_PARALLEL_BUS_s *, unsigned); CTL_STATUS_t (*read)(CTL_PARALLEL_BUS_s *); CTL_MUTEX_t *mutex; unsigned __width; unsigned __output; unsigned __direction; unsigned __mask;} CTL_PARALLEL_BUS_t;

Description

CTL_PARALLEL_BUS_t contains the bus state and methods that implement a parallel bus. Clients that use the

parallel bus should consider all data in this structure private.

Structure

transport

Underlying transport for parallel buses realized by I2C or SPI devices.

set_direction

Method to set the bus direction.

write

Method to set the bus pins.

read

Method to read the bus pins.

__width

The bus width, in bits.

__output

The bus output state.

__direction

The bus direction.

__mask

The bus mask corresponding to __width.


19

ctl_bus_lock

Synopsis

void ctl_bus_lock(CTL_PARALLEL_BUS_t *self);

Description

ctl_bus_lock acquires the bus lock mutex of the bus self. If there is no mutex associated with the bus self,

ctl_bus_lock returns immediately indicating success.

All locks of the bus by ctl_bus_lock must be paired with a call to ctl_bus_unlock to release the lock.

Note

Because mutexes can be locked multiple times, you can use ctl_bus_lock to acquire the bus to issue a sequence

of transactions to the bus that cannot be interrupted by another task.

See Also

ctl_bus_unlock, ctl_bus_lock_ex


20

ctl_bus_lock_ex

Synopsis

unsigned ctl_bus_lock_ex(CTL_PARALLEL_BUS_t *self, CTL_TIMEOUT_t type, CTL_TIME_t time);

Description

ctl_bus_lock_ex acquires the bus lock mutex of the bus self using the timeout specified with type and time. If

there is no mutex associated with the bus self, ctl_bus_lock_ex returns immediately indicating success.

ctl_bus_lock_ex returns a non-zero value if the mutex is acquired within the timeout specification and zero if it

is not.

All successful locks of the bus by ctl_bus_lock_ex must be paired with a call to ctl_bus_unlock to release the

lock.

See Also

ctl_bus_unlock_bus, ctl_bus_lock


21

ctl_bus_read

Synopsis

CTL_STATUS_t ctl_bus_read(CTL_PARALLEL_BUS_t *self);

Description

ctl_bus_read reads the state of the bus self.

Note that reading bits configured as output is highly device dependent and the effect of doing so is not

specified by this interface.

Thread Safety

ctl_bus_read is thread-safe if a mutex is associated with the bus self.


22

ctl_bus_read_bit

Synopsis

CTL_STATUS_t ctl_bus_read_bit(CTL_PARALLEL_BUS_t *self, unsigned bit);

Description

ctl_bus_read_bit reads bit number bit from the bus self.

Return Value

ctl_bus_read_bit returns an extended status code: 0 if the port bit is low, 1 if the port bit is high, and a negative

value indicating an error.

Thread Safety

ctl_bus_read_bit is thread-safe if a mutex is associated with the bus self.


23

ctl_bus_set_direction

Synopsis

CTL_STATUS_t ctl_bus_set_direction(CTL_PARALLEL_BUS_t *self, unsigned direction);

Description

ctl_bus_set_direction configures the entire bus for input mode or output mode. A bit set to one in direction

sets the corresponding bus bit to input mode, and a bit set to zero in direction sets the corresponding bus bit to

output mode.

The state of the bus outputs corresponding to direction is indeterminate after setting the bus direction.

Return Value

ctl_bus_set_direction returns a standard status code.

Thread Safety

ctl_bus_set_direction is thread-safe if a mutex is associated with the bus self.


24

ctl_bus_set_input_mode

Synopsis

CTL_STATUS_t ctl_bus_set_input_mode(CTL_PARALLEL_BUS_t *self, unsigned mask);

Description

ctl_bus_set_input_mode sets all corresponding one-bits in mask to input mode for the bus self. If a bit is zero in

mask, the input-output direction of that bit is unchanged.

Return Value

ctl_bus_set_input_mode returns a standard status code.

Thread Safety

ctl_bus_set_input_mode is thread-safe if a mutex is associated with the bus self.


25

ctl_bus_set_output_mode

Synopsis

CTL_STATUS_t ctl_bus_set_output_mode(CTL_PARALLEL_BUS_t *self, unsigned mask);

Description

ctl_bus_set_output_mode sets all corresponding one-bits in mask to output mode for the bus self. If a bit is

zero in mask, the input-output direction of that bit is unchanged.

The state of bus outputs for bits that are changed from input mode to output mode is undefined after setting

the bus direction.

Return Value

ctl_bus_set_output_mode returns a standard status code.

Thread Safety

ctl_bus_set_output_mode is thread-safe if a mutex is associated with the bus self.


26

ctl_bus_unlock

Synopsis

void ctl_bus_unlock(CTL_PARALLEL_BUS_t *self);

Description

ctl_bus_unlock releases a mutex that was successfully locked using ctl_bus_lock. If there is no mutex associated

with the bus self, ctl_bus_unlock returns immediately. It is an error to release a lock that was not acquired

successfully.

See Also

ctl_bus_lock, ctl_bus_lock_ex


27

ctl_bus_write

Synopsis

CTL_STATUS_t ctl_bus_write(CTL_PARALLEL_BUS_t *self, unsigned output);

Description

ctl_bus_write writes output to the bus self. Note that writing to output bits configured as inputs is highly device

dependent and the effect of doing so is not specified by this interface.

Return Value

ctl_bus_write returns a standard status code.

Thread Safety

ctl_bus_write is thread-safe if a mutex is associated with the bus self.


28

ctl_bus_write_bit

Synopsis

CTL_STATUS_t ctl_bus_write_bit(CTL_PARALLEL_BUS_t *self, unsigned bit, unsigned value);

Description

ctl_bus_write_bit sets bit bit on the bus self to value.

If value is zero, the corresponding bit is cleared to zero and if value is non-zero, the corresponding bit is set to

one.

Note that writing to output bits configured as inputs is highly device dependent and the effect of doing so is not

specified by this interface.

Return Value

ctl_bus_write_bit returns a standard status code.

Thread Safety

ctl_bus_write_bit is thread-safe if a mutex is associated with the bus self.


29

ctl_bus_write_bits

Synopsis

CTL_STATUS_t ctl_bus_write_bits(CTL_PARALLEL_BUS_t *self, unsigned mask, unsigned value);

Description

ctl_bus_write_bits writes the bits in value to the bus self. Only the bits that are set to one in mask are written to

the bus which allows the client to both set and clear bits in a single operation.

Return Value

ctl_bus_write_bits returns a standard status code.

Thread Safety

ctl_bus_write_bits is thread-safe if a mutex is associated with the bus self.


30

ctl_parallel_bus_initialize

Synopsis

void ctl_parallel_bus_initialize(CTL_PARALLEL_BUS_t *self);

Description

ctl_parallel_bus_initialize initializes the parallel bus self by setting all members to zero.


31

<ctl_i2c.h>

Overview

Abstract I2C bus interface.

The types and functions in <ctl_i2c.h> provide a high-level set of services for a bus master to read and write

data over one or more I2C buses. Additional features, such as sensor drivers and so on, build upon the services

that the I2C interface offers. In addition, all I2C-interfaced devices in the CrossWorks Micro-Graphics Library use

the I2C functions here for I/O to LCD and OLED displays.

The I2C interface in this library is abstract in the sense that there is no concrete implementation within the

library. Rather, implementations of the I2C interface are offered by the many driver packages that you can install

as a CrossWorks package.

To see examples of this API in use, please install the CrossWorks demonstration package for your particular

board and open up its contents in the Project Explorer and take a look around.

API Summary

Bus

CTL_I2C_BUS_t Abstract I2C bus interface

ctl_i2c_lock_bus Acquire exclusive bus lock

ctl_i2c_lock_bus_ex Acquire exclusive bus lock (extended)

ctl_i2c_set_speed Set I2C bus speed

ctl_i2c_unlock_bus Release exclusive bus lock

I/O

ctl_i2c_read Read data from I2C bus

ctl_i2c_write Write data to I2C bus

ctl_i2c_write_read Write to then read from I2C bus

Implementation

CTL_I2C_REQUEST_t I/O request block

Constants

CTL_I2C_FAST_MODE_PLUS_SPEED I2C fast-mode+ bus speed

CTL_I2C_FAST_MODE_SPEED I2C fast-mode bus speed

CTL_I2C_STANDARD_SPEED I2C standard bus speed


32

CTL_I2C_BUS_t

Synopsis

typedef struct { CTL_STATUS_t (*transaction)(CTL_I2C_BUS_t *, CTL_I2C_REQUEST_t *); CTL_STATUS_t (*set_speed)(CTL_I2C_BUS_t *, unsigned); unsigned long __speed; CTL_MUTEX_t *mutex;} CTL_I2C_BUS_t;

Description

CTL_I2C_BUS_t defines the interface to the device-independent I2C bus driver.

Structure

transaction

Private method to execute an I/O transaction on the I2C bus.

set_speed

Private method to set the operating speed of the I2C bus.

__speed

Consider this a read-only variable that indicates the selected speed of the I2C bus.

mutex

If this mutex is non-zero, the I2C functions will acquire the mutex before proceeding to use the I2C bus. For

systems that do not share the I2C bus between tasks, the mutex can be zero and it's the user's responsibility

to ensure mutual exclusion on the I2C bus.


33

CTL_I2C_FAST_MODE_PLUS_SPEED

Synopsis

#define CTL_I2C_FAST_MODE_PLUS_SPEED 1000000UL // 1 MHz

Description

CTL_I2C_FAST_MODE_PLUS_SPEED defines the standard I2C fast-mode+ bus speed of 1 MHz.


34

CTL_I2C_FAST_MODE_SPEED

Synopsis

#define CTL_I2C_FAST_MODE_SPEED 400000UL // 400 kHz

Description

CTL_I2C_FAST_MODE_SPEED defines the standard I2C fast-mode bus speed of 400 kHz.


35

CTL_I2C_REQUEST_t

Synopsis

typedef struct { unsigned address; const unsigned char *tx; size_t txlen; unsigned char *rx; size_t rxlen;} CTL_I2C_REQUEST_t;

Description

CTL_I2C_REQUEST_t is an I/O request block for an I2C transaction. Clients are not required to use this request

block directly from the I2C API, but I2C drivers are required to implement I/O requests according to the block's

members:

• Write-Read request: If both tx and rx are non-null, the I/O request first writes the slave address and data

specified by tx and txlen to the bus, issues a repeated start, and reads rxlen bytes from the bus into rx,

and finally issues a stop.

• Write request: If tx is non-null and rx is null, the I/O request writes the slave address and data specified by

tx and txlen to the bus, and then issues a stop.

• Read request: If tx is null and rx is non-null, the I/O request writes the slave address to the bus, reads rxlen

bytes from the bus to rx, and issues a stop.

Structure

address

8-bit address for the I/O request. The low order bit is undefined when passed to the low-level I2C driver, and

the I2C driver must correctly set or reset the R/W bit according to the request phase.

tx

A pointer to the data to write to the bus after the slave address is transmitted. If tx is zero, the driver must

skip the write part of the I/O request.

txlen

The number of bytes to transfer as payload in the write part of the I/O request.

rx

A pointer to the data to read from the bus after the slave address is transmitted. If rx is zero, the driver must

skip the read part of the I/O request.

rxlen

The number of bytes to transfer as payload in the read part of the I/O request.


36

CTL_I2C_STANDARD_SPEED

Synopsis

#define CTL_I2C_STANDARD_SPEED 100000UL // 100 kHz

Description

CTL_I2C_STANDARD_SPEED defines the standard I2C bus speed of 100 kHz.


37

ctl_i2c_lock_bus

Synopsis

void ctl_i2c_lock_bus(CTL_I2C_BUS_t *self);

Description

ctl_i2c_lock_bus acquires the bus lock mutex of the I2C bus self. If there is no mutex associated with the bus

self, ctl_i2c_lock_bus returns immediately indicating success.

All locks of the I2C bus by ctl_i2c_lock_bus must be paired with a call to ctl_i2c_unlock_bus to release the lock.

Note

Because mutexes can be locked multiple times, you can use ctl_i2c_lock_bus to acquire the bus to issue a

sequence of I2C transactions to the bus that cannot be interrupted by another task. However, locking the bus

this way does not guarantee that other masters, in a multi-master system, are excluded from issuing transactions

on the bus.

See Also

ctl_i2c_unlock_bus, ctl_i2c_lock_bus_ex


38

ctl_i2c_lock_bus_ex

Synopsis

unsigned ctl_i2c_lock_bus_ex(CTL_I2C_BUS_t *self, CTL_TIMEOUT_t type, CTL_TIME_t time);

Description

ctl_i2c_lock_bus_ex acquires the bus lock mutex of the I2C bus self using the timeout specified with type and

time. If there is no mutex associated with the bus self, ctl_i2c_lock_bus_ex returns immediately indicating

success.

ctl_i2c_lock_bus_ex returns a non-zero value if the mutex is acquired within the timeout specification and zero

if it is not.

All successful locks of the I2C bus by ctl_i2c_lock_bus_ex must be paired with a call to ctl_i2c_unlock_bus to

release the lock.

Note

Because mutexes can be locked multiple times, you can use ctl_i2c_lock_bus_ex to acquire the bus to issue a

sequence of I2C transactions to the bus that cannot be interrupted by another task. However, locking the bus

this way does not guarantee that other masters, in a multi-master system, are excluded from issuing transactions

on the bus.

See Also

ctl_i2c_unlock_bus, ctl_i2c_lock_bus


39

ctl_i2c_read

Synopsis

CTL_STATUS_t ctl_i2c_read(CTL_I2C_BUS_t *self, unsigned address, void *rx, size_t len);

Description

ctl_i2c_read locks the I2C bus self using ctl_i2c_lock_bus and proceeds to read len bytes from the device with

8-bit slave address address and writes them to the object pointed to by rx which must be at least len bytes in

size.

ctl_i2c_read waits unconditionally for the write and read to complete, unlocks the bus using

ctl_i2c_unlock_bus, and returns a standard status code.

For exact I2C transaction details, see CTL_I2C_REQUEST_t.

Thread Safety

This function is thread-safe if a mutex is associated with the I2C bus self.

See Also

CTL_I2C_REQUEST_t.


40

ctl_i2c_set_speed

Synopsis

CTL_STATUS_t ctl_i2c_set_speed(CTL_I2C_BUS_t *self, unsigned long speed);

Description

ctl_i2c_set_speed sets the operating speed of the I2C bus self to speed hertz. If the bus does not support the

requested speed, the speed closest to, but not exceeding, speed is selected.

Return Value

ctl_i2c_set_speed returns a standard status code.

Thread Safety

ctl_i2c_set_speed is thread-safe if a mutex is associated with the I2C bus self.


41

ctl_i2c_unlock_bus

Synopsis

void ctl_i2c_unlock_bus(CTL_I2C_BUS_t *self);

Description

ctl_i2c_unlock_bus releases a mutex that was successfully locked using ctl_i2c_lock_bus. If there is no mutex

associated with the bus self, ctl_i2c_unlock_bus returns immediately. It is an error to release a lock that was not

acquired successfully.

See Also

ctl_i2c_lock_bus, ctl_i2c_lock_bus_ex


42

ctl_i2c_write

Synopsis

CTL_STATUS_t ctl_i2c_write(CTL_I2C_BUS_t *self, unsigned address, const void *tx, size_t len);

Description

ctl_i2c_write locks the I2C bus self using ctl_i2c_lock_bus and proceeds to write the object pointed to by tx

with size len bytes to the device with 8-bit slave address address.

ctl_i2c_write waits unconditionally for the write and read to complete, unlocks the bus using



See Also

CTL_I2C_REQUEST_t.


43

ctl_i2c_write_read

Synopsis

CTL_STATUS_t ctl_i2c_write_read(CTL_I2C_BUS_t *self, unsigned address, const void *tx, size_t txlen, void *rx, size_t rxlen);

Description

ctl_i2c_write_read locks the I2C bus self using ctl_i2c_lock_bus and proceeds to write the object pointed to by

tx with size txlen bytes to device with 8-bit slave address address.

ctl_i2c_write_read then issues a repeated start to the same slave address and reads len bytes from the slave and

writes them to the object pointed to by rx which must be at least rxlen bytes in size.

ctl_i2c_write_read waits unconditionally for the write and read to complete, unlocks the bus using



Thread Safety

This function is thread-safe if a mutex is associated with the I2C bus self.

See Also

CTL_I2C_REQUEST_t.


44

<ctl_spi.h>

Overview

Abstract SPI bus interface.

The types and functions in <ctl_spi.h> provide a high-level set of services for a bus master to read and write

data over one or more SPI buses. Additional features, such as sensor drivers and so on, build upon the services

that the SPI interface offers. In addition, all SPI-interfaced devices in the CrossWorks Micro-Graphics Library use

the SPI functions here for I/O to LCD and OLED display.

The SPI interface in this library is abstract in the sense that there is no concrete implementation within the

library. Rather, implementations of the SPI interface are offered by the many driver packages that you can install

as a CrossWorks package.



API Summary

Bus

CTL_SPI_BUS_t Abstract SPI bus interface

ctl_spi_attach_device Attach device to SPI bus

ctl_spi_deselect_device Deselect a device from SPI bus

ctl_spi_detach_device Detach device from SPI bus

ctl_spi_lock_bus Lock SPI bus

ctl_spi_lock_bus_ex Lock SPI bus (extended)

ctl_spi_select_device Select a device onto SPI bus

ctl_spi_unlock_bus Unlock SPI bus

Device

CTL_SPI_DEVICE_t SPI device instance

CTL_SPI_MODE_t SPI device mode

CTL_SPI_PROTOCOL_t SPI device configuration

ctl_spi_exchange Exchange data with SPI device

ctl_spi_get Read one frame from SPI device

ctl_spi_issue_deselected_clocks Issue clocks to SPI bus with device deselected

ctl_spi_put Write one frame to SPI device

ctl_spi_put_get Exchange one frame with SPI device

ctl_spi_read Read from SPI device


45

ctl_spi_set_idle Set SPI device idle state

ctl_spi_set_mode Set SPI device mode

ctl_spi_set_protocol Set SPI device operating parameters

ctl_spi_set_speed Set SPI device clock speed

ctl_spi_set_width Set SPI device frame width

ctl_spi_write Write to SPI device

Implementation

CTL_SPI_EXCHANGE_FN_t Exchange method prototype

CTL_SPI_SET_PROTOCOL_FN_t Set bus protocol prototype


46

CTL_SPI_BUS_t

Synopsis

typedef struct { CTL_MUTEX_t *mutex; CTL_SPI_SET_PROTOCOL_FN_t __set_protocol; CTL_SPI_EXCHANGE_FN_t __exchange; CTL_SPI_DEVICE_t *__head; CTL_SPI_DEVICE_t *__dev; CTL_SPI_PROTOCOL_t __protocol;} CTL_SPI_BUS_t;

Description

CTL_SPI_BUS_t contains the bus state and methods that implement an SPI bus. Clients that use the SPI bus

should consider all data in this structure private.

Structure

mutex

If this mutex is non-zero, the SPI functions will acquire the mutex proceeding to use the SPI bus. For systems

that do not share the SPI bus between tasks, the mutex can be zero and it's the user's responsibility to

ensure mutual exclusion on the SPI bus.

__set_protocol

Private method to set the SPI bus protocol for a selected device. Client code must not call this method

directly. See CTL_SPI_SET_PROTOCOL_FN_t.

__exchange

Private method to exchange data over the SPI bus. Client code must not call this method directly. See

CTL_SPI_EXCHANGE_FN_t.

__head

Private member which is the head of the chain of devices attached to this SPI bus.

__dev

Private member that stores the currently-selected device on the SPI bus; if null, no device is selected.

__protocol

Private member that stores the protocol that the SPI bus is currently configured for.


47

CTL_SPI_DEVICE_t

Synopsis

typedef struct { int addr; void *extra; void (*select)(CTL_SPI_DEVICE_s *, int); CTL_SPI_DEVICE_s *__next; CTL_SPI_PROTOCOL_t __protocol; CTL_SPI_BUS_t *__bus;} CTL_SPI_DEVICE_t;

Description

CTL_SPI_DEVICE_t defines the device selection method and protocol to use when communicating with a device

on an SPI bus.

Structure

addr

Client-side data. If you are using a single method to select multiple devices, you can use the addr member

of each SPI device structure to distinguish the device.

extra

Client-side data. You can use this member to point to additional data associated with the SPI device.

select

Method to select the device. When the API requires a device to become selected, it calls select with the

appropriate SPI device instance and state as 0. When a device needs to be deselected, it calls select with

the device instance and state non-zero.

__next

Private member that links SPI device instances attached to the same SPI bus.

__protocol

Private member that contains the SPI protocol associated with the device instance.

__bus

Private member that points to the bus the SPI device is attached to. If the device is not attached to a bus,

this member is null.


48

CTL_SPI_EXCHANGE_FN_t

Synopsis

typedef void (*CTL_SPI_EXCHANGE_FN_t)(CTL_SPI_BUS_t *, const void *, void *, size_t);

Description

CTL_SPI_EXCHANGE_FN_t is the prototype for the implementation of data exchange on an SPI bus.


49

CTL_SPI_MODE_t

Synopsis

typedef enum { CTL_SPI_CPOL_0, CTL_SPI_CPOL_1, CTL_SPI_CPHA_0, CTL_SPI_CPHA_1, CTL_SPI_MODE0, CTL_SPI_MODE1, CTL_SPI_MODE2, CTL_SPI_MODE3} CTL_SPI_MODE_t;

Description

CTL_SPI_MODE_t defines the four operating modes of the SPI bus, 0 through 3.


50

CTL_SPI_PROTOCOL_t

Synopsis

typedef struct { unsigned char mode; unsigned char width; unsigned short idle; unsigned short options; unsigned long speed;} CTL_SPI_PROTOCOL_t;

Description

CTL_SPI_PROTOCOL_t defines the protocol that an SPI device is configured for, or the current configuration of

the SPI bus.

Structure

mode

Operating mode of the SPI bus, 0 through 3.

width

Width of one frame over the SPI bus. Some SPI drivers support only fixed frame widths, or a subset of frame

widths, so refer to the documentation of your device to determine the supported frame widths.

idle

Either 0 or 0xffff which indicates the state MOSI is driven to when reading from the SPI bus. Some SPI

devices require that MOSI is driven either high or low when reading from the bus.

options

Additional options private to the SPI driver. Typically this is used for storing DMA configuration.

speed

The operating speed of the SPI bus or SPI device, in hertz.


51

CTL_SPI_SET_PROTOCOL_FN_t

Synopsis

typedef CTL_STATUS_t (*CTL_SPI_SET_PROTOCOL_FN_t)(CTL_SPI_BUS_t *);

Description

CTL_SPI_SET_PROTOCOL_FN_t is the prototype for setting the SPI bus protocol (phase, polarity, bus speed, idle

state) prior to selecting the device.


52

ctl_spi_attach_device

Synopsis

CTL_STATUS_t ctl_spi_attach_device(CTL_SPI_BUS_t *self, CTL_SPI_DEVICE_t *dev);

Description

ctl_spi_attach_device attaches the device dev to the SPI bus self. It is an error to operate an SPI device using SPI

functions without first attaching it to a bus.

Thread Safety

ctl_spi_attach_device is thread-safe.

See Also

ctl_spi_detach_device.


53

ctl_spi_deselect_device

Synopsis

void ctl_spi_deselect_device(CTL_SPI_DEVICE_t *self);

Description

ctl_spi_deselect_device deselects the device self on the bus that it is attached to. To do this, the device's select

method is invoked with a non-zero state, and releases the lock on the SPI bus.

Deselecting a deselected device acts as a no-operation.


54

ctl_spi_detach_device

Synopsis

CTL_STATUS_t ctl_spi_detach_device(CTL_SPI_DEVICE_t *self);

Description

ctl_spi_detach_device removes the device self from the bus it's attached to. If the device is already detached

this is a no-operation.

Thread Safety

ctl_spi_detach_device is thread-safe.

See Also

ctl_spi_attach_device.


55

ctl_spi_exchange

Synopsis

CTL_STATUS_t ctl_spi_exchange(CTL_SPI_DEVICE_t *self, const void *tx, void *rx, size_t items);

Description

ctl_spi_exchange simultaneously writes to and reads from the SPI device self which must have been selected

onto the bus by ctl_spi_select_device.

If the selected frame width for the device self is eight bits or narrower, items bytes are written from tx and items

bytes are read from the SPI bus to rx. If the transfer width is nine bits or wider then shorts are used rather than

bytes.

If tx is zero, the set idle-pattern is written to the SPI device (if the the underlying driver supports such a null

transfer). Note that some SPI drivers which use DMA may not support null transfers.

If rx is zero, data are read from the SPI bus and discarded if the underlying driver supports such a null transfer.

Note that some SPI drivers which use DMA may not support null transfers.


56

ctl_spi_get

Synopsis

CTL_STATUS_t ctl_spi_get(CTL_SPI_DEVICE_t *self);

Description

ctl_spi_get reads a single frame from the SPI device self which must have been previously selected onto the bus

by ctl_spi_select_device. The idle value set in the device's protocol is written to the SPI bus when exchanging

data with the device.

Return Value

The value returned is the frame read from the SPI bus; negative values are standard status codes.


57

ctl_spi_issue_deselected_clocks

Synopsis

CTL_STATUS_t ctl_spi_issue_deselected_clocks(CTL_SPI_DEVICE_t *self, size_t items);

Description

ctl_spi_issue_deselected_clocks locks the SPI bus associated with the device self and sets the bus protocol to

communicate with the device. However, the device is not selected onto the bus and remains deselected.

Description

ctl_spi_issue_deselected_clocks then issues items frames of clock pulses to the SPI bus, unlocks the SPI bus,

and returns.

This function is provided primarily for initializing SD and MMC cards into SPI mode.

Description

ctl_spi_issue_deselected_clocks returns a standard status code.


58

ctl_spi_lock_bus

Synopsis

void ctl_spi_lock_bus(CTL_SPI_BUS_t *self);

Description

ctl_spi_lock_bus acquires the bus lock mutex of the SPI bus self. If there is no mutex associated with the bus

self, ctl_spi_lock_bus returns immediately.

All locks of the SPI bus by ctl_spi_lock_bus must be paired with a call to ctl_spi_unlock_bus to release the lock.

Note

Because mutexes can be locked multiple times, you can use ctl_spi_lock_bus to ensure exclusive use of the bus

in order to issue a sequence sequence of SPI transactions without interruption.

See Also

ctl_spi_unlock_bus, ctl_spi_lock_bus_ex


59

ctl_spi_lock_bus_ex

Synopsis

unsigned ctl_spi_lock_bus_ex(CTL_SPI_BUS_t *self, CTL_TIMEOUT_t type, CTL_TIME_t time);

Description

ctl_spi_lock_bus_ex acquires the bus lock mutex of the SPI bus self using the timeout specified with type and

time. If there is no mutex associated with the bus self, ctl_spi_lock_bus_ex returns immediately indicating

success.

ctl_spi_lock_bus_ex returns a non-zero value if the mutex is acquired within the timeout specification and zero

if it is not.

All successful locks of the SPI bus by ctl_spi_lock_bus_ex must be paired with a call to ctl_spi_unlock_bus to

release the lock.

Note

Because mutexes can be locked multiple times, you can use ctl_spi_lock_bus_ex to ensure exclusive use of the

bus in order to issue a sequence sequence of SPI transactions without interruption.

See Also

ctl_spi_unlock_bus, ctl_spi_lock_bus


60

ctl_spi_put

Synopsis

CTL_STATUS_t ctl_spi_put(CTL_SPI_DEVICE_t *self, unsigned u);

Description

ctl_spi_put writes the single frame u to the SPI device self which must have been previously selected onto the

bus by ctl_spi_select_device.


61

ctl_spi_put_get

Synopsis

CTL_STATUS_t ctl_spi_put_get(CTL_SPI_DEVICE_t *self, unsigned u);

Description

ctl_spi_put_get writes the single frame u to the SPI device self which must have been previously selected onto

the bus by ctl_spi_select_device and returns the data read when shifting the frame out.


62

ctl_spi_read

Synopsis

CTL_STATUS_t ctl_spi_read(CTL_SPI_DEVICE_t *self, void *rx, size_t items);

Description

ctl_spi_read read data from the SPI device self which must have been selected onto the bus by

ctl_spi_select_device.

If the selected transfer width for the device dev is eight bits or narrower then items bytes are read from the SPI

bus to rx. If the transfer width is nine bits or wider then item shorts are read from from SPI bus and written to rx.

If rx is zero, data are read from the SPI bus and discarded if the underlying driver supports such a null transfer.

Note that some SPI drivers which use DMA may not support null transfers.


63

ctl_spi_select_device

Synopsis

CTL_STATUS_t ctl_spi_select_device(CTL_SPI_DEVICE_t *self);

Description

ctl_spi_select_device selects the device self on the bus that it is attached to and locks access to the bus so other

devices cannot use the bus. Once the bus is locked, the device's select method is invoked.

The device remains selected until ctl_spi_deselect_device deselects the device and releases the lock on the SPI

bus.

Description

ctl_spi_select_device returns a standard status code indicating the status of setting the device's SPI protocol.


64

ctl_spi_set_idle

Synopsis

CTL_STATUS_t ctl_spi_set_idle(CTL_SPI_DEVICE_t *self, int idle);

Description

ctl_spi_set_idle sets the SPI bus idle value when reading from the device self to idle.

Please refer to ctl_spi_set_protocol for a description of when protocol parameters are validated.

Description

ctl_spi_set_idle returns a standard status code.

See Also

ctl_spi_set_protocol


65

ctl_spi_set_mode

Synopsis

CTL_STATUS_t ctl_spi_set_mode(CTL_SPI_DEVICE_t *self, int mode);

Description

ctl_spi_set_mode sets the SPI bus mode to use for the device self to mode.


Description

ctl_spi_set_mode returns a standard status code.

See Also



66


Synopsis

CTL_STATUS_t ctl_spi_set_protocol(CTL_SPI_DEVICE_t *self, int mode, int width, unsigned long speed, int idle);

Description

ctl_spi_set_protocol sets the SPI parameters parameters for the device self. You can set the operating

parameters of a device whether it is attached to an SPI bus or not.

Description

ctl_spi_set_protocol returns a standard status code.

Protocol parameter validation

If the device is already attached to a bus and is selected, ctl_spi_set_protocol will change the operating

parameters of the bus immediately. In this case, if the parameters are invalid or cannot be honored by the

underlying SPI bus, ctl_spi_set_protocol will return an error indication immediately. If the device is not attached

to a bus or is not selected, the parameters are stored and the bus protocol set when the device is selected. In this

case, ctl_spi_set_protocol will return a success indication, leaving validation of the parameters to the time when

the device is selected onto the bus using ctl_spi_select_device.


67

ctl_spi_set_speed

Synopsis

CTL_STATUS_t ctl_spi_set_speed(CTL_SPI_DEVICE_t *self, unsigned long speed);

Description

ctl_spi_set_speed sets the SPI bus frequency to use for the device self to speed hertz.


Description

ctl_spi_set_speed returns a standard status code.

See Also



68

ctl_spi_set_width

Synopsis

CTL_STATUS_t ctl_spi_set_width(CTL_SPI_DEVICE_t *self, int width);

Description

ctl_spi_set_width sets the SPI bus frame width to use for the device self to width.


Description

ctl_spi_set_width returns a standard status code.

See Also



69

ctl_spi_unlock_bus

Synopsis

void ctl_spi_unlock_bus(CTL_SPI_BUS_t *self);

Description

ctl_spi_unlock_bus unlocks the previously-locked the SPI bus self.


70

ctl_spi_write

Synopsis

CTL_STATUS_t ctl_spi_write(CTL_SPI_DEVICE_t *self, const void *tx, size_t items);

Description

ctl_spi_write writes data to the SPI device self which must have been previously selected onto the bus by

ctl_spi_select_device.

If the selected transfer width for the device self is eight bits or narrower then items bytes are written from tx. If

the transfer width is wider than eight bits then item shorts are written from tx.

If tx is zero, the set idle-pattern is written to the SPI device (if the the underlying driver supports such a null

transfer). Note that some SPI drivers which use DMA may not support null transfers.


71

<ctl_sensors.h>

Overview

Interfaces to a variety of common sensor classes.

The types and functions in <ctl_sensors.h> provide a high-level set of services for a variety of common

sensor classes such as motion sensors, environmental sensors, and so on.

Each sensor class is abstracted to the essential set of features that all sensors of that class provide:

• Accelerometer: measures linear acceleration in up to three axes, with the abstract interface

CTL_ACCELEROMETER_t.

• Gyroscope: measures rotation rate in up to three axes with the abstract interface CTL_GYROSCOPE_t.

• Magnetometer: measures magnetic field strength in up to three axes, with the abstract interface

CTL_MAGNETOMETER_t.

• Pressure sensor: measures barometric air pressure, with the abstract interface

CTL_PRESSURE_SENSOR_t.

• Temperature sensor: measures temperature, with the abstract interface

CTL_TEMPERATURE_SENSOR_t.

• Light sensor: measures ambient light level, with the abstract interface CTL_LIGHT_SENSOR_t.

• Humidity sensor: measures relative humidity and, optionally, temperature, with the abstract interface

CTL_HUMIDITY_SENSOR_t.

The appropriate interface is initialized by calling the device-specific initialization code, for a particular sensor,

in the sensor library. For instance, to initialize an accelerometer interface that uses an ADXL345 acceleration

sensor, you would call adxl345_initialize_i2c. Once initialized, you can use the accelerometer-related

functions in your own code.

API Summary

Accelerometer

CTL_ACCELEROMETER_t An abstract accelerometer

ctl_accelerometer_measure Sample accelerometer axes

ctl_accelerometer_set_bandwidth Set accelerometer bandwidth

ctl_accelerometer_set_range Set accelerometer range

Gyroscope

CTL_GYROSCOPE_t An abstract gyroscope

ctl_gyroscope_measure Sample gyroscope axes

ctl_gyroscope_set_bandwidth Set gyroscope bandwidth

ctl_gyroscope_set_range Set gyroscope range


72

Magnetometer

CTL_MAGNETOMETER_t An abstract magnetometer

ctl_magnetometer_measure Sample magnetometer axes

ctl_magnetometer_set_bandwidth Set magnetometer bandwidth

IMU

CTL_IMU_t An abstract IMU sensor collection

Temperature

CTL_TEMPERATURE_SENSOR_t An abstract temperature sensor

ctl_temperature_sensor_measure Sample temperature sensor

ctl_temperature_sensor_set_resolution Set temperature sensor resolution

Pressure Light

Humidity

CTL_HUMIDITY_SENSOR_t An abstract humidity sensor

ctl_humidity_sensor_measure Sample relative humidity

Utility

CTL_AXIS_TRANSFORMATION Single axis transformation

ctl_forward_transform_axes Apply axis transformation

ctl_generate_axis_transform Generate an axis transform from components

Pressure

CTL_PRESSURE_SENSOR_t An abstract pressure sensor

ctl_pressure_sensor_measure Sample barometric pressure

Light

CTL_LIGHT_SENSOR_t An abstract light sensor

ctl_light_sensor_measure Sample ambient light level


73

CTL_ACCELEROMETER_t

Synopsis

typedef struct { CTL_TRANSPORT_t transport; CTL_STATUS_t (*measure)(CTL_ACCELEROMETER_s *, float *); CTL_STATUS_t (*set_range)(CTL_ACCELEROMETER_s *, int); CTL_STATUS_t (*set_bandwidth)(CTL_ACCELEROMETER_s *, float); float bias[]; float gain[]; int range; float bandwidth; void *extra; unsigned __mode;} CTL_ACCELEROMETER_t;

Description

CTL_ACCELEROMETER_t is an abstract accelerometer interface that provides clients with a means to set the

range and bandwidth of the accelerometer and to sample acceleration in up to three axes.

Structure

transport

The underlying transport for the accelerometer which provides, typically, an I2C or SPI connection to the

device and a means to read one or more registers from the device.

bias

The zero offset for the x, y, and z axes, in g. Client software may alter these to provide more accurate

calibration of the accelerometer.

gain

The gain for the x, y, and z axes, in g per count. Client software may alter these to provide more accurate

calibration of the accelerometer.

range

Current range selected for the accelerometer, in g, and is read only.

bandwidth

Current bandwidth selected for the accelerometer, in hertz, and is read only.

extra

Client-side data. You can use this to store additional information relating to the accelerometer instance.

__mode

Private working storage for the driver.

measure

Method to sample the x, y, and z axes of the accelerometer.


74

set_range

Method to set the range of the accelerometer.

set_bandwidth

Method to set the bandwidth of the accelerometer.


75

CTL_AXIS_TRANSFORMATION

Synopsis

typedef enum { AXIS_UNCHANGED, AXIS_POSITIVE_X, AXIS_POSITIVE_Y, AXIS_POSITIVE_Z, AXIS_NEGATED, AXIS_NEGATIVE_X, AXIS_NEGATIVE_Y, AXIS_NEGATIVE_Z} CTL_AXIS_TRANSFORMATION;

CTL_AXIS_TRANSFORMATION describes the generates an axis transform by specifying the individual

transformations for the x, y, and z axes.


76

CTL_GYROSCOPE_t

Synopsis

typedef struct { CTL_TRANSPORT_t transport; CTL_STATUS_t (*measure)(CTL_GYROSCOPE_s *, float *); CTL_STATUS_t (*set_range)(CTL_GYROSCOPE_s *, int); CTL_STATUS_t (*set_bandwidth)(CTL_GYROSCOPE_s *, float); float gain[]; float bias[]; int range; float bandwidth; void *extra;} CTL_GYROSCOPE_t;

Description

CTL_GYROSCOPE_t is an abstract gyroscope interface that provides clients with a means to set the range and

bandwidth of the gyroscope and to sample rotation in up to three axes.

Structure

transport

The underlying transport for the gyroscope which provides, typically, an I2C or SPI connection to the device

and a means to read one or more registers from the device.

bias

The zero offset for the x, y, and z axes, in degrees per second. Client software may alter these to provide

more accurate calibration of the gyroscope.

gain

The gain for the x, y, and z axes, in degrees per second per count. Client software may alter these to provide

more accurate calibration of the gyroscope.

range

Current range selected for the gyroscope, in degrees per second, and is read only.

bandwidth

Current bandwidth selected for the gyroscope, in hertz, and is read only.

extra

Client-side data. You can use this to store additional information relating to the gyroscope instance.

measure

Method to sample the x, y, and z axes of the gyroscope.

set_range

Method to set the range of the gyroscope.


77

set_bandwidth

Method to set the bandwidth of the gyroscope.


78

CTL_HUMIDITY_SENSOR_t

Synopsis

typedef struct { CTL_TRANSPORT_t transport; CTL_STATUS_t (*sample)(CTL_HUMIDITY_SENSOR_s *, float *, float *);} CTL_HUMIDITY_SENSOR_t;

Description

CTL_HUMIDITY_SENSOR_t is an abstract humidity interface that provides clients with a means to sample

relative humidity.

Structure

transport

The underlying transport for the magnetometer which provides, typically, an I2C or SPI connection to the


sample

Method to read the relative humidity, and optional temperature, measured by the humidity sensor.


79

CTL_IMU_t

Synopsis

typedef struct { CTL_ACCELEROMETER_t *accel; CTL_GYROSCOPE_t *gyro; CTL_MAGNETOMETER_t *mag;} CTL_IMU_t;

Description

CTL_IMU_t is an abstract IMU comprising accelerometer, gyroscope, and magnetometer which can be

combined for sensor fusion applications in other parts of the CrossWorks Target Library.

For instance, an accelerometer, gyroscope, and magnetometer can be fused by the AHRS library to provide a

9DOF orientation estimation. If the magnetometer member is null, the AHRS will provide a 6DOF orientation

estimation without long-term yaw correction. The tilt-compensated compass library will fuse magnetometer and

accelerometer to provide a good heading estimation irrespective of device orientation.

Structure

accel

The accelerometer instance for this sensor collection.

gyro

The gyroscope instance for this sensor collection. If the sensor collection has no gyroscope, this member

must be zero.

mag

The magnetometer instance for this sensor collection. If the sensor collection has no gyroscope, this

member must be zero.


80

CTL_LIGHT_SENSOR_t

Synopsis

typedef struct { CTL_TRANSPORT_t transport; CTL_STATUS_t (*sample)(CTL_LIGHT_SENSOR_s *, float *);} CTL_LIGHT_SENSOR_t;

Description

CTL_LIGHT_SENSOR_t is an abstract light sensor interface that provides clients with a means to sample ambient

light level.

Structure

transport



sample

Method to read the light level measured by the light sensor.


81

CTL_MAGNETOMETER_t

Synopsis

typedef struct { CTL_TRANSPORT_t transport; CTL_STATUS_t (*measure)(CTL_MAGNETOMETER_s *, float *); CTL_STATUS_t (*set_bandwidth)(CTL_MAGNETOMETER_s *, float); float gain[]; float bandwidth; void *extra; unsigned __mode;} CTL_MAGNETOMETER_t;

Description

CTL_MAGNETOMETER_t is an abstract magnetometer interface that provides clients with a means to set the

range and bandwidth of the magnetometer and to sample field strength in up to three axes.

Structure

transport



gain

The gain for the x, y, and z axes. Unlike accelerometers and gyroscopes, calibrating a magnetometer is more

complex than simply setting bias and gain for each axis independently. This member is provided for use by

the underlying magnetometer driver and client code should consider it private and no meaning should be

ascribed its values.

bandwidth

Current bandwidth selected for the magnetometer, in hertz.

extra

Client-side data. You can use this to store additional information relating to the magnetometer instance.

measure

Method to sample the x, y, and z axes of the magnetometer.

set_bandwidth

Method to set the bandwidth of the magnetometer.


82

CTL_PRESSURE_SENSOR_t

Synopsis

typedef struct { CTL_TRANSPORT_t transport; CTL_STATUS_t (*sample)(CTL_PRESSURE_SENSOR_s *, float *, float *); unsigned __resolution;} CTL_PRESSURE_SENSOR_t;

Description

CTL_PRESSURE_SENSOR_t is an abstract pressure sensor interface that provides clients with a means to sample

barometric air pressure.

Structure

transport



__resolution

Private member: resolution of the pressure sensor, in bits.

sample

Method to read the pressure, and optionally the temperature, measured by the pressure sensor.


83

CTL_TEMPERATURE_SENSOR_t

Synopsis

typedef struct { CTL_TRANSPORT_t transport; CTL_STATUS_t (*set_resolution)(CTL_TEMPERATURE_SENSOR_s *, float); CTL_STATUS_t (*measure)(CTL_TEMPERATURE_SENSOR_s *, float *); float resolution; int __bits; unsigned short __mode;} CTL_TEMPERATURE_SENSOR_t;

Description

CTL_TEMPERATURE_SENSOR_t is an abstract temperature sensor interface that provides clients with a means

to sample temperature.

Structure

transport



set_resolution

Method to set the resolution of the temperature sensor. Some temperature sensors may well not support

configurable resolution.

measure

Method to measure the temperature.


84

ctl_accelerometer_measure

Synopsis

CTL_STATUS_t ctl_accelerometer_measure(CTL_ACCELEROMETER_t *self, float *sample);

Description

ctl_accelerometer_measure samples the accelerometer self and reports the linear acceleration in g along the x,

y, and z axes in sample[0], sample[1] and sample[2] respectively.

Return Value

ctl_accelerometer_measure returns a standard status code. If the status indicates an error, the returned sample

data is undefined.

Thread Safety

ctl_accelerometer_measure is thread-safe if the method measure is thread-safe. Typically, for SPI and I2C

transports, you ensure thread safety by associating a mutex with the bus used by the transport.


85

ctl_accelerometer_set_bandwidth

Synopsis

CTL_STATUS_t ctl_accelerometer_set_bandwidth(CTL_ACCELEROMETER_t *self, float bandwidth);

Description

ctl_accelerometer_set_bandwidth sets the bandwidth of the accelerometer self to bandwidth hertz. The

accelerometer selects the bandwidth which is closest to bandwidth, but may exceed it if range is not a setting

offered by the accelerometer.

Return Value

ctl_accelerometer_set_bandwidth returns a standard status code.

Thread Safety

ctl_accelerometer_set_bandwidth is thread-safe if the method set_bandwidth is thread-safe. Typically, for SPI

and I2C transports, you ensure thread safety by associating a mutex with the bus used by the transport.


86

ctl_accelerometer_set_range

Synopsis

CTL_STATUS_t ctl_accelerometer_set_range(CTL_ACCELEROMETER_t *self, int range);

Description

ctl_accelerometer_set_range sets the range of the accelerometer self to operate between plus and minus

range g. The accelerometer selects the range which is closest to range, but may exceed it if range g is not a

setting offered by the accelerometer.

After successfully executing ctl_accelerometer_set_range, the range, gain, and bias members are updated

to reflect the new setting. Note that these members are typical and are uncalibrated. You may wish to run a

calibration after setting the range to reflect the particular gain and bias coefficients for your sensor.

Return Value

ctl_accelerometer_set_range returns a standard status code.

Thread Safety

ctl_accelerometer_set_range is thread-safe if the method set_range is thread-safe. Typically, for SPI and I2C



87

ctl_forward_transform_axes

Synopsis

void ctl_forward_transform_axes(int transform, float *axes);

ctl_forward_transform_axes applies the axis transformation transform to the samples pointed to by axes.

An axis transformation defines how to pick the sensor readings taken from a sensor in device mounting

coordinates and transform them to body coordinates. Given the measurement (xdevice, ydevice, zdevice) in

device coordinates, you transform this to body coordinates by applying a transformation generated by

ctl_generate_axis_transform.

Assume that a sensor requires swapping the x and y axes and negating the z axis to transform from device to

body coordinates. You would transform the coordinates using:

int transform = ctl_generate_axis_transform(AXIS_POSITIVE_Y, AXIS_POSITIVE_X, AXIS_NEGATIVE_Z);ctl_forward_transform_axes(transform, axes);

See Also

ctl_generate_axis_transform.


88

ctl_generate_axis_transform

Synopsis

int ctl_generate_axis_transform(int x, int y, int z);

Description

ctl_generate_axis_transform generates an axis transform by specifying the individual transformations for the x,

y, and z axes. For an example of using ctl_generate_axis_transform, see ctl_forward_transform_axes.

See Also

ctl_forward_transform_axes.


89

ctl_gyroscope_measure

Synopsis

CTL_STATUS_t ctl_gyroscope_measure(CTL_GYROSCOPE_t *self, float *sample);

Description

ctl_gyroscope_measure samples the gyroscope self and reports the clockwise rotation in degrees per second

about the x, y, and z axes in sample[0], sample[1] and sample[2] respectively.

Return Value

ctl_gyroscope_measure returns a standard status code. If the status indicates an error, the returned sample data

is undefined.

Thread Safety

ctl_gyroscope_measure is thread-safe if the method measure is thread-safe. Typically, for SPI and I2C



90

ctl_gyroscope_set_bandwidth

Synopsis

CTL_STATUS_t ctl_gyroscope_set_bandwidth(CTL_GYROSCOPE_t *self, float bandwidth);

Description

ctl_gyroscope_set_bandwidth sets the bandwidth of the gyroscope self to bandwidth hertz. The gyroscope

selects the bandwidth which is closest to bandwidth, but may exceed it if range is not a setting offered by the

gyroscope.

Return Value

ctl_gyroscope_set_bandwidth returns a standard status code.

Thread Safety

ctl_gyroscope_set_bandwidth is thread-safe if the method set_bandwidth is thread-safe. Typically, for SPI and

I2C transports, you ensure thread safety by associating a mutex with the bus used by the transport.


91

ctl_gyroscope_set_range

Synopsis

CTL_STATUS_t ctl_gyroscope_set_range(CTL_GYROSCOPE_t *self, int range);

Description

ctl_gyroscope_set_range sets the range of the gyroscope g to operate between plus and minus range degrees

per second. The gyroscope selects the range which is closest to range, but may exceed it if range degrees per

second is not a setting offered by the gyroscope.

After successfully executing ctl_gyroscope_set_range, the range, gain, and bias members are updated to

reflect the new setting. Note that these members are typical and are uncalibrated. You may wish to run a

calibration after setting the range to reflect the particular gain and bias coefficients for your sensor.

Return Value

ctl_gyroscope_set_range returns a standard status code.

Thread Safety

ctl_gyroscope_set_range is thread-safe if the method set_range is thread-safe. Typically, for SPI and I2C



92

ctl_humidity_sensor_measure

Synopsis

CTL_STATUS_t ctl_humidity_sensor_measure(CTL_HUMIDITY_SENSOR_t *self, float *humidity, float *temperature);

Description

ctl_humidity_sensor_measure samples the humidity sensor self and reports the relative humidity in percent

to humidity and the temperature in degrees Celsius to temperature. If the humidity sensor is not capable

of sampling temperature, the temperature is substituted with NaN to indicate to the client that temperature

measurement is not possible.

Both humidity and temperature can be null pointers indicating that the particular measurement is not required.

Return Value

ctl_humidity_sensor_measure returns a standard status code. If the status indicates an error, the returned

sample data is undefined.

Thread Safety

ctl_humidity_sensor_measure is thread-safe if the method measure is thread-safe. Typically, for SPI and I2C



93

ctl_light_sensor_measure

Synopsis

CTL_STATUS_t ctl_light_sensor_measure(CTL_LIGHT_SENSOR_t *self, float *lux);

Description

ctl_light_sensor_measure samples the light sensor self and writes the perceived ambient light level in lux to

lux[0]. If the sensor supports separate visible+IR and IR-only sensors, the light level reported by those sensors is

written to lux[1] and lux[2]. If separate readings are not supported, lux[1] and lux[2] are set to NaN.

Return Value

ctl_light_sensor_measure returns a standard status code. If the status indicates an error, the returned sample

data is undefined.

Thread Safety

ctl_light_sensor_measure is thread-safe if the method measure is thread-safe. Typically, for SPI and I2C



94

ctl_magnetometer_measure

Synopsis

CTL_STATUS_t ctl_magnetometer_measure(CTL_MAGNETOMETER_t *self, float *sample);

Description

ctl_magnetometer_measure samples the magnetometer self and reports the measured field strength in

microtesla along about the x, y, and z axes in sample[0], sample[1] and sample[2] respectively.

The underlying magnetometer may be able to determine that the measurement along an axis has saturated. If

the magnetometer can do this, the sample for all axes are set to NaN so that client code can reject temporary

magnetic interference.

Note that the measurements returned are direct from the sensor. You will need to provide your own hard and

soft iron effect calibration and compensation code.

Return Value

ctl_magnetometer_measure returns a standard status code. If the status indicates an error, the returned sample

data is undefined.

Thread Safety

ctl_magnetometer_measure is thread-safe if the method measure is thread-safe. Typically, for SPI and I2C



95

ctl_magnetometer_set_bandwidth

Synopsis

CTL_STATUS_t ctl_magnetometer_set_bandwidth(CTL_MAGNETOMETER_t *self, float bandwidth);

Description

ctl_magnetometer_set_bandwidth sets the bandwidth of the magnetometer self to bandwidth hertz. The

magnetometer selects the bandwidth which is closest to bandwidth, but may exceed it if range is not a setting

offered by the magnetometer.

Return Value

ctl_magnetometer_set_bandwidth returns a standard status code.

Thread Safety

ctl_magnetometer_set_bandwidth is thread-safe if the method set_bandwidth is thread-safe. Typically, for SPI



96

ctl_pressure_sensor_measure

Synopsis

CTL_STATUS_t ctl_pressure_sensor_measure(CTL_PRESSURE_SENSOR_t *self, float *pressure, float *temperature);

Description

ctl_pressure_sensor_measure samples the pressure sensor self and reports the barometric pressure in pascals

to pressure and the temperature in degrees Celsius to temperature. If the pressure sensor is not capable of

sampling temperature, the temperature is substituted with NaN to indicate to the client that temperature

measurement is not possible.

Both pressure and temperature can be null pointers indicating that the particular measurement is not required.

Return Value

ctl_pressure_sensor_measure returns a standard status code. If the status indicates an error, the returned


Thread Safety

ctl_pressure_sensor_measure is thread-safe if the method measure is thread-safe. Typically, for SPI and I2C



97

ctl_temperature_sensor_measure

Synopsis

CTL_STATUS_t ctl_temperature_sensor_measure(CTL_TEMPERATURE_SENSOR_t *self, float *temperature);

Description

ctl_temperature_sensor_measure samples the temperature sensor self and reports the temperature in degrees

Celsius to temperature.

Return Value

ctl_temperature_sensor_measure returns a standard status code. If the status indicates an error, the returned


Thread Safety

ctl_temperature_sensor_measure is thread-safe if the method measure is thread-safe. Typically, for SPI and I2C



98

ctl_temperature_sensor_set_resolution

Synopsis

CTL_STATUS_t ctl_temperature_sensor_set_resolution(CTL_TEMPERATURE_SENSOR_t *self, float resolution);

Description

ctl_temperature_sensor_set_resolution configures the temperature sensor to deliver measurements

with a resolution of resolution degrees Celsius. For instance, standard LM75 temperature sensors deliver

measurements with a resolution of 0.5 degree Celsius, but compatibles such as the TMP100 can deliver

measurements with a resolution of 1/16th of a degree. Hence, you can configure a capable temperature sensor

for results resolved to a quarter of a degree Celsius by setting resolution to 0.25.

Return Value

ctl_temperature_sensor_set_resolution returns a standard status code.

Thread Safety

ctl_temperature_sensor_set_resolution is thread-safe if the method set_resolution is thread-safe. Typically, for

SPI and I2C transports, you ensure thread safety by associating a mutex with the bus used by the transport.


99

<ctl_transport.h>

Overview

Abstract device register interface.

The types and functions in <ctl_transport.h> provide a high-level means to read and write device

registers independent of the physical way in which the device is connected and addressed.

This interface is mostly used in the CrossWorks Target Library for devices connected by SPI or I2C, as many

sensors and LCD controllers are. Some sensors, such as the ADXL345, offer both I2C and SPI interfaces, selectable

using a signal. However, the high-level view of the device registers and their function remain the same in both

modes, and using an abstract register interface offered by CTL_TRANSPORT_t frees the high-level code from

concerning itself exactly how registers are read and written.

API Summary

Types

CTL_TRANSPORT_BUS_t Private transport data

CTL_TRANSPORT_t Abstract register interface

Initialization

ctl_transport_initialize_i2c Initialize an I2C transport interface

ctl_transport_initialize_spi Initialize an SPI transport interface

Read

ctl_transport_read_16b_register Read 16-bit register over transport




ctl_transport_read_registers Read multiple registers over transport

Write

ctl_transport_write_16b_register Write 16-bit register over transport




ctl_transport_write_registers Write multiple registers over transport

Modify

ctl_transport_rmw_16b_register Modify 16-bit register over transport



100



Utility

ctl_transport_lock Acquire exclusive transport lock

ctl_transport_read_registers_fail Immediately fail a read from a transport

ctl_transport_read_registers_i2c Read multiple registers from an I2C transport

ctl_transport_unlock Release exclusive transport lock

ctl_transport_write_registers_fail Immediately fail a write to a transport

ctl_transport_write_registers_i2c Write multiple registers to an I2C transport


101

CTL_TRANSPORT_BUS_t

Synopsis

typedef struct { CTL_SPI_DEVICE_t *spi; CTL_I2C_BUS_t *i2c; void *v;} CTL_TRANSPORT_BUS_t;

MEMS digital sensors are typically on SPI or I2C buses and have a register interface. But, of course, there could be

other ways to sample those registers. This structure provides private storage for the transport to run over SPI and

I2C buses.


102

CTL_TRANSPORT_t

Synopsis

typedef struct { CTL_STATUS_t (*read_registers)(CTL_TRANSPORT_s *, int , int , void *); CTL_STATUS_t (*write_registers)(CTL_TRANSPORT_s *, int , int , const void *); unsigned char address; unsigned char big_endian; CTL_TRANSPORT_BUS_t bus; CTL_MUTEX_t *mutex;} CTL_TRANSPORT_t;

Structure

read_registers

Method to read registers using a transport interface. Clients should not call this directly.

write_registers

Method to write registers using a transport interface. Clients should not call this directly.

bus

Private member which maintains transport-related data for the bus.

big_endian

Defines the register byte order for multi-byte registers read and written over the bus.

mutex

Transport-lock mutex. This is inherited from the I2C or SPI bus when calling ctl_transport_initialize_i2c

or ctl_transport_initialize_spi. The transport is locked by read-modify-write functions to ensure that the

device register is atomically updated.


103

ctl_transport_initialize_i2c

Synopsis

void ctl_transport_initialize_i2c(CTL_TRANSPORT_t *self, CTL_I2C_BUS_t *bus, int addr, int big_endian);

Description

ctl_transport_initialize_i2c initializes the transport self to use standard sub-addressed read and writes requests

to device registers. The device addressed is on I2C bus bus at 8-bit I2C address addr.

big_endian specifies the byte order of multi-byte registers; if big_endian is non-zero, consecutive byte registers

comprising a multi-byte register are in big-endian (network) byte order, otherwise they are in little-endian (PC)

byte order.

The methods read_registers and write_registers of the transport are initialized to

ctl_transport_read_registers_i2c and ctl_transport_write_registers_i2c. For most devices, these functions are

sufficient to read and write device registers, but some devices may require special handling, such as setting a bit

in the register sub-address to indicate incrementing addresses. If this is the case, the client can simply substitute

its replacement register access methods after the transport is initialized.

See Also

ctl_transport_read_registers_i2c, ctl_transport_write_registers_i2c


104

ctl_transport_initialize_spi

Synopsis

void ctl_transport_initialize_spi(CTL_TRANSPORT_t *self, CTL_SPI_DEVICE_t *dev, int big_endian);

Description

ctl_transport_initialize_spi initializes the transport self to address the SPI device dev when reading and writing

registers.

big_endian specifies the byte order of multi-byte registers; if big_endian is non-zero, consecutive byte registers

comprising a multi-byte register are in big-endian (network) byte order, otherwise they are in little-endian (PC)

byte order.

The methods read_registers and write_registers of the transport are initialized to methods that immediately

return a failure because there is no consensus or standard for reading and writing device registers over SPI. In

this case, the client must provide its own register access methods after the transport is initialized.


105

ctl_transport_lock

Synopsis

void ctl_transport_lock(CTL_TRANSPORT_t *self);

Description

ctl_transport_lock acquires the lock mutex of the transport self. If there is no mutex associated with the

transport self, ctl_transport_lock returns immediately indicating.

All locks of the transport by ctl_transport_lock must be paired with a call to ctl_transport_unlock to release the

lock.

Note

Because mutexes can be locked multiple times, you can use ctl_transport_lock to acquire the transport to issue

a sequence of transactions to the transport that cannot be interrupted by another task. However, locking a

transport realized by an I2C bus does not guarantee that other masters, in a multi-master system, are excluded

from issuing transactions on the I2C bus.

See Also

ctl_transport_unlock


106

ctl_transport_read_16b_register

Synopsis

CTL_STATUS_t ctl_transport_read_16b_register(CTL_TRANSPORT_t *self, int reg);

Description

ctl_transport_read_16b_register reads two consecutive 8-bit registers starting at address reg from the device

associated with transport self. The two bytes read are combined to form a 16-bit value, according to the register

byte set on initialization, and is returned as the function result.

Return Value

ctl_transport_read_16b_register returns a standard status code.


107


Synopsis


Description

ctl_transport_read_24b_register reads three consecutive 8-bit registers starting at address reg from the device

associated with transport self. The three bytes read are combined to form a 24-bit value, according to the

register byte set on initialization, and is returned as the function result.

Return Value



108


Synopsis

CTL_STATUS_t ctl_transport_read_32b_register(CTL_TRANSPORT_t *self, int reg, unsigned long *v);

Description

ctl_transport_read_32b_register reads four consecutive 8-bit registers starting at address reg from the device

associated with transport self. The four bytes read are combined to form a 24-bit value, according to the register

byte set on initialization, and assigned to the long pointed to by v.

Return Value



109


Synopsis


Description

ctl_transport_read_8b_register reads an 8-bit register at address reg from the device associated with transport

self. The register value is returned as the function result.

Return Value

If there is an error reading the register from the transport, ctl_transport_read_8b_register returns a standard

negative status code indicating the error.


110

ctl_transport_read_registers

Synopsis

CTL_STATUS_t ctl_transport_read_registers(CTL_TRANSPORT_t *self, int reg, int n, void *data);

Description

ctl_transport_read_registers wraps a call to the device-specific register read method read_registers of the self

instance, passing the parameters through unchanged.

Whilst a client can call self's read_registers method directly, it's better style to use the wrapper function.

Return Value

ctl_transport_read_registers returns a standard status code.

Thread Safety

ctl_transport_read_registers is thread-safe if the transport self has a mutex associated with it.

ctl_transport_read_registers ensures an atomic update of the register by locking the transport before writing

the register and unlocking it after writing the register.


111

ctl_transport_read_registers_fail

Synopsis

CTL_STATUS_t ctl_transport_read_registers_fail(CTL_TRANSPORT_t *self, int reg, int n, void *data);

Description

ctl_transport_read_registers_fail returns immediately indicating an unsupported operation. You can use this

function to replace the default read_registers method after initializing a transport if reading from registers is not

appropriate for the underlying device.

Return Value

ctl_transport_read_registers_fail returns a fail status code.


112

ctl_transport_read_registers_i2c

Synopsis

CTL_STATUS_t ctl_transport_read_registers_i2c(CTL_TRANSPORT_t *self, int reg, int n, void *data);

Description

ctl_transport_read_registers_i2c reads multiple registers from an I2C transport and is the default method

installed into read_registers by ctl_transport_initialize_i2c.

The implementation of this depends upon ctl_i2c_write_read to issue a correct I2C bus transaction. A request to

read n bytes from registers starting at reg on the I2C transport self is constructed, transacted over the bus, and

the completion status returned.

The request to the I2C slave device is constructed which:

• transmits a start bit;

• transmits a Slave Address Write to select the I2C slave device;

• transmits a byte reg to select the subaddress to commence reading from;

• transmits a repeated start bit;

• transmits a Slave Address Read to select the same I2C slave device;

• receives a block of n bytes into data;

• transmits a stop bit.

Return Value

ctl_transport_read_registers_i2c returns a standard status code.

Thread Safety

ctl_transport_read_registers_i2c is thread-safe if the transport self has a mutex associated with it.

ctl_transport_read_registers_i2c ensures an atomic update of the register by locking the transport before

writing the register and unlocking it after writing the register.


113

ctl_transport_rmw_16b_register

Synopsis

CTL_STATUS_t ctl_transport_rmw_16b_register(CTL_TRANSPORT_t *self, int reg, unsigned mask, unsigned value);

Description

ctl_transport_rmw_16b_register reads, updates, and writes two consecutive 8-bit registers starting at address

reg on the device associated with transport self. The register is modified by replacing existing bits with new bits

from value where the the corresponding bits in mask are non-zero.

The value written back to the register is:

(not mask and value-of-register) or (value and mask).

Return Value

ctl_transport_rmw_16b_register returns a standard status code.

Thread Safety

ctl_transport_rmw_16b_register is thread-safe if the transport self has a mutex associated with it.

ctl_transport_rmw_16b_register ensures an atomic update of the register by locking the transport before

reading the register and unlocking it after writing the register.


114


Synopsis

CTL_STATUS_t ctl_transport_rmw_24b_register(CTL_TRANSPORT_t *self, int reg, unsigned long mask, unsigned long value);

Description

ctl_transport_rmw_24b_register reads, updates, and writes three consecutive 8-bit registers starting at address





Return Value


Thread Safety





115


Synopsis

CTL_STATUS_t ctl_transport_rmw_32b_register(CTL_TRANSPORT_t *self, int reg, unsigned long mask, unsigned long value);

Description

ctl_transport_rmw_32b_register reads, updates, and writes four consecutive 8-bit registers starting at address





Return Value


Thread Safety





116


Synopsis

CTL_STATUS_t ctl_transport_rmw_8b_register(CTL_TRANSPORT_t *self, int reg, unsigned mask, unsigned value);

Description

ctl_transport_rmw_8b_register reads, updates, and writes the 8-bit register at address reg on the device

associated with transport self. The register is modified by replacing existing bits with new bits from value where

the the corresponding bits in mask are non-zero.



Return Value


Thread Safety





117

ctl_transport_unlock

Synopsis

void ctl_transport_unlock(CTL_TRANSPORT_t *self);

Description

ctl_transport_unlock releases a mutex that was successfully locked using ctl_transport_lock. If there is no

mutex associated with the transport self, ctl_transport_unlock returns immediately. It is an error to release a

lock that was not acquired successfully.

See Also

ctl_transport_lock


118

ctl_transport_write_16b_register

Synopsis

CTL_STATUS_t ctl_transport_write_16b_register(CTL_TRANSPORT_t *self, int reg, int value);

Description

ctl_transport_write_16b_register writes value to two consecutive 8-bit registers starting at address reg on the

device associated with transport self. The registers are written in the byte order specified on initialization of the

transport.

Return Value

ctl_transport_write_16b_register returns a standard status code.


119


Synopsis

CTL_STATUS_t ctl_transport_write_24b_register(CTL_TRANSPORT_t *self, int reg, unsigned long value);

Description

ctl_transport_write_24b_register writes value to three consecutive 8-bit registers starting at address reg on the


transport.

Return Value



120


Synopsis

CTL_STATUS_t ctl_transport_write_32b_register(CTL_TRANSPORT_t *self, int reg, unsigned long value);

Description

ctl_transport_write_32b_register writes value to four consecutive 8-bit registers starting at address reg on the


transport.

Return Value



121


Synopsis

CTL_STATUS_t ctl_transport_write_8b_register(CTL_TRANSPORT_t *self, int reg, int value);

Description

ctl_transport_write_8b_register writes value to the 8-bit register at address reg on the device associated with

transport self.

Return Value



122

ctl_transport_write_registers

Synopsis

CTL_STATUS_t ctl_transport_write_registers(CTL_TRANSPORT_t *self, int reg, int n, const void *data);

Description

ctl_transport_write_registers wraps a call to the device-specific register write method write_registers of the

self instance, passing the parameters through unchanged.

Whilst a client can call the self's write_registers method directly, it's better style to use the wrapper function.

Return Value

ctl_transport_write_registers returns a standard status code.

Thread Safety

ctl_transport_write_registers is thread-safe if the transport self has a mutex associated with it.

ctl_transport_write_registers ensures an atomic update of the register by locking the transport before writing

the register and unlocking it after writing the register.


123

ctl_transport_write_registers_fail

Synopsis

CTL_STATUS_t ctl_transport_write_registers_fail(CTL_TRANSPORT_t *self, int reg, int n, const void *data);

Description

ctl_transport_write_registers_fail returns immediately indicating an unsupported operation. You can use this

function to replace the default write_registers method after initializing a transport if writing to registers is not

appropriate for the underlying device.

Return Value

ctl_transport_write_registers_fail returns a fail status code.


124

ctl_transport_write_registers_i2c

Synopsis

CTL_STATUS_t ctl_transport_write_registers_i2c(CTL_TRANSPORT_t *self, int reg, int n, const void *data);

Description

ctl_transport_write_registers_i2c writes multiple registers to an I2C transport and is the default method

installed into write_registers by ctl_transport_initialize_i2c.

The implementation of this depends upon ctl_i2c_write to issue a correct I2C bus transaction. A request to

write n bytes to registers starting at reg on the I2C transport self is constructed, transacted over the bus, and the

completion status returned.

The request to the I2C slave device is constructed which:

• transmits a start bit;

• transmits a Slave Address Write to select the I2C slave device;

• transmits a byte reg to select the subaddress to commence writing to;

• transmits a block of n bytes from data;

• transmits a stop bit.

Note

The implementation of ctl_transport_write_registers_i2c restricts the number of bytes written to 32.

Return Value

ctl_transport_write_registers_i2c returns a standard status code.

Thread Safety

ctl_transport_write_registers_i2c is thread-safe if the transport self has a mutex associated with it.

ctl_transport_write_registers_i2c ensures an atomic update of the register by locking the transport before

writing the register and unlocking it after writing the register.


125

<ctl_uart.h>

Overview

Abstract UART interface.

The types and functions in <ctl_uart.h> provide a high-level set of services for an application to read and

write data over one or more SPI buses. The UART interface in this library is abstract in the sense that there is no

concrete implementation within the library. Rather, implementations of the UART interface are offered by the

many driver packages that you can install as a CrossWorks package.



API Summary

I/O functions

ctl_uart_getc Read character from UART

ctl_uart_getc_nb Read character from UART (non-blocking)

ctl_uart_putc Write character to UART

ctl_uart_puts Write string to UART


126

ctl_uart_getc

Synopsis

int ctl_uart_getc(CTL_UART_t *self);

Description

ctl_uart_getc reads one character from the UART self. This function will block until a character is available to

read.

Return Value

ctl_uart_getc returns the character read from the UART.


127

ctl_uart_getc_nb

Synopsis

int ctl_uart_getc_nb(CTL_UART_t *self);

Description

ctl_uart_getc_nb reads one character from the UART self. If no character is available,

Description

ctl_uart_getc_nb returns a negative value.

Return Value

ctl_uart_getc_nb returns the character read from the UART or a negative value if none is available.


128

ctl_uart_putc

Synopsis

void ctl_uart_putc(CTL_UART_t *self, char c);

Description

ctl_uart_putc writes the character c to the UART self.

Note

The implementation of ctl_uart_putc passes the character c directly to the driver layer without translation. The

driver implementation may elect to translate the C newline character '\n' as a CR+LF combination.


129

ctl_uart_puts

Synopsis

void ctl_uart_puts(CTL_UART_t *self, const char *str);

Description

ctl_uart_puts writes the null-terminated string str to to the UART self.


130

<adc101s021.h>

API Summary

Functions

adc101s021_init Initialize

adc101s021_measure_raw Initialize


131

adc101s021_init

Synopsis

void adc101s021_init(CTL_SPI_DEVICE_t *d);


132

adc101s021_measure_raw

Synopsis

unsigned adc101s021_measure_raw(CTL_SPI_DEVICE_t *d);


133

<ltc2309.h>

Overview

Driver for a Linear Technology LTC2309 analog to digital converter.

Resources

All correct at time of writing, but as always, manufacturers love to move things around on their website.

Web page

http://www.linear.com/product/LTC2309

Datasheet

http://cds.linear.com/docs/en/datasheet/2309fd.pdf

Test hardware

This code has been tested using a Libelium Raspberry Pi to Arduino shields connection bridge:

http://www.cooking-hacks.com/index.php/Raspberry-pi-to-arduino-shield-connection-bridge.html

Installed on a Raspberry Pi:

http://www.raspberrypi.org/

API Summary

Macros

LTC2309_I2C_ADDR LTC2309 8-bit I2C address selected by AD1:0

Initialization

ltc2309_init_i2c Initialize device on I2C bus

Control

ltc2309_sample_differential_bipolar Sample channel in differential pair mode, bipolar

ltc2309_sample_differential_unipolar Sample channel in differential pair mode, unipolar

ltc2309_sample_single_ended_bipolar Sample channel in single-ended mode, bipolar

ltc2309_sample_single_ended_unipolar Sample channel in single-ended mode, unipolar


http://cds.linear.com/docs/en/datasheet/2309fd.pdf

http://www.cooking-hacks.com/index.php/Raspberry-pi-to-arduino-shield-connection-bridge.html

http://www.raspberrypi.org/


134

LTC2309_I2C_ADDR

Synopsis

#define LTC2309_I2C_ADDR(ADx) (0x10 + 2*(ADx))

See Also

ltc2309_init_i2c


135

ltc2309_init_i2c

Synopsis

CTL_STATUS_t ltc2309_init_i2c(CTL_ADC_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

ltc2309_init_i2c initializes the LTC2309 self on I2C bus bus using the 8-bit I2C address addr.

Return Value

ltc2309_init_i2c returns a standard status code.

Thread Safety

ltc2309_init_i2c is thread-safe if a mutex is associated with the I2C bus bus.


136

ltc2309_sample_differential_bipolar

Synopsis

CTL_STATUS_t ltc2309_sample_differential_bipolar(LTC2309_ADC_t *self, int channel, float *sample);

Description

ltc2309_sample_differential_bipolar samples channel channel and channel xor 1 in bipolar differential mode

with channel channel as the positive input and channel channel xor 1 as the negative input.

The object pointed to by sample is written to a value between −1 and +1 (inclusive) that represents the value

sampled.

Return Value

ltc2309_sample_differential_bipolar returns a standard status code.

Thread Safety

ltc2309_sample_differential_bipolar is thread-safe if a mutex is associated with the I2C bus bus.


137

ltc2309_sample_differential_unipolar

Synopsis

CTL_STATUS_t ltc2309_sample_differential_unipolar(LTC2309_ADC_t *self, int channel, float *sample);

Description

ltc2309_sample_differential_unipolar samples channel channel and channel xor 1 in unipolar differential

mode with channel channel as the positive input and channel channel xor 1 as the negative input.

The object pointed to by sample is written to a value between 0 and +1 (inclusive) that represents the value

sampled.

Return Value

ltc2309_sample_differential_unipolar returns a standard status code.

Thread Safety

ltc2309_sample_differential_unipolar is thread-safe if a mutex is associated with the I2C bus bus.


138

ltc2309_sample_single_ended_bipolar

Synopsis

CTL_STATUS_t ltc2309_sample_single_ended_bipolar(LTC2309_ADC_t *self, int channel, float *sample);

Description

ltc2309_sample_single_ended_bipolar samples channel channel in single-ended mode using COM as the

negative terminal. The object pointed to by sample is written to a value between −1 and +1 (inclusive) that

represents the value sampled.

Return Value

ltc2309_sample_single_ended_bipolar returns a standard status code.

Thread Safety

ltc2309_sample_single_ended_bipolar is thread-safe if a mutex is associated with the I2C bus bus.


139

ltc2309_sample_single_ended_unipolar

Synopsis

CTL_STATUS_t ltc2309_sample_single_ended_unipolar(CTL_ADC_t *self, int channel, float *sample);

Description

ltc2309_sample_single_ended_unipolar samples channel channel in single-ended mode using COM as the

negative terminal. The object pointed to by sample is written to a value between 0 and 1 (inclusive) that

represents the value sampled.

Return Value

ltc2309_sample_single_ended_unipolar returns a standard status code.

Thread Safety

ltc2309_sample_single_ended_unipolar is thread-safe if a mutex is associated with the I2C bus bus.


140

<mcp23016.h>

Overview

Driver for a Microchip MCP23016 16-bit I2C bus expander..

The MCP23016 is a 16-bit port expander where each of the bits can function as either an input or an output.

Resources


Web page

http://www.microchip.com/wwwproducts/Devices.aspx?dDocName=en010412

Datasheet

http://www.microchip.com/downloads/en/DeviceDoc/20090C.pdf

Test hardware

This code has been tested using a SolderCore controlling a SenseCore.

http://www.soldercore.com/

API Summary

Constants

MCP23016_I2C_ADDR 8-bit I2C address for MC23016

Functions

mcp23016_initialize_i2c Initialize bus expander on I2C bus


http://www.microchip.com/downloads/en/DeviceDoc/20090C.pdf



141

MCP23016_I2C_ADDR

Synopsis

#define MCP23016_I2C_ADDR(X) ((X)*2 + 0x40)

Description

MCP23016_I2C_ADDR returns the 8-bit I2C address for the MC23016 for the address configuration signals

AD0, AD1, and AD2 presented in X. AD0 is the least significant bit and AD2 is the most significant bit, hence 0x6

represents AD2=1, AD1=1, AD0=0.

The address is calculated as 0x40 + (X << 1).


142

mcp23016_initialize_i2c

Synopsis

CTL_STATUS_t mcp23016_initialize_i2c(CTL_PARALLEL_BUS_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

mcp23016_initialize_i2c initializes the parallel bus driver self with methods to control an MCP23016 attached to

I2C bus bus at 8-bit I2C address addr. The MCP23016 is initialized to all-input mode. The parallel bus self inherits

any mutex associated with the bus bus.

Once the parallel bus interface is initialized, you can use all standard parallel bus methods from the sensor API

on the interface.

Return Value

mcp23016_initialize_i2c returns a standard status code.

Thread Safety

mcp23016_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_bus.h>


143

<mcp23x08.h>

Overview

Driver for a Microchip MCP23008 (I2C) or MCP23S08 (SPI) bus expander..

The MCP23008 is a 8-bit I2C port expander and the MCP23S08 is an 8-bit SPI port expander where each of the

bits can function as either an input or an output.

Resources


Web page

MCP23008


MCP23S08


Datasheet

http://www.microchip.com/downloads/en/DeviceDoc/21919e.pdf

Test hardware



API Summary

Constants

MCP23008_I2C_ADDR 8-bit I2C address for MC23008

Functions

mcp23x08_initialize_i2c Initialize bus expander on I2C bus

mcp23x08_initialize_spi Initialize bus expander on SPI bus



http://www.microchip.com/downloads/en/DeviceDoc/21919e.pdf



144

MCP23008_I2C_ADDR

Synopsis

#define MCP23008_I2C_ADDR(ADx) (0x40 + 2*(ADx))

Description

MCP23008_I2C_ADDR returns the 8-bit I2C address for the MC23008 for the address configuration signals AD0,

AD1, and AD2 presented in ADx. AD0 is the least significant bit and AD2 is the most significant bit, hence 0x6



145

mcp23x08_initialize_i2c

Synopsis

CTL_STATUS_t mcp23x08_initialize_i2c(CTL_PARALLEL_BUS_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

mcp23x08_initialize_i2c initializes the parallel bus driver self with methods to control an MCP23008 attached to




on the interface.

Return Value

mcp23x08_initialize_i2c returns a standard status code.

Thread Safety

mcp23x08_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_bus.h>


146

mcp23x08_initialize_spi

Synopsis

CTL_STATUS_t mcp23x08_initialize_spi(CTL_PARALLEL_BUS_t *bus, CTL_SPI_DEVICE_t *dev);

Description

mcp23x08_initialize_spi initializes the parallel bus driver self with methods to control an MCP23S08 on the SPI

bus associated with dev. The MCP23S08 is initialized to all-input mode. The parallel bus self inherits any mutex

associated with the SPI bus that dev is attached to.


on the interface.

Return Value

mcp23x08_initialize_spi returns a standard status code.

Thread Safety

mcp23x08_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.

See Also

<ctl_bus.h>


147

<mcp23x17.h>

Overview

Driver for a Microchip MCP23017 (I2C) or MCP23S17 (SPI) bus expander..

The MCP23017 is a 16-bit I2C port expander and the MCP23S17 is an 16-bit SPI port expander where each of the

bits can function as either an input or an output.

Resources


Web page

MCP23017


MCP23S17


Datasheet

http://www.microchip.com/downloads/en/DeviceDoc/21952b.pdf

Test hardware



API Summary

Constants

MCP23017_I2C_ADDR 8-bit I2C address for MCP23017

Functions

mcp23x17_initialize_i2c Initialize bus expander on I2C bus

mcp23x17_initialize_spi Initialize bus expander on SPI bus



http://www.microchip.com/downloads/en/DeviceDoc/21952b.pdf



148

MCP23017_I2C_ADDR

Synopsis

#define MCP23017_I2C_ADDR(ADx) (0x40 + 2*(ADx))

Description

MCP23017_I2C_ADDR returns the 8-bit I2C address for the MCP23017 for the address configuration signals

AD0, AD1, and AD2 presented in X. AD0 is the least significant bit and AD2 is the most significant bit, hence 0x6


The address is calculated as 0x40 + 2*ADx).


149

mcp23x17_initialize_i2c

Synopsis

CTL_STATUS_t mcp23x17_initialize_i2c(CTL_PARALLEL_BUS_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

mcp23x17_initialize_i2c initializes the parallel bus driver self with methods to control an MCP23017 attached to




on the interface.

Return Value

mcp23x17_initialize_i2c returns a standard status code.

Thread Safety

mcp23x17_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_bus.h>


150

mcp23x17_initialize_spi

Synopsis

CTL_STATUS_t mcp23x17_initialize_spi(CTL_PARALLEL_BUS_t *bus, CTL_SPI_DEVICE_t *dev);

Description

mcp23x17_initialize_spi initializes the parallel bus driver self with methods to control an MCP23S17 on the SPI

bus associated with dev. The MCP23S17 is initialized to all-input mode. The parallel bus self inherits any mutex

associated with the SPI bus that dev is attached to.


on the interface.

Return Value

mcp23x17_initialize_spi returns a standard status code.

Thread Safety

mcp23x17_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.

See Also

<ctl_bus.h>


151

<pca9532.h>

Overview

Driver for an NXP PCA9532 16-bit port expander / LED driver.

The PCA9532 is an 8-bit port expander where each of the bits can function as either an input or an output.

Resources


Web page

http://www.nxp.com/products/lighting_driver_and_controller_ics/i2c_led_display_control/series/

PCA9532.html

Datasheet

http://www.nxp.com/documents/data_sheet/PCA9532.pdf

Test hardware

This code has been tested using an Embedded Artists base board with LPC1788-OEM module.

API Summary

Setup

PCA9532_I2C_ADDR 8-bit I2C address for PCA9532

pca9532_initialize_i2c Initialize bus expander on I2C bus

LEDs

pca9532_led_mode Get LED mode

pca9532_set_duty_cycle Set channel duty cycle

pca9532_set_led_mode Set LED mode

pca9532_set_pwm_frequency Set PWM frequency

http://www.nxp.com/products/lighting_driver_and_controller_ics/i2c_led_display_control/series/PCA9532.html

http://www.nxp.com/products/lighting_driver_and_controller_ics/i2c_led_display_control/series/PCA9532.html



152

PCA9532_I2C_ADDR

Synopsis

#define PCA9532_I2C_ADDR(ADx) (0xc0 + 2*(ADx))

Description

PCA9532_I2C_ADDR returns the 8-bit I2C address for the PCA9532 for the address configuration signals AD0,



The address is calculated as 0xc0 + 2*ADx.


153

pca9532_initialize_i2c

Synopsis

CTL_STATUS_t pca9532_initialize_i2c(PCA9532_DRIVER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

pca9532_initialize_i2c initializes the parallel bus driver self with methods to control a PCA9532 attached to I2C

bus bus at 8-bit I2C address addr. The PCA9532 is initialized to all-input mode. The parallel bus self inherits any

mutex associated with the bus bus.

Bits 0 through 7 assigned to port 0 and bits 8 through 15 are assigned to port 1.


on the interface.

Return Value

pca9532_initialize_i2c returns a standard status code.

Thread Safety

pca9532_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_bus.h>


154

pca9532_led_mode

Synopsis

CTL_STATUS_t pca9532_led_mode(PCA9532_DRIVER_t *self, int index);

Description

pca9532_led_mode reads the mode of LED index.

Return Value

pca9532_led_mode returns an extended status code; non-negative values are the LED mode.

Thread Safety

pca9532_led_mode is thread-safe if a mutex is associated with the I2C bus bus.


155

pca9532_set_duty_cycle

Synopsis

CTL_STATUS_t pca9532_set_duty_cycle(PCA9532_DRIVER_t *self, int channel, float ratio);

Description

pca9532_set_duty_cycle sets the duty ratio of channel channel of the LED driver self to ratio. channel is 0 or 1

to select between the two channels and ratio is between 0 and 1 (inclusive) to set the duty ratio.

Note that a duty ratio of 1 will turn the LED on and 0 will turn it off, and at the pins a duty ratio of 1 outputs DC

low and a duty ratio of 0 outputs DC high.

Return Value

pca9532_set_duty_cycle returns a standard status code.

Thread Safety

pca9532_set_duty_cycle is thread-safe if a mutex is associated with the I2C bus bus.


156

pca9532_set_led_mode

Synopsis

CTL_STATUS_t pca9532_set_led_mode(PCA9532_DRIVER_t *self, int index, PCA9532_OUTPUT_MODE_t mode);

Description

pca9532_set_led_mode writes the mode of LED index to mode which can be used to set the LED to blink.

Return Value

pca9532_set_led_mode returns a standard status code.

Thread Safety

pca9532_set_led_mode is thread-safe if a mutex is associated with the I2C bus bus.


157

pca9532_set_pwm_frequency

Synopsis

CTL_STATUS_t pca9532_set_pwm_frequency(PCA9532_DRIVER_t *self, int channel, float frequency);

Description

pca9532_set_pwm_frequency sets the PWM frequency of channel channel of the LED driver self to frequency

hertz. channel is 0 or 1 to select between the two channels.

Return Value

pca9532_set_pwm_frequency returns a standard status code.

Thread Safety

pca9532_set_pwm_frequency is thread-safe if a mutex is associated with the I2C bus bus.


158

<pca9672.h>

Overview

Driver for an NXP PCA9672 8-bit port expander.

The PCA9672 is an 8-bit port expander where each of the bits can function as either an input or an output.

Resources


Web page

http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_general_purpose_i_o/series/

PCA9672.html

Datasheet


Test hardware

This code has been tested using an LPC800-MAX.

API Summary

Functions

pca9672_initialize_i2c Initialize bus expander on I2C bus

http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_general_purpose_i_o/series/PCA9672.html




159

pca9672_initialize_i2c

Synopsis

CTL_STATUS_t pca9672_initialize_i2c(CTL_PARALLEL_BUS_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

pca9672_initialize_i2c initializes the parallel bus driver self with methods to control a PCA9672 attached to I2C

bus bus at 8-bit I2C address addr. The PCA9672 is initialized to all-input mode. The parallel bus self inherits any




on the interface.

Return Value

pca9672_initialize_i2c returns a standard status code.

Thread Safety

pca9672_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_bus.h>


160

<pcf8575.h>

Overview

Driver for an NXP PCF8575 16-bit port expander.

The PCF8575 is a 16-bit port expander where each of the bits can function as either an input or an output.

The PCF8575 is functionally identical to the PC8575, PCF8575C, PCF8574, PCA9535, PCA9555, and probably

many others.

Resources


Web page

http://www.nxp.com/products/interface_and_connectivity/i2c/i2c_general_purpose_i_o/series/

PCA8575.html

Datasheet

http://www.nxp.com/documents/data_sheet/PCF8575.pdf

Test hardware



API Summary

Constants

PCF8575_I2C_ADDR 8-bit I2C address for PCF8575

Functions

pcf8575_initialize_i2c Initialize bus expander on I2C bus



http://www.nxp.com/documents/data_sheet/PCF8575.pdf



161

PCF8575_I2C_ADDR

Synopsis

#define PCF8575_I2C_ADDR(ADx) (0x40 + 2*(ADx))

Description

PCF8575_I2C_ADDR returns the 8-bit I2C address for the PCF8575 for the address configuration signals AD0,



The address is calculated as 0x40 + 2*ADx.


162

pcf8575_initialize_i2c

Synopsis

CTL_STATUS_t pcf8575_initialize_i2c(CTL_PARALLEL_BUS_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

pcf8575_initialize_i2c initializes the parallel bus driver self with methods to control a PCF8575 attached to I2C

bus bus at 8-bit I2C address addr. The PCF8575 is initialized to all-input mode. The parallel bus self inherits any




on the interface.

Return Value

pcf8575_initialize_i2c returns a standard status code.

Thread Safety

pcf8575_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_bus.h>


163

<ltc6904.h>

Overview

Driver for a Linear Technology LTC6904 digital oscillator.

Resources


Web page


Datasheet

http://cds.linear.com/docs/Datasheet/69034fe.pdf

Test hardware

This code has been tested using a Gravitech I2C-OSC module:

http://www.gravitech.us/i2c1kto68pro.html

This was wired to a CoreProto and plugged into a SenseCore:

http://soldercore.com/products/sensecore/

And finally installed on a SolderCore:

http://soldercore.com/products/soldercore/

API Summary

Constants

LTC6904_I2C_ADDR_ADR0 8-bit I2C address with ADR=0

LTC6904_I2C_ADDR_ADR1 8-bit I2C address with ADR=1

LTC6904_MODE_CLK_OFF_nCLK_ON CLK off, nCLK on mode

LTC6904_MODE_CLK_ON_nCLK_OFF CLK on, nCLK off mode

LTC6904_MODE_CLK_ON_nCLK_ON CLK and nCLK on mode

LTC6904_MODE_POWER_DOWN Powered down mode

Types

LTC6904_OSCILLATOR_t LTC6904 state

Initialization


http://cds.linear.com/docs/Datasheet/69034fe.pdf

http://www.gravitech.us/i2c1kto68pro.html




164

ltc6904_init_i2c Initialize device on I2C bus

Control

ltc6904_set_frequency Set oscillator output frequency

ltc6904_set_mode Set output mode

Status

ltc6904_get_selected_frequency Get selected oscillator frequency


165

LTC6904_I2C_ADDR_ADR0

Synopsis

#define LTC6904_I2C_ADDR_ADR0 0x2E

Description

LTC6904_I2C_ADDR_ADR0 is the selected 8-bit I2C address of the LTC6904 oscillator when ADR=0.

See Also

ltc6904_init_i2c


166

LTC6904_I2C_ADDR_ADR1

Synopsis

#define LTC6904_I2C_ADDR_ADR1 0x2C

Description

LTC6904_I2C_ADDR_ADR1 is the selected 8-bit I2C address of the LTC6904 oscillator when ADR=1.

See Also

ltc6904_init_i2c


167

LTC6904_MODE_CLK_OFF_nCLK_ON

Synopsis

#define LTC6904_MODE_CLK_OFF_nCLK_ON 0x01

Description

LTC6904_MODE_CLK_OFF_nCLK_ON mode drives nCLK from the oscillator and does not drive CLK.

See Also

ltc6904_set_mode


168

LTC6904_MODE_CLK_ON_nCLK_OFF

Synopsis

#define LTC6904_MODE_CLK_ON_nCLK_OFF 0x02

Description

LTC6904_MODE_CLK_ON_nCLK_OFF mode drives CLK from the oscillator and does not drive nCLK.

See Also

ltc6904_set_mode


169

LTC6904_MODE_CLK_ON_nCLK_ON

Synopsis

#define LTC6904_MODE_CLK_ON_nCLK_ON 0x00

Description

LTC6904_MODE_CLK_ON_nCLK_ON mode drives both CLK and nCLK from the oscillator with nCLK = −CLK.

See Also

ltc6904_set_mode


170

LTC6904_MODE_POWER_DOWN

Synopsis

#define LTC6904_MODE_POWER_DOWN 0x03

Description

LTC6904_MODE_POWER_DOWN mode powers down the oscillator.

See Also

ltc6904_set_mode


171

LTC6904_OSCILLATOR_t

Synopsis

typedef struct { CTL_TRANSPORT_t transport; unsigned short __dac; unsigned char __octave; unsigned char __mode; unsigned char __config;} LTC6904_OSCILLATOR_t;

Description

LTC6904_OSCILLATOR_t contains the internal state of the LTC6904 driver and should be considered

inaccessible by the client.


172

ltc6904_get_selected_frequency

Synopsis

float ltc6904_get_selected_frequency(LTC6904_OSCILLATOR_t *self);

Description

ltc6904_get_selected_frequency returns the selected oscillator frequency in hertz, derived from the internal

octave and DAC select bits. This is the datasheet "true" oscillator frequency nearest to the frequency requested

by ltc6904_set_frequency.

Return Value

ltc6904_get_selected_frequency returns a standard status code.

Thread Safety

ltc6904_get_selected_frequency is thread-safe if the transport member in self is thread-safe. Typically, for SPI


See Also

ltc6904_set_frequency.


173

ltc6904_init_i2c

Synopsis

CTL_STATUS_t ltc6904_init_i2c(LTC6904_OSCILLATOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

ltc6904_init_i2c initializes the LTC6904 self on I2C bus bus using the 8-bit I2C address addr.

Return Value

ltc6904_init_i2c returns a standard status code.

Thread Safety

ltc6904_init_i2c is thread-safe if a mutex is associated with the I2C bus bus.


174

ltc6904_set_frequency

Synopsis

CTL_STATUS_t ltc6904_set_frequency(LTC6904_OSCILLATOR_t *self, float frequency);

Description

ltc6904_set_frequency sets the oscillator self to the frequency nearest frequency hertz. You can read the

oscillator frequency selected by ltc6904_set_frequency using ltc6904_get_selected_frequency.

Return Value

ltc6904_set_frequency returns a standard status code.

Thread Safety

ltc6904_set_frequency is thread-safe if the transport member in self is thread-safe. Typically, for SPI and I2C


See Also

ltc6904_get_selected_frequency.


175

ltc6904_set_mode

Synopsis

CTL_STATUS_t ltc6904_set_mode(LTC6904_OSCILLATOR_t *self, int mode);

Description

ltc6904_set_mode sets the oscillator output mode to mode, which is one of the constants described in the

Constants section.

Return Value

ltc6904_set_mode returns a standard status code.

Thread Safety

ltc6904_set_mode is thread-safe if the transport member in self is thread-safe. Typically, for SPI and I2C



176

<adt7410.h>

Overview

Driver for an ADT7410 temperature sensor.

Resources


Web page

http://www.analog.com/en/mems-sensors/digital-temperature-sensors/adt7410/products/product.html

Datasheet

http://www.analog.com/static/imported-files/data_sheets/ADT7410.pdf

Test hardware

This code has been tested using an ADT7410 on a breakout board hand-wired to a SolderCore.


Specification

Parameter Supported settings

Resolution (°C) 0.0625 (default), 0.0078125

Communication up to 3.4 MHz (I2C) and 5 MHz (SPI)

API Summary

Macros

ADT7410_I2C_ADDR ADT7410 8-bit I2C address selected by A1:A0

Functions

adt7410_initialize_i2c Initialize ADT7410 on I2C bus

http://www.analog.com/en/mems-sensors/digital-temperature-sensors/adt7410/products/product.html

http://www.analog.com/static/imported-files/data_sheets/ADT7410.pdf



177

ADT7410_I2C_ADDR

Synopsis

#define ADT7410_I2C_ADDR(Ax) (0x90 + 2*(Ax))


178

adt7410_initialize_i2c

Synopsis

CTL_STATUS_t adt7410_initialize_i2c(CTL_TEMPERATURE_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

adt7410_initialize_i2c initializes the temperature sensor interface self with methods to communicate with an

ADT7410 temperature sensor on the I2C bus bus with 8-bit I2C address addr.

Once the temperature sensor interface is initialized, you can use all standard temperature sensor methods from

the sensor API on the interface.

Return Value

adt7410_initialize_i2c returns a standard status code.

Thread Safety

adt7410_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


179

<bmp085.h>

Overview

Driver for a Bosch Sensortec BMP085 digital barometric pressure sensor.

Resources


Web page

http://www.bosch-sensortec.com/content/language1/html/3477.htm

Datasheet

http://www.bosch-sensortec.com/content/language1/downloads/BST-BMP085-DS000-05.pdf

Test hardware

This code has been tested using a SolderCore CorePressure module:

http://soldercore.com/products/sensecore/corepressure/

This was plugged into a SenseCore:




API Summary

Macros

BMP085_I2C_ADDR BMP085 8-bit I2C address

Types

BMP085_BAROMETER_t BMP085 sensor state

Functions

bmp085_initialize_i2c Initialize sensor on I2C bus

bmp085_set_resolution Set sensor resolution

http://www.bosch-sensortec.com/content/language1/html/3477.htm

http://www.bosch-sensortec.com/content/language1/downloads/BST-BMP085-DS000-05.pdf

http://soldercore.com/products/sensecore/corepressure/




180

BMP085_BAROMETER_t

Synopsis

typedef struct { CTL_PRESSURE_SENSOR_t core;} BMP085_BAROMETER_t;

Description

BMP085_BAROMETER_t contains the internal calibration and resolution settings that should be considered

inaccessible by the client. The core pressure sensor member, core, is the only user-accessible member. You can

pass the address of core to the abstract pressure sensor API in ctl_sensors_h.


181

BMP085_I2C_ADDR

Synopsis

#define BMP085_I2C_ADDR 0xEE

Description

BMP085_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


182

bmp085_initialize_i2c

Synopsis

CTL_STATUS_t bmp085_initialize_i2c(BMP085_BAROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

bmp085_initialize_i2c initializes the BMP085 pressure sensor self on I2C bus bus using the 8-bit I2C address

addr.

During initialization, bmp085_initialize_i2c tries to read calibration data from the sensor, with up to ten retries.

If the data can be read without error, bmp085_initialize_i2c returns CTL_NO_ERROR.

Once the pressure sensor interface is initialized, you can use all standard pressure sensor methods from the

sensor API on the interface.

Return Value

bmp085_initialize_i2c will return any error reported by the underlying I2C driver without retrying. If the sensor

data is unavailable after ten retries, bmp085_initialize_i2c returns CTL_READ_ERROR.

Thread Safety

bmp085_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


183

bmp085_set_resolution

Synopsis

CTL_STATUS_t bmp085_set_resolution(BMP085_BAROMETER_t *self, int bits);

bmp085_set_resolution sets the sensor self to use the sensitivity setting delivering bits of ADC data. bits can be

one of:

Bits Setting Conversion time (ms) Number of samples

16 Ultra-low power 4.5 1

17 Standard 7.5 2

18 High resolution 13.5 4

19 Ultra-high resolution 25.5 8

Return Value

bmp085_set_resolution returns a standard status code.

Thread Safety

bmp085_set_resolution is thread-safe if the transport member in self is thread-safe. This requires that a mutex

is associated with the I2C bus provided when initializing self.


184

<dht.h>

Overview

Driver for MaxDetect Technology RHT range of sensors.

These sensors report measurements using two different formats, so clients are required to specify the attached

sensor type at initialization time.

The RHT01, RHT02, RHT03, DHT22, and AM2302 are all the same product.

Resources


Web page

http://www.humiditycn.com/

Test hardware

This code has been tested using DHT11, DHT22, and RHT03 sensors acquired from SparkFun and AdaFruit.

The sensors were wired to a CoreProto and plugged into a SenseCore:




API Summary

Functions

dht_read_humidity Read humidity

http://www.humiditycn.com/




185

dht_read_humidity

Synopsis

CTL_STATUS_t dht_read_humidity(DHT_DRIVER_t *self, float *t, float *rh);

Description

dht_read_humidity starts a measurement of humidity using DHT self.

dht_read_humidity returns any communication error in the function result.


186

<hih6130.h>

Overview

Driver for a Honeywell HIH6130 humidity and temperature sensor.

Resources


Web page

http://sensing.honeywell.com/product%20page?pr_id=142038

Datasheet

http://sensing.honeywell.com/honeywell-sensing-humidicon-hih6130-6131-6120-6121-series-

productsheet.pdf

Test hardware

This code has been tested using a SparkFun HIH6130 breakout:

http://www.sparkfun.com/products/11295





API Summary

Macros

HIH6130_I2C_ADDR HIH6130 8-bit I2C address

Functions

hih6130_initialize_i2c Initialize sensor on I2C bus

http://sensing.honeywell.com/product%20page?pr_id=142038

http://sensing.honeywell.com/honeywell-sensing-humidicon-hih6130-6131-6120-6121-series-productsheet.pdf

http://sensing.honeywell.com/honeywell-sensing-humidicon-hih6130-6131-6120-6121-series-productsheet.pdf





187

HIH6130_I2C_ADDR

Synopsis

#define HIH6130_I2C_ADDR 0x4E

Description

HIH6130_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


188

hih6130_initialize_i2c

Synopsis

CTL_STATUS_t hih6130_initialize_i2c(CTL_HUMIDITY_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

hih6130_initialize_i2c initializes the humidity sensor interface self with methods to communicate with an

HIH6130 humidity sensor on the I2C bus bus with 8-bit I2C address addr.

Once the humidity sensor interface is initialized, you can use all standard humidity sensor methods from the


Return Value

hih6130_initialize_i2c returns a standard status code.

Thread Safety

hih6130_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


189

<isl29023.h>

Overview

Driver for an Intersil ISL29023 ambient light sensor.

Resources


Web page

http://www.intersil.com/en/products/optoelectronics/ambient-light-sensors/light-to-digital-sensors/

ISL29023.html

Datasheet

Intersil require you to register and request a full datasheet.

Note

This implementation assumes a 499kOhm Rext resistor. See http://www.intersil.com/data/fn/fn6691.pdf

Test hardware

This code has been tested using a SolderCore CoreLight module:

http://soldercore.com/products/sensecore/corelight/





Specification


Range (lux) 1000, 4000, 16000, 64000 (default)

Resolution (bits) 4, 8, 12, 16 (default)

http://www.intersil.com/en/products/optoelectronics/ambient-light-sensors/light-to-digital-sensors/ISL29023.html

http://www.intersil.com/en/products/optoelectronics/ambient-light-sensors/light-to-digital-sensors/ISL29023.html

http://www.intersil.com/data/fn/fn6691.pdf

http://soldercore.com/products/sensecore/corelight/




190

Communication up to 400 kHz (I2C)

API Summary

Macros

ISL29023_I2C_ADDR ISL29023 8-bit I2C address

Types

ISL29023_DRIVER_t ISL29023 light sensor

Functions

isl29023_initialize_i2c Initialize sensor on I2C bus

isl29023_set_range Set sensor range

isl29023_set_resolution_bits Set sensor resolution


191

ISL29023_DRIVER_t

Synopsis

typedef struct { CTL_LIGHT_SENSOR_t core; float __range; int __resolution;} ISL29023_DRIVER_t;

Description

ISL29023_DRIVER_t encapsulates the required data to interface an ISL29023 light sensor.

Structure

core

The core light sensor structure.

__range

Private member: the selected range of the sensor, in lux.

__resolution

Private member: the selected resolution of the sensor, in bits.


192

ISL29023_I2C_ADDR

Synopsis

#define ISL29023_I2C_ADDR 0x88

Description

ISL29023_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


193

isl29023_initialize_i2c

Synopsis

CTL_STATUS_t isl29023_initialize_i2c(ISL29023_DRIVER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

isl29023_initialize_i2c initializes the light sensor interface self with methods to communicate with an ISL29023

ambient light sensor on the I2C bus bus with 8-bit I2C address addr.

Once the light sensor interface is initialized, you can use all standard light sensor methods from the sensor API

on the interface self->core.

Return Value

isl29023_initialize_i2c returns a standard status code.

Thread Safety

isl29023_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


194

isl29023_set_range

Synopsis

CTL_STATUS_t isl29023_set_range(ISL29023_DRIVER_t *self, float lux);

Sets the full scale range of the light sensor to at least lux lux.

Return Value

isl29023_set_range returns a standard status code.

Thread Safety

isl29023_set_range is thread-safe if a mutex is associated with the I2C bus the sensor is attached to.


195

isl29023_set_resolution_bits

Synopsis

CTL_STATUS_t isl29023_set_resolution_bits(ISL29023_DRIVER_t *self, int bits);

Sets the resolution of the light sensor to at least bits bits. The valid resolutions for this sensor are 4, 8, 12, and 16

bits.

Return Value

isl29023_set_resolution_bits returns a standard status code.

Thread Safety

isl29023_set_resolution_bits is thread-safe if a mutex is associated with the I2C bus the sensor is attached to.


196

<lm75.h>

Overview

Driver for LM75 temperature sensor.

National Semiconductor is now a wholly-owned subsidiary of Texas Instruments. Many temperature sensors are

compatible with the original LM75, and many of them offer higher resolution, accuracy and additional features.

This driver provides a standard view of the LM75 with fixed dynamic resolution.

Resources


Web page

http://www.ti.com/product/lm75a

Datasheet

http://www.ti.com/lit/ds/symlink/lm75a.pdf

Test hardware

This code has been tested using the LM75 of a Gravitech 7-segment shield: http://

www.gravitech.us/7segmentshield.html

This was plugged into a SolderCore:


Specification


Resolution (°C) 0.5 (fixed)


API Summary

Macros

LM75_I2C_ADDR LM75 8-bit I2C address

Functions

lm75_initialize_i2c Initialize LM75 on I2C bus

lm75_initialize_i2c_ex Initialize LM75-compatible on I2C bus

http://www.ti.com/product/lm75a

http://www.ti.com/lit/ds/symlink/lm75a.pdf

http://www.gravitech.us/7segmentshield.html

http://www.gravitech.us/7segmentshield.html



197

LM75_I2C_ADDR

Synopsis

#define LM75_I2C_ADDR 0x90

Description

LM75_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


198

lm75_initialize_i2c

Synopsis

CTL_STATUS_t lm75_initialize_i2c(CTL_TEMPERATURE_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

lm75_initialize_i2c initializes the temperature sensor interface self with methods to communicate with an LM75

temperature sensor on the I2C bus bus with 8-bit I2C address addr.



Return Value

lm75_initialize_i2c returns a standard status code.

Thread Safety

lm75_initialize_i2c is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C transports,

you ensure thread safety by associating a mutex with the bus used by the transport.

See Also

<ctl_sensors.h>


199

lm75_initialize_i2c_ex

Synopsis

CTL_STATUS_t lm75_initialize_i2c_ex(CTL_TEMPERATURE_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr, int bits);

Description

lm75_initialize_i2c_ex initializes the temperature sensor interface self with methods to communicate with an

LM75-compatible temperature sensor on the I2C bus bus with 8-bit I2C address addr and bits bits of resolution.



Some compatibles, for instance the NXP LM75B, have extra resolution. The LM75B has 11 bits of resolution to

resolve 0.125°C. In this case, you would call lm75_initialize_i2c_ex with bits set to 11.

Return Value

lm75_initialize_i2c_ex returns a standard status code.

Thread Safety

lm75_initialize_i2c_ex is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


200

<lps331ap.h>

Overview

Driver for an STMicroelectronics LPS331AP digital barometric pressure sensor.

Resources


Web page

http://www.st.com/internet/analog/product/251601.jsp

Datasheet

http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/

DM00036196.pdf

Test hardware

This code has been tested using an ST STEVAL-MKI120V1 module:

http://www.st.com/internet/evalboard/product/253479.jsp

API Summary

Macros

LPS331AP_I2C_ADDR LPS331AP 8-bit I2C address

Functions

lps331ap_initialize_i2c Initialize sensor on I2C bus


http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00036196.pdf

http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00036196.pdf

http://www.st.com/internet/evalboard/product/253479.jsp


201

LPS331AP_I2C_ADDR

Synopsis

#define LPS331AP_I2C_ADDR(SA0) (0xB8 + 2*(SA0))

Description

LPS331AP_I2C_ADDR returns the 8-bit I2C address for the LPS331AP selected by the state of signal SA0 which

can be low (0) or high (1).


202

lps331ap_initialize_i2c

Synopsis

CTL_STATUS_t lps331ap_initialize_i2c(CTL_PRESSURE_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

lps331ap_initialize_i2c initializes the pressure sensor interface self with methods to communicate with an

LPC331AP pressure sensor on I2C bus bus using the 8-bit I2C address addr.

Once the pressure sensor interface is initialized, you can use all standard pressure sensor methods from the


Return Value

lps331ap_initialize_i2c returns a standard status code.

Thread Safety

lps331ap_initialize_i2c is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


203

<ltr501als.h>

Overview

Driver for an LTR-501ALS ambient light sensor.

Resources


Web page

http://optoelectronics.liteon.com/en-global/Led/LED-Component/Detail/519

Datasheet

http://optoelectronics.liteon.com/upload/download/DS86-2012-0006/

P_100_LTR-501ALS-01_PrelimDS_ver1.1.pdf

Test hardware

This code has been tested using an Olimex MOD-LTR501-ALS:

http://www.olimex.com/Products/Modules/Sensors/MOD-LTR-501ALS

This is plugged into a custom CoreProto rivet and plugged into a SenseCore:




API Summary

Constants

LTR501ALS_I2C_ADDR LTR-501ALS I2C address

Functions

ltr501als_initialize_i2c Initialize sensor on I2C bus

http://optoelectronics.liteon.com/en-global/Led/LED-Component/Detail/519

http://optoelectronics.liteon.com/upload/download/DS86-2012-0006/P_100_LTR-501ALS-01_PrelimDS_ver1.1.pdf

http://optoelectronics.liteon.com/upload/download/DS86-2012-0006/P_100_LTR-501ALS-01_PrelimDS_ver1.1.pdf

http://www.olimex.com/Products/Modules/Sensors/MOD-LTR-501ALS




204

LTR501ALS_I2C_ADDR

Synopsis

#define LTR501ALS_I2C_ADDR 0x46

Description

LTR501ALS_I2C_ADDR is the 8-bit I2C address of the LTR-501ALS sensor.


205

ltr501als_initialize_i2c

Synopsis

CTL_STATUS_t ltr501als_initialize_i2c(CTL_LIGHT_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

ltr501als_initialize_i2c initializes the LTR-501ALS ambient light sensor self on I2C bus bus using the 8-bit I2C

address addr.

During initialization, ltr501als_initialize_i2c attempts to communicate with the sensor to set the fastest

integration time with lowest gain.


on the interface's core member.

Return Value

ltr501als_initialize_i2c returns a standard status code.

Thread Safety

ltr501als_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


206

<max6675.h>

Overview

Driver for Maxim MAX6675 K-type Thermocouple converter.

Note

If the MAX6675 detects that the thermocouple is open, the temperature is returned as NaN.

Test hardware

This code has been tested using a MOD-TC on an Olimexino-5510.

API Summary

Functions

max6675_initialize_spi Initialize sensor on SPI interface


207

max6675_initialize_spi

Synopsis

CTL_STATUS_t max6675_initialize_spi(CTL_TEMPERATURE_SENSOR_t *self, CTL_SPI_DEVICE_t *dev);


208

<mpl115a.h>

Overview

Driver for Freescale MPL115A1 and MPL115A2 pressure sensors.

Resources


Web page

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPL115A

Datasheet

MPL115A1 (PDF)

MPL115A2 (PDF)

Test hardware

This code has been tested using a SparkFun MPL115A1 breakout:

https://www.sparkfun.com/products/9721





Notes

The polynomial used for pressure compensation is based on the Revision 6 LPC115A1 datasheet, published

10/2011:

• Pcomp = a0 + (b1 + c12 × Tadc) × Padc + b2 × Tadc

The Revision 4 MPL115A1 datasheet, published 03/2010, uses a slightly different method with additional

coefficients:

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPL115A

http://cache.freescale.com/files/sensors/doc/data_sheet/MPL115A1.pdf?fpsp=1&WT_TYPE=Data%20Sheets&WT_VENDOR=FREESCALE&WT_FILE_FORMAT=pdf&WT_ASSET=Documentation

http://cache.freescale.com/files/sensors/doc/data_sheet/MPL115A2.pdf?fpsp=1&WT_TYPE=Data%20Sheets&WT_VENDOR=FREESCALE&WT_FILE_FORMAT=pdf&WT_ASSET=Documentation

https://www.sparkfun.com/products/9721




209

• Pcomp = a0 + (b1 + c11×Padc + c12×Tadc) × Padc + (b2 + c22×Tadc) × Tadc

Freescale note that c11 and c22 were always set to zero in MPL115A devices and, therefore, the Revision 6

calculation is preferred (and equivalent in practice).

API Summary

Macros

MPL115A2_I2C_ADDRESS MPL115A2 8-bit I2C address

Initialization

mpl115a_initialize_i2c Initialize sensor on I2C bus

mpl115a_initialize_spi Initialize sensor on SPI interface


210

MPL115A2_I2C_ADDRESS

Synopsis

#define MPL115A2_I2C_ADDRESS 0xC0

Description

MPL115A2_I2C_ADDRESS defines the default 8-bit I2C address for the device as specified in the datasheet.


211

mpl115a_initialize_i2c

Synopsis

CTL_STATUS_t mpl115a_initialize_i2c(MPL115A_BAROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);


212

mpl115a_initialize_spi

Synopsis

CTL_STATUS_t mpl115a_initialize_spi(MPL115A_BAROMETER_t *self, CTL_SPI_DEVICE_t *dev);


213

<mpl3115a2.h>

Overview

Driver for Freescale MPL2115A2 pressure sensors.

Resources


Web page

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPL3115A2

Datasheet

MPL3115A2 (PDF)

Test hardware

This code has been tested using an element-14/Freescale XTRINSIC-SENSORS-EVK:

http://uk.farnell.com/freescale-semiconductor/xtrinsic-sensors-evk/evaluation-kit-xtrinsic-sensor/

dp/2308734

This was wired to a CoreStack and installed on a SolderCore:


API Summary

Macros

MPL3115A2_I2C_ADDRESS MPL3115A2 8-bit I2C address

Initialization

mpl3115a2_initialize_i2c Initialize sensor on I2C bus

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPL3115A2

http://cache.freescale.com/files/sensors/doc/data_sheet/MPL3115A2.pdf

http://uk.farnell.com/freescale-semiconductor/xtrinsic-sensors-evk/evaluation-kit-xtrinsic-sensor/dp/2308734




214

MPL3115A2_I2C_ADDRESS

Synopsis

#define MPL3115A2_I2C_ADDRESS 0xC0

Description

MPL3115A2_I2C_ADDRESS defines the default 8-bit I2C address for the device as specified in the datasheet.


215

mpl3115a2_initialize_i2c

Synopsis

CTL_STATUS_t mpl3115a2_initialize_i2c(CTL_PRESSURE_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);


216

<sht1x.h>

Overview

Driver for a Sensirion SHT1x humidity and temperature sensor.

Resources


Web page

http://www.sensirion.com/en/products/humidity-temperature/

Datasheet

http://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/Humidity/

Sensirion_Humidity_SHT1x_Datasheet_V5.pdf

Test hardware

This code has been tested using a Parallax SHT11 breakout module:

Parallax SHT1x Sensor





API Summary

Constants

SHT1X_HIGH_RESOLUTION High resolution mode

SHT1X_LOW_RESOLUTION Low resolution mode

Initialization

sht1x_initialize Initialize SHT1x sensor

sht1x_set_resolution Select measurement resolution

sht1x_set_supply_voltage Set supply voltage for compensation

Measurement

sht1x_read_linear_humidity Read linear humidity

http://www.sensirion.com/en/products/humidity-temperature/

http://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/Humidity/Sensirion_Humidity_SHT1x_Datasheet_V5.pdf

http://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/Humidity/Sensirion_Humidity_SHT1x_Datasheet_V5.pdf

http://www.parallax.com/Store/Sensors/TemperatureHumidity/tabid/174/CategoryID/49/List/0/SortField/0/Level/a/ProductID/94/Default.aspx




217

sht1x_read_temperature Read supply-compensated temperature

sht1x_read_true_humidity Read temperature-compensated true humidity

Utility

sht1x_read_raw_humidity Read raw humidity ADC

sht1x_read_raw_temperature Read raw temperature ADC

sht1x_read_status Read sensor STATUS register

sht1x_soft_reset Soft-reset sensor

sht1x_write_status Write sensor STATUS register


218

SHT1X_HIGH_RESOLUTION

Synopsis

#define SHT1X_HIGH_RESOLUTION 0

Description

SHT1X_HIGH_RESOLUTION can be passed as a parameter to sht1x_set_resolution to select SHT1x high

resolution mode.

See Also

sht1x_set_resolution


219

SHT1X_LOW_RESOLUTION

Synopsis

#define SHT1X_LOW_RESOLUTION 1

Description

SHT1X_LOW_RESOLUTION can be passed as a parameter to sht1x_set_resolution to select SHT1x low

resolution mode.

See Also



220

sht1x_initialize

Synopsis

CTL_STATUS_t sht1x_initialize(SHT1X_DRIVER_t *self, int sample_delay);

Description

sht1x_initialize initializes the SHT1x to high-resolution mode and sets a default supply voltage of 3V.

sht1x_initialize automatically issues a soft reset to the SHT1x, and waits the required 11ms for the reset to

complete, before returning.

sht1x_initialize returns any communication error in the function result.


221

sht1x_read_linear_humidity

Synopsis

CTL_STATUS_t sht1x_read_linear_humidity(SHT1X_DRIVER_t *self, float *measurement);

Description

sht1x_read_linear_humidity starts a measurement of linear humidity using SHT1x self and the set resolution.

The linear humidity is not compensated for temperature.

sht1x_read_linear_humidity returns any communication error in the function result.


222

sht1x_read_raw_humidity

Synopsis

CTL_STATUS_t sht1x_read_raw_humidity(SHT1X_DRIVER_t *self);

Description

sht1x_read_raw_humidity starts a measurement of humidity using SHT1x self and the set resolution. On

completion, sht1x_read_raw_humidity returns the raw humidity ADC measurement as the function result.

sht1x_read_raw_humidity returns any communication error in the function result.


223

sht1x_read_raw_temperature

Synopsis

CTL_STATUS_t sht1x_read_raw_temperature(SHT1X_DRIVER_t *self);

Description

sht1x_read_raw_temperature starts a measurement of temperature using SHT1x self and the set resolution.

On completion, sht1x_read_raw_temperature returns the raw temperature ADC measurement as the function

result.

sht1x_read_raw_temperature returns any communication error in the function result.


224

sht1x_read_status

Synopsis

CTL_STATUS_t sht1x_read_status(SHT1X_DRIVER_t *self);

Description

sht1x_read_status reads the STATUS register of SHT1x self and returns it as the function result.

sht1x_read_status returns any communication error in the function result.


225

sht1x_read_temperature

Synopsis

CTL_STATUS_t sht1x_read_temperature(SHT1X_DRIVER_t *self, float *measurement);

Description

sht1x_read_temperature starts a measurement of temperature using SHT1x self and the set resolution. On

completion, the raw temperature ADC is converted to degrees Celsius with compensation for the supply voltage.

The compensated temperature measurement is stored to measurement.

sht1x_read_temperature returns any communication error in the function result.


226

sht1x_read_true_humidity

Synopsis

CTL_STATUS_t sht1x_read_true_humidity(SHT1X_DRIVER_t *self, float *temperature, float *rh_linear, float *rh_true);

Description

sht1x_read_true_humidity starts a measurement of temperature and humidity using SHT1x self and the set

resolution. On completion, the raw temperature ADC is converted to degrees Celsius with compensation for the

supply voltage. The compensated temperature measurement is then used to compensate the linear humidity

measurement for true humidity.

The supply-compensated temperature measurement is stored to temperature, the linear humidity

measurement is stored to rh_linear, and the temperature-compensated linear humidity is stored to rh_true.

sht1x_read_true_humidity returns any communication error in the function result.


227


Synopsis

CTL_STATUS_t sht1x_set_resolution(SHT1X_DRIVER_t *self, int resolution);

Description

sht1x_set_resolution sets the measurement resolution of SHT1x self to resolution. If resolution is zero, high

resolution mode is selected. If resolution is non-zero, low resolution mode is selected.

sht1x_set_resolution returns any communication error in the function result.


228

sht1x_set_supply_voltage

Synopsis

void sht1x_set_supply_voltage(SHT1X_DRIVER_t *self, float supply);

Description

sht1x_set_supply_voltage sets the indicated supply voltage of SHT1x self to supply.

Note

For accurate supply-compensated temperatures, and hence temperature-compensated pressures, you must

indicate to this driver the voltage supplied to the SHT1x on the VDD rail.


229

sht1x_soft_reset

Synopsis

void sht1x_soft_reset(SHT1X_DRIVER_t *self);

Description

sht1x_soft_reset performs a soft reset of the sensor self. According to the datasheet, this resets the interface

and clears the STATUS register to default values.

Description

sht1x_soft_reset then waits at least 11ms for the reset to complete before returning.

After soft reset, the driver is automatically set to high resolution mode.


230

sht1x_write_status

Synopsis

CTL_STATUS_t sht1x_write_status(SHT1X_DRIVER_t *self, int value);

Description

sht1x_write_status write the STATUS register of SHT1x self with value and returns it as the function result.

sht1x_write_status returns any communication error in the function result.


231

<sht2x.h>

Overview

Driver for a Sensirion SHT2x humidity and temperature sensor.

Resources


Web page

http://www.sensirion.com/en/products/humidity-temperature/humidity-sensor-sht21/

Datasheet

http://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/Humidity/

Sensirion_Humidity_SHT21_Datasheet_V3.pdf

Test hardware

This code has been tested using a Love Electronics SHT21 breakout module:

https://www.loveelectronics.co.uk/search?text=sht21





API Summary

Macros

SHT2x_I2C_ADDR SHT2x 8-bit I2C address

Types

SHT2x_RESOLUTION_t Sensor resolution encoding

Functions

sht2x_get_resolution Read resolution

sht2x_initialize_i2c Initialize sensor on I2C bus

sht2x_read_user Read user register

sht2x_set_resolution Set sensor resolution

http://www.sensirion.com/en/products/humidity-temperature/humidity-sensor-sht21/

http://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/Humidity/Sensirion_Humidity_SHT21_Datasheet_V3.pdf

http://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/Humidity/Sensirion_Humidity_SHT21_Datasheet_V3.pdf

https://www.loveelectronics.co.uk/search?text=sht21




232

sht2x_write_user Write user register


233

SHT2x_I2C_ADDR

Synopsis

#define SHT2x_I2C_ADDR 0x80

Description

SHT2x_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


234

SHT2x_RESOLUTION_t

Synopsis

typedef enum { SHT2x_12RH_14T, SHT2x_08RH_12T, SHT2x_10RH_13T, SHT2x_11RH_11T} SHT2x_RESOLUTION_t;

Description

SHT2x_RESOLUTION_t encodes the SHT2x sensor resolutions.

Resolutions

Name Description

SHT2x_12RH_14T Configure 12-bit relative humidity, 14-bit temperature.





235

sht2x_get_resolution

Synopsis

CTL_STATUS_t sht2x_get_resolution(CTL_HUMIDITY_SENSOR_t *self);

Description

sht2x_get_resolution reads the configured resolution the sensor self.

Return Value

sht2x_get_resolution returns an extended status code: non-negative values indicate a successful read, and

value, of the resolution.

Thread Safety

sht2x_get_resolution is thread-safe if the transport member in self is thread-safe. This requires that a mutex is

associated with the I2C bus provided when calling sht2x_initialize_i2c.


236

sht2x_initialize_i2c

Synopsis

CTL_STATUS_t sht2x_initialize_i2c(CTL_HUMIDITY_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

sht2x_initialize_i2c initializes the humidity sensor interface self with methods to communicate with an SHT2x

humidity sensor on the I2C bus bus with 8-bit I2C address addr.



Return Value

sht2x_initialize_i2c returns a standard status code.

Thread Safety

sht2x_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


237

sht2x_read_user

Synopsis

CTL_STATUS_t sht2x_read_user(CTL_HUMIDITY_SENSOR_t *self);

Description

sht2x_read_user reads the user register of the sensor self.

Return Value

sht2x_read_user returns an extended status code: non-negative values indicate a successful read, and value, of

the user register.

Thread Safety

sht2x_read_user is thread-safe if the transport member in self is thread-safe. This requires that a mutex is



238


Synopsis

CTL_STATUS_t sht2x_set_resolution(CTL_HUMIDITY_SENSOR_t *self, SHT2x_RESOLUTION_t r);

Description

sht2x_set_resolution sets the sensor self to the resolution r.

Return Value

sht2x_set_resolution returns a standard status code.

Thread Safety

sht2x_set_resolution is thread-safe if the transport member in self is thread-safe. This requires that a mutex is



239

sht2x_write_user

Synopsis

CTL_STATUS_t sht2x_write_user(CTL_HUMIDITY_SENSOR_t *self, int value);

Description

sht2x_write_user write the user register of the sensor self to value.

Return Value

sht2x_write_user returns a standard status code.

Thread Safety

sht2x_write_user is thread-safe if the transport member in self is thread-safe. This requires that a mutex is



240

<si7005.h>

Overview

Driver for a Silicon Labs Si7005 humidity and temperature sensor.

Resources


Web page

http://www.silabs.com/products/sensors/humidity-sensors/Pages/si7005.aspx

Datasheet

http://www.silabs.com/Support%20Documents/TechnicalDocs/Si7005.pdf

Test hardware

This code has been tested using a Silicon Labs Si7005EVB-UDP:

http://www.silabs.com/products/mcu/udp/Pages/si7005evb-udp.aspx

This was hand-wired to a SolderCore:


API Summary

Macros

SI7005_I2C_ADDR Si7005 8-bit I2C address

Functions

si7005_initialize_i2c Initialize sensor on I2C bus

http://www.silabs.com/products/sensors/humidity-sensors/Pages/si7005.aspx

http://www.silabs.com/Support%20Documents/TechnicalDocs/Si7005.pdf

http://www.silabs.com/products/mcu/udp/Pages/si7005evb-udp.aspx



241

SI7005_I2C_ADDR

Synopsis

#define SI7005_I2C_ADDR 0x80

Description

SI7005_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


242

si7005_initialize_i2c

Synopsis

CTL_STATUS_t si7005_initialize_i2c(CTL_HUMIDITY_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

si7005_initialize_i2c initializes the humidity sensor interface self with methods to communicate with an Si7005

humidity sensor on the I2C bus bus with 8-bit I2C address addr.



Return Value

si7005_initialize_i2c returns a standard status code.

Thread Safety

si7005_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


243

<tmp100.h>

Overview

Driver for TMP100 (and compatible) temperature sensors.

Resources


Web page

http://www.ti.com/product/tmp100

Datasheet

http://www.ti.com/lit/ds/symlink/tmp100.pdf

Specification


Resolution (°C) 0.5 (default), 0.25, 0.125, 0.00625

Communication up to 3.4 MHz (I2C)

API Summary

Macros

TMP100_I2C_ADDR TMP100 8-bit I2C address

Functions

tmp100_initialize_i2c Initialize sensor on I2C bus




244

TMP100_I2C_ADDR

Synopsis

#define TMP100_I2C_ADDR 0x90

Description

TMP100_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


245

tmp100_initialize_i2c

Synopsis

CTL_STATUS_t tmp100_initialize_i2c(CTL_TEMPERATURE_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

tmp100_initialize_i2c initializes the temperature sensor interface self with methods to communicate with a

TMP100 temperature sensor on the I2C bus bus with 8-bit I2C address addr.



tmp100_initialize_i2c returns a standard status code.

See Also

<ctl_sensors.h>


246

<tmp102.h>

Overview

Driver for TMP102 (and compatible) temperature sensors.

Resources


Web page


Datasheet


Test hardware

This code has been tested using a SparkFun TMP102 breakout board:






Specification


Resolution (°C) 0.0625 (fixed)

Range (°C) −55 to +128 (default), −55 to +150 (extended mode).


API SummaryMacros



Functions

tmp102_initialize_i2c Initialize sensor on I2C bus







247

tmp102_set_extended_mode Select extended temperature range


248

TMP102_I2C_ADDR

Synopsis

#define TMP102_I2C_ADDR 0x90

Description

TMP102_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


249

TMP275_I2C_ADDR

Synopsis

#define TMP275_I2C_ADDR(ADx) (0x90 + 2*(ADx))

Description

TMP275_I2C_ADDR defines the default 8-bit I2C address for the TMP275 according to the ADx inputs as

specified in the datasheet.


250

tmp102_initialize_i2c

Synopsis

CTL_STATUS_t tmp102_initialize_i2c(CTL_TEMPERATURE_SENSOR_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

tmp102_initialize_i2c initializes the temperature sensor interface self with methods to communicate with a

TMP102 temperature sensor on the I2C bus bus with 8-bit I2C address addr.



tmp102_initialize_i2c returns a standard status code.

See Also

<ctl_sensors.h>


251

tmp102_set_extended_mode

Synopsis

CTL_STATUS_t tmp102_set_extended_mode(CTL_TEMPERATURE_SENSOR_t *self, int enable);

Description

tmp102_set_extended_mode enables or disables the TMP102's Extended Mode for 13-bit temperature data.

In extended mode, the resolution stays the same as normal mode at 0.5°C but the upper limit is extended to

+150°C.

tmp102_set_extended_mode returns a standard status code.


252

<tsl2561.h>

Overview

Driver for an AMS TSL2561 ambient light sensor.

Resources


Web page

http://www.ams.com/eng/Products/Light-Sensors/Ambient-Light-Sensor-ALS/TSL2561

Datasheet

http://www.ams.com/eng/content/download/250093/975477/142937

Test hardware

This code has been tested using a JeeLabs Lux Plug:

http://jeelabs.com/products/lux-plug

This was installed on a JeeLabs Plug Shield:

http://jeelabs.com/products/plug-shield



API Summary

Constants

TSL2561_I2C_ADDR_FLOAT TSL2561 8-bit I2C address for ADDRSEL floating

TSL2561_I2C_ADDR_GND TSL2561 8-bit I2C address for ADDRSEL grounded

TSL2561_I2C_ADDR_VDD TSL2561 8-bit I2C address for ADDRSEL tied to Vdd

Types

TSL2561_DRIVER_t TSL2561 light sensor

Functions

tsl2561_initialize_i2c Initialize sensor on I2C bus

tsl2561_set_integration_time Set sensor integration time

http://www.ams.com/eng/Products/Light-Sensors/Ambient-Light-Sensor-ALS/TSL2561

http://www.ams.com/eng/content/download/250093/975477/142937

http://jeelabs.com/products/lux-plug

http://jeelabs.com/products/plug-shield



253

TSL2561_DRIVER_t

Synopsis

typedef struct { CTL_LIGHT_SENSOR_t core; unsigned __id;} TSL2561_DRIVER_t;

Description

TSL2561_DRIVER_t encapsulates the required data to interface a TSL2561 light sensor.

Structure

core

The core light sensor structure.

__id

Private member: the device ID of the specific light sensor detected during initialization.


254

TSL2561_I2C_ADDR_FLOAT

Synopsis

#define TSL2561_I2C_ADDR_FLOAT 0x72

Description

TSL2561_I2C_ADDR_FLOAT is the 8-bit I2C address of the TSL2561 sensor with ADDRSEL left floating.


255

TSL2561_I2C_ADDR_GND

Synopsis

#define TSL2561_I2C_ADDR_GND 0x52

Description

TSL2561_I2C_ADDR_GND is the 8-bit I2C address of the TSL2561 sensor with ADDRSEL tied to ground.


256

TSL2561_I2C_ADDR_VDD

Synopsis

#define TSL2561_I2C_ADDR_VDD 0x92

Description

TSL2561_I2C_ADDR_VDD is the 8-bit I2C address of the TSL2561 sensor with ADDRSEL tied to Vdd.


257

tsl2561_initialize_i2c

Synopsis

CTL_STATUS_t tsl2561_initialize_i2c(TSL2561_DRIVER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

tsl2561_initialize_i2c initializes the TS2561 ambient light sensor self on I2C bus bus using the 8-bit I2C address

addr.

During initialization, tsl2561_initialize_i2c attempts to communicate with the sensor to set the fastest

integration time with lowest gain.


on the interface's core member.

Return Value

tsl2561_initialize_i2c returns a standard status code.

Thread Safety

tsl2561_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


258

tsl2561_set_integration_time

Synopsis

CTL_STATUS_t tsl2561_set_integration_time(TSL2561_DRIVER_t *self, int time);

Description

tsl2561_set_integration_time sets the integration time for the TSL2561 self to time.

When time is zero, the integration time is 13.7ms, when time is one, the integration time is 101ms, and when

time is 2 the integration time is 402ms.

Return Value

tsl2561_set_integration_time returns a standard status code.

Thread Safety

tsl2561_set_integration_time is thread-safe if a mutex is associated with the I2C bus the sensor is attached to.


259

<ads7846.h>

API Summary

Functions

ads7846_init Initialize


260

ads7846_init

Synopsis

CTL_STATUS_t ads7846_init(ADS7846_DRIVER_t *self, CTL_SPI_DEVICE_t *spi, int clock);


261

<hd44780.h>

Overview

Driver for an Hitachi HD4470 display.

Compatible driver chips are the Samsung KS0066 and the Seiko-Epson SED1278.

Resources


Datasheet

http://lcd-linux.sourceforge.net/pdfdocs/hd44780.pdf

API SummaryConstants

HD44780_4BIT_INTERFACE 4-bit or 8-bit physical interface flag

HD44780_BIDIRECTIONAL_DBUS Unidirectional or bidirectional bus physical interfaceflag

ANSI parser

HD44780_ANSI_DRIVER_t ANSI control parser for HD44780 displays

hd44780_ansi_init Initialize LCD ANSI control sequence parser

Types

HD44780_DRIVER_t Virtual method table for display driver

Output functions

hd44780_putc Write character to LCD

hd44780_puts Write zero-terminated string to LCD

hd44780_set_cursor_position Set cursor position

hd44780_write Write fixed-length string to LCD

Control functions

hd44780_clear Clear display

hd44780_cursor_off Turn cursor off

hd44780_cursor_on Turn cursor on

hd44780_display_off Turn display off

hd44780_display_on Turn display on

hd44780_set_backlight Set LCD backlight level

http://lcd-linux.sourceforge.net/pdfdocs/hd44780.pdf


262

Low-level functions

hd44780_reset Reset the LCD

hd44780_send_cmd Issue low-level LCD command


263

HD44780_4BIT_INTERFACE

Synopsis

#define HD44780_4BIT_INTERFACE (1<<1)

Description

Setting HD44780_4BIT_INTERFACE as a capability flag returned by the capabilities method indicates that the

data bus is interfaced with four bits (DB4 through DB7) and that the high-level driver should use four-bit mode. If

this flag is clear, the high-level driver runs the physical interface in 8-bit mode which is faster than 4-bit mode.


264

HD44780_ANSI_DRIVER_t

Synopsis

typedef struct { ANSI_PARSER_t parser; HD44780_DRIVER_t *driver;} HD44780_ANSI_DRIVER_t;

Description

Definition of ANSI control sequence parser for HD4470-based displays.


265

HD44780_BIDIRECTIONAL_DBUS

Synopsis

#define HD44780_BIDIRECTIONAL_DBUS (1<<0)

Description

Setting HD44780_BIDIRECTIONAL_DBUS as a capability flag returned by the capabilities method indicates

that the data bus direction can be controlled and the data bus can operate in both input and output mode.

LCD display will be much faster if the LCD is operated in bidirectional mode because the ‘LCD ready’ status can

be read from the bus to indicate that the LCD is ready; for output-only (unidirectional) interfaces, this status

cannot be read from the data bus so the high-level driver falls back to the minimum timings for each HD44780

command that are given in the datasheet.


266

HD44780_DRIVER_t

Synopsis

typedef struct { int (*capabilities)(HD44780_DRIVER_t *); void (*set_e)(HD44780_DRIVER_t *, int); void (*set_rw)(HD44780_DRIVER_t *, int); void (*set_rs)(HD44780_DRIVER_t *, int); void (*set_dbus)(HD44780_DRIVER_t *, int); void (*set_backlight)(HD44780_DRIVER_t *, int); int (*read_dbus)(HD44780_DRIVER_t *); void *extra; int x; int y; int cursor; int width; int height; char lcd[];} HD44780_DRIVER_t;

Description

HD44780_DRIVER_t contains a set of methods that the high-level driver uses to implement the physical layer of

the display.

Structure

capabilities

Returns the underlying capabilities of the physical interface. The method should return the bitwise-or of

the flags HD44780_BIDIRECTIONAL_DBUS and HD44780_4BIT_INTERFACE. If the data bus is bidirectional

then the high-level driver will try to read the bus using read_dbus (to establish LCD readiness) and set its

control its direction using set_dbus_input and set_dbus_output. Returning HD44780_4BIT_INTERFACE

indicates that the data bus bus is physically connected using only four bits and the physical-layer driver

adapts to 4-bit mode.

set_e

Sets the E signal high when state is non-zero and low when state is zero.

set_rw

Sets the R/W signal high when state is non-zero and low when state is zero.

set_rs

Sets the RS signal high when state is non-zero and low when state is zero.

set_dbus

Sets the data bus to output mode and its outputs to state. For a 4-bit data bus, state will contain valid data

in bits 4 through 7 with all other bits zero, and for an 8-bit data bus, state will contain valid data in bits 0

through 7.


267

set_backlight

Sets the display backlight level to level. This is a driver-specific function that is provided as a convenience in

order to enable clients to turn the backlight on and off, or to set its level using PWM.

read_dbus

Sets the data bus to input mode, reads the data bus, and returns what is read. For a 4-bit data bus, the four

data bits are expected in bits 4 through 7 and for an 8-bit data bus they are expected in bits 0 through 7.


268

hd44780_ansi_init

Synopsis

void hd44780_ansi_init(HD44780_ANSI_DRIVER_t *self, HD44780_DRIVER_t *driver);

Description

hd44780_ansi_init initializes the ANSI parser self such that display output is driven to the LCD driver driver.


269

hd44780_clear

Synopsis

void hd44780_clear(HD44780_DRIVER_t *self);

Description

hd44780_clear clears the display self and moves the cursor to the top-left position (0, 0). None of the user-

defined characters are altered and nor is the cursor display mode changed.


270

hd44780_cursor_off

Synopsis

void hd44780_cursor_off(HD44780_DRIVER_t *self);

Description

hd44780_cursor_off turns the blinking cursor of display self off.


271

hd44780_cursor_on

Synopsis

void hd44780_cursor_on(HD44780_DRIVER_t *self);

Description

hd44780_cursor_on turns the blinking cursor of display self off.


272

hd44780_display_off

Synopsis

void hd44780_display_off(HD44780_DRIVER_t *self);

Description

hd44780_display_off turns off the LCD display such that it is blank; you can still write to the display, but the

display will not show any changes whilst off. Turning off a display that is already off has no effect.

You can turn the display back on using hd44780_display_on.


273

hd44780_display_on

Synopsis

void hd44780_display_on(HD44780_DRIVER_t *self);

Description

hd44780_display_on turns on the LCD display such that it shows its previous contents. Turning on a display

that is already on has no effect.


274

hd44780_putc

Synopsis

void hd44780_putc(HD44780_DRIVER_t *self, int u);

Description

hd44780_putc writes the 8-bit character u to the display self. The character is written directly without

interpreting it as a control code and, hence, all characters of the LCD character generator ROM and all user-

definable characters can be written to the display.


275

hd44780_puts

Synopsis

void hd44780_puts(HD44780_DRIVER_t *self, const char *s);

Description

hd44780_puts writes the null-terminated string pointed to by s to the display self. Each character in s, excluding

the terminating null character, is written to the display using hd44780_putc.


276

hd44780_reset

Synopsis

void hd44780_reset(HD44780_DRIVER_t *self);

Description

hd44780_reset resets the LCD, clears the screen, and readies the display.


277

hd44780_send_cmd

Synopsis

void hd44780_send_cmd(HD44780_DRIVER_t *self, unsigned char cmd);

Description

hd44780_send_cmd sends the command cmd to the display self.


278

hd44780_set_backlight

Synopsis

void hd44780_set_backlight(HD44780_DRIVER_t *self, int level);

Description

hd44780_set_backlight sets the backlight level of the display self to level. Whilst there is no LCD command to

implement this, a driver may wish to implement the set_backlight method of the interface so that the display

backlight is controllable using hd44780_set_backlight.


279

hd44780_set_cursor_position

Synopsis

void hd44780_set_cursor_position(HD44780_DRIVER_t *self, int x, int y);

Description

hd44780_set_cursor_position moves the cursor on the LCD self to the position (x, y). Position (0, 0) is defined as

the top-left corner of the display.


280

hd44780_write

Synopsis

void hd44780_write(HD44780_DRIVER_t *self, const char *s, size_t len);

Description

hd44780_write writes the fixed-length string pointed to by s to the display self. len characters are written to

the display using hd44780_putc.


281

<mpr121.h>

Overview

Driver for a Freescale MPR121 capacitive touch controller.

Resources


Web page

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPR121

API Summary

Macros

MPR121_ADDRESS_SCL Default I2C address with ADDR connected to SCL

MPR121_ADDRESS_SDA Default I2C address with ADDR connected to SDA

MPR121_ADDRESS_VDD Default I2C address with ADDR connected to VDD

MPR121_ADDRESS_VSS Default I2C address with ADDR connected to VSS

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPR121


282

MPR121_ADDRESS_SCL

Synopsis

#define MPR121_ADDRESS_SCL 0xBA

Description

MPR121_ADDRESS_SCL defines the default 8-bit I2C address for the MPR121 when ADDR is connected to SCL.


283

MPR121_ADDRESS_SDA

Synopsis

#define MPR121_ADDRESS_SDA 0xB8

Description

MPR121_ADDRESS_SDA defines the default 8-bit I2C address for the MPR121 when ADDR is connected to SDA.


284

MPR121_ADDRESS_VDD

Synopsis

#define MPR121_ADDRESS_VDD 0xB4

Description

MPR121_ADDRESS_VDD defines the default 8-bit I2C address for the MPR121 when ADDR is connected to VDD.


285

MPR121_ADDRESS_VSS

Synopsis

#define MPR121_ADDRESS_VSS 0xB6

Description

MPR121_ADDRESS_VSS defines the default 8-bit I2C address for the MPR121 when ADDR is connected to VSS.


286

<wii_controller.h>

Overview

Driver for a Nintendo Wii extension controllers.

Resources


Protocol information

The Nunchuk protocol information is found here:

http://wiibrew.org/wiki/Classic_Controller#Data_Format_.28Nunchuk.29

The Classic Controller protocol information is found here:

http://wiibrew.org/wiki/Classic_Controller#Data_Format_.28Classic_Controller.29

Additional information available here:

http://wiibrew.org/wiki/Wiimote

http://wiire.org/Talk:Wii/protocols/wiimote_bus

Test hardware

This software was tested on a SolderCore with a SenseCore and Nunchuk adapter:


It was also tested using a Protoshield and WiiChuck adapter from Sparkfun:

http://www.sparkfun.com/commerce/product_info.php?products_id=9281

API Summary

Classic

WII_CLASSIC_REPORT_t Classic controller status report structure

wii_classic_sample Sample joystick, button, and trigger state

Nunchuk

WII_NUNCHUK_REPORT_t Nunchuk controller status report structure

wii_nunchuk_accelerometer_interface Create abstract accelerometer interface

wii_nunchuk_sample Sample accelerometer, joystick, and button state

Initialization

http://wiibrew.org/wiki/Classic_Controller#Data_Format_.28Nunchuk.29

http://wiibrew.org/wiki/Classic_Controller#Data_Format_.28Classic_Controller.29

http://wiibrew.org/wiki/Wiimote

http://wiire.org/Talk:Wii/protocols/wiimote_bus


http://www.sparkfun.com/commerce/product_info.php?products_id=9281


287

wii_extension_controller_initialize Initialize extension controller

Controller

wii_extension_controller_read_memory Read extension controller memory

wii_extension_controller_write_memory_byte Write extension controller memory


288

WII_CLASSIC_REPORT_t

Synopsis

typedef struct { int left_joystick_y; int right_joystick_y; int right_trigger_pressure; unsigned buttons_pressed;} WII_CLASSIC_REPORT_t;

Description

WII_CLASSIC_REPORT_t contains the data returned in a Wii Classic controller report.


289

WII_NUNCHUK_REPORT_t

Synopsis

typedef struct { int accel_z; int accel_y; int joystick_y; int z_pressed; int c_pressed;} WII_NUNCHUK_REPORT_t;

Description

WII_NUNCHUK_REPORT_t contains the data returned in a Wii Nunchuk controller report.


290

wii_classic_sample

Synopsis

CTL_STATUS_t wii_classic_sample(CTL_I2C_BUS_t *bus, WII_CLASSIC_REPORT_t *report);

Description

wii_classic_sample samples the joysticks, triggers, and the buttons on the Classic Controller attached to bus bus

and writes the result to the structure pointed to by report. All data are returned as raw values directly from the

received report.

Return Value

wii_classic_sample returns a standard status code. If the status indicates an error, the returned sample data is

undefined.

Thread Safety

wii_classic_sample is thread-safe if a mutex is associated with the I2C bus bus.


291

wii_extension_controller_initialize

Synopsis

CTL_STATUS_t wii_extension_controller_initialize(CTL_I2C_BUS_t *bus);

Description

wii_extension_controller_initialize initializes the extension controller on the I2C bus bus. The I2C driver must

already have been initialized and the I2C clock frequency set.

Note

Experimentation reveals that the nunchuk will run from 100 kHz to about 300kHz, and not at the upper 400 kHz

of high-speed I2C. This may be because of non-shielded prototyping wires used during driver development, so

you may well have to experiment with a slower clock frequency; 275kHz works well.

Return Value

wii_extension_controller_initialize returns a standard status code.

Thread Safety

wii_extension_controller_initialize is thread-safe if a mutex is associated with the I2C bus bus.


292

wii_extension_controller_read_memory

Synopsis

CTL_STATUS_t wii_extension_controller_read_memory(CTL_I2C_BUS_t *bus, int mem_addr, void *data, int n);

Description

wii_extension_controller_read_memory reads the contents of a Wii extension controller on I2C bus bus. n

bytes of memory are read from the controller starting at address mem_addr and written to the object pointed to

by data.

Return Value

wii_extension_controller_read_memory returns a standard status code.

Thread Safety

wii_extension_controller_read_memory is thread-safe if a mutex is associated with the I2C bus bus.


293

wii_extension_controller_write_memory_byte

Synopsis

CTL_STATUS_t wii_extension_controller_write_memory_byte(CTL_I2C_BUS_t *bus, int mem_addr, int value);

Description

wii_extension_controller_write_memory_byte writes value to the address mem_addr in the Wii extension

controller on I2C bus bus.

Return Value

wii_extension_controller_write_memory_byte returns a standard status code.

Thread Safety

wii_extension_controller_write_memory_byte is thread-safe if a mutex is associated with the I2C bus bus.


294

wii_nunchuk_accelerometer_interface

Synopsis

void wii_nunchuk_accelerometer_interface(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus);

Description

wii_nunchuk_accelerometer_interface initializes the abstract accelerometer interface self to sample

the nunchuk's accelerometer when requested. Once created, you can read the accelerometer using

ctl_accelerometer_measure on the interface bus.

Return Value

wii_nunchuk_accelerometer_interface returns a standard status code.

Thread Safety

wii_nunchuk_accelerometer_interface is thread-safe if a mutex is associated with the I2C bus bus.


295

wii_nunchuk_sample

Synopsis

CTL_STATUS_t wii_nunchuk_sample(CTL_I2C_BUS_t *bus, WII_NUNCHUK_REPORT_t *report);

Description

wii_nunchuk_sample samples the 3-axis accelerometer, 2-axis analog joystick, and the two buttons on the

nunchuk controller. All data are returned as raw values directly from the received report. Accelerometer readings

are 10 bits, 0 through 3FF; joystick readings are eight bits, 0 through FF, and button states are non-zero if the

corresponding button is pressed.

Return Value

wii_nunchuk_sample returns a standard status code. If the status indicates an error, the returned sample data is

undefined.

Thread Safety

wii_nunchuk_sample is thread-safe if a mutex is associated with the I2C bus bus.


296

<ak8975.h>

Overview

Driver for an Asahi Kasei AK8975 electronic compass.

Resources


Web page

http://www.asahi-kasei.co.jp/akm/en/product/ak8975b/ak8975b.html

Datasheet

http://nexp.tistory.com/attachment/[email protected]

Test hardware

This code has been tested using an InvenSense MPU-6050 evaluation board with the MPU-6050 in bypass mode

to attach the auxiliary I2C bus to the primary I2C bus.

http://invensense.com/mems/gyro/documents/AN-MPU-6000EVB-00_v1.0.pdf

The MPU-6050 evaluation board was attached to a SolderCore:


Notes

Although the AK8975 supports SPI mode, we have no way to test this and consequently do not offer an SPI

initialization function.

Specification


Range (µT) ±1300

Communication up to 400 kHz (I2C) and 3 MHz (SPI)

API SummaryMacros

AK8975_I2C_ADDR AK8975 8-bit I2C address selected by CAD1:0

Functions

ak8975_initialize_i2c Initialize sensor on I2C bus

http://www.asahi-kasei.co.jp/akm/en/product/ak8975b/ak8975b.html

http://nexp.tistory.com/attachment/[email protected]

http://invensense.com/mems/gyro/documents/AN-MPU-6000EVB-00_v1.0.pdf



297

ak8975_initialize_transport Initialize sensor on a transport


298

AK8975_I2C_ADDR

Synopsis

#define AK8975_I2C_ADDR(CADx) (0x18 + 2*(CADx))


299

ak8975_initialize_i2c

Synopsis

CTL_STATUS_t ak8975_initialize_i2c(CTL_MAGNETOMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

ak8975_initialize_i2c initializes the magnetometer interface self with methods to communicate with an AK8975

magnetometer on the I2C bus bus with 8-bit I2C address addr.

Once the magnetometer interface is initialized, you can use all standard magnetometer methods from the


Return Value

ak8975_initialize_i2c returns a standard status code.

Thread Safety

ak8975_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


300

ak8975_initialize_transport

Synopsis

CTL_STATUS_t ak8975_initialize_transport(CTL_MAGNETOMETER_t *self, CTL_TRANSPORT_t *transport);

Description

ak8975_initialize_transport initializes the magnetometer interface self with an AK8975 magnetometer driver

using the transport transport to transfer I2C data. The transport transport must already have been initialized

with the I2C address of the target AK8975.



Return Value

ak8975_initialize_transport returns a standard status code.

Thread Safety

ak8975_initialize_transport is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


301

<bmm150.h>

Overview

Driver for Bosch Sensortec BMM150 3-axis magnetomoeter.

Resources

Web page

http://www.bosch-sensortec.com/homepage/products_3/3_axis_sensors/geomagnetic_sensors_3/

bmm150/bmm150

Datasheet

http://ae-bst.resource.bosch.com/media/products/dokumente/bmm150/BST-BMM150-DS001-01.pdf

Test hardware

This code has been tested using a BMC050-SHUTL module wire-wrapped on a prototyping shield and installed

on a SolderCore:


API Summary

Macros

BMM150_I2C_ADDR BMM150 8-bit I2C address

Functions

bmm150_initialize_i2c Initialize sensor on I2C bus

bmm150_initialize_spi Initialize sensor on SPI bus

http://www.bosch-sensortec.com/homepage/products_3/3_axis_sensors/geomagnetic_sensors_3/bmm150/bmm150

http://www.bosch-sensortec.com/homepage/products_3/3_axis_sensors/geomagnetic_sensors_3/bmm150/bmm150

http://ae-bst.resource.bosch.com/media/products/dokumente/bmm150/BST-BMM150-DS001-01.pdf



302

BMM150_I2C_ADDR

Synopsis

#define BMM150_I2C_ADDR(SEL) (0x20 + 2*(SEL))

Description

BMM150_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet for the

selection pins CSB:SDO pulled low or high. The standard 8-bit addresses are 0x20, 0x22, 0x24, and 0x26.


303

bmm150_initialize_i2c

Synopsis

CTL_STATUS_t bmm150_initialize_i2c(CTL_MAGNETOMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

bmm150_initialize_i2c initializes the magnetometer interface self with methods to communicate with a

BMM150 magnetometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

bmm150_initialize_i2c returns a standard status code.

Thread Safety

bmm150_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


304

bmm150_initialize_spi

Synopsis

CTL_STATUS_t bmm150_initialize_spi(CTL_MAGNETOMETER_t *self, CTL_SPI_DEVICE_t *dev);

Description

bmm150_initialize_spi initializes the magnetometer interface self with methods to communicate with an

BMM150 magnetometer on the SPI bus associated with dev. The protocol for device dev is set to 1 MHz, 8-bit SPI

mode 0. The maximum clock speed supported by the BMM150 in SPI mode is 10 MHz: you can increase the clock

speed from the initial 1 MHz using ctl_spi_set_speed.



Return Value

bmm150_initialize_spi returns a standard status code.

Thread Safety

bmm150_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.

See Also

<ctl_sensors.h>


305

<fxos8700cq.h>

Overview

Driver for a Freescale FXOS8700CQ accelerometer + magnetometer.

Resources


Web page

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=FXOS8700CQ

Datasheet

http://cache.freescale.com/files/sensors/doc/data_sheet/FXOS8700CQ.pdf

Test hardware

This code has been tested using a FRDM-KL26Z:

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=FRDM-KL26Z

Accelerometer Specification


Bandwidth (Hz) 0.78125, 3.125, 6.25, 25, 50, 100, 200, 500

Range (g) ±2, ±4, ±8


API Summary

Macros

FXOS8700CQ_I2C_ADDR FXOS8700CQ 8-bit I2C address

Types

FXOS8700CQ_t Sensor group

Functions

fxos8700cq_initialize_i2c Initialize sensor on I2C bus

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=FXOS8700CQ

http://cache.freescale.com/files/sensors/doc/data_sheet/FXOS8700CQ.pdf

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=FRDM-KL26Z


306

FXOS8700CQ_I2C_ADDR

Synopsis

#define FXOS8700CQ_I2C_ADDR(SA) ((SA) == 0 ? 0x3C : \ (SA) == 1 ? 0x3A : \ (SA) == 2 ? 0x38 : \ 0x3E)

Description

FXOS8700CQ_I2C_ADDR defines the FXOS8700CQ 8-bit I2C address selected by the SA1:SA0 signals. From the

datasheet, the SA1:SA0 encoding is unexpected...


307

FXOS8700CQ_t

Synopsis

typedef struct { CTL_IMU_t core; CTL_MAGNETOMETER_t mag; CTL_ACCELEROMETER_t accel;} FXOS8700CQ_t;

Description

FXOS8700CQ_t contains the instance data for the FXOS8700CQ accelerometer and magnetometer sensor

group.

Structure

core

The core IMU structure. The IMU structure is initialized with pointers to the accel and mag members, with

the gyro member set to zero.

accel

The instance containing the state of the FXOS8700CQ accelerometer.

mag

The instance containing the state of the FXOS8700CQ magnetometer.


308

fxos8700cq_initialize_i2c

Synopsis

CTL_STATUS_t fxos8700cq_initialize_i2c(FXOS8700CQ_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

fxos8700cq_initialize_i2c initializes the FXOS8700CQ's accelerometer and magnetometer on the I2C bus

bus using the 8-bit I2C address addr. When complete, the the IMU member core is initialized pointing to the

appropriate members within self with the gyroscope set to zero.

Return Value

fxos8700cq_initialize_i2c returns a standard status code.

Thread Safety

fxos8700cq_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


309

<hmc5843.h>

Overview

Driver for a Honeywell HMC5843 magnetometer.

Resources


Web page

http://www.magneticsensors.com/

Datasheet

http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/

Defense_Brochures-documents/HMC5843.pdf

Test hardware

This code has been tested using a SparkFun HMC5843 breakout: http://www.sparkfun.com/products/9371





Specification


Bandwidth (Hz) 116

Range (µT) ±400


API Summary

Macros

HMC5843_I2C_ADDR HMC5843 8-bit I2C address

Functions

hmc5843_initialize_i2c Initialize sensor on I2C bus


http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5843.pdf

http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5843.pdf





310

HMC5843_I2C_ADDR

Synopsis

#define HMC5843_I2C_ADDR 0x3C

Description

HMC5843_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


311

hmc5843_initialize_i2c

Synopsis

CTL_STATUS_t hmc5843_initialize_i2c(CTL_MAGNETOMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

hmc5843_initialize_i2c initializes the magnetometer interface self with methods to communicate with an

HMC5843 magnetometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

hmc5843_initialize_i2c returns a standard status code.

Thread Safety

hmc5843_initialize_i2c is thread-safe.

See Also

<ctl_sensors.h>


312

<hmc5883l.h>

Overview

Driver for a Honeywell HMC5883L magnetometer.

Resources


Web page

http://www.magneticsensors.com/magnetic-sensor-products.php

http://www.magneticsensors.com/three-axis-digital-compass.php

Datasheet

http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/

Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf

Test hardware

This code has been tested using a SolderCore CoreMag module:

http://soldercore.com/products/sensecore/coremag/





Specification


Bandwidth (Hz) 75 (continuous), 160 (single)

Range (µT) ±800


API SummaryMacros

HMC5883L_I2C_ADDR HMC5883L 8-bit I2C address

Functions

http://www.magneticsensors.com/magnetic-sensor-products.php

http://www.magneticsensors.com/three-axis-digital-compass.php

http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf

http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf

http://soldercore.com/products/sensecore/coremag/




313

hmc5883l_initialize_i2c Initialize HMC5883L on I2C bus

hmc5883l_initialize_transport Initialize sensor on an existing transport


314

HMC5883L_I2C_ADDR

Synopsis

#define HMC5883L_I2C_ADDR 0x3C

Description

HMC5883L_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


315

hmc5883l_initialize_i2c

Synopsis

CTL_STATUS_t hmc5883l_initialize_i2c(CTL_MAGNETOMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

hmc5883l_initialize_i2c initializes the magnetometer interface self with methods to communicate with an

HMC5883L magnetometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

hmc5883l_initialize_i2c returns a standard status code.

Thread Safety

hmc5883l_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


316

hmc5883l_initialize_transport

Synopsis

CTL_STATUS_t hmc5883l_initialize_transport(CTL_MAGNETOMETER_t *self, CTL_TRANSPORT_t *transport);

Description

hmc5883l_initialize_transport initializes the magnetometer interface self with methods to communicate with

an HMC5883L magnetometer using the transport transport to transfer I2C data. The transport transport must

already have been initialized with the I2C address of the target HMC5883L.

Return Value

hmc5883l_initialize_transport returns a standard status code.

Thread Safety

hmc5883l_initialize_transport is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


317

<hmc6343.h>

Overview

Driver for a Honeywell HMC6343 digital compass.

Resources


Web page


Datasheet

http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Missiles-

Munitions/HMC6343.pdf

Test hardware

This code has been tested using a SparkFun HMC6343 breakout:

http://www.sparkfun.com/products/8656/





API Summary

Macros


Functions

hmc6343_read_heading Read heading from compass


http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Missiles-Munitions/HMC6343.pdf






318

HMC6343_I2C_ADDR

Synopsis

#define HMC6343_I2C_ADDR 0x32

Description



319

hmc6343_read_heading

Synopsis

CTL_STATUS_t hmc6343_read_heading(CTL_I2C_BUS_t *bus, int address, float *heading, float *pitch, float *roll);

Description

hmc6343_read_heading reads the heading, in degrees, from the HMC6352 compass on 8-bit address address

using the I2C bus bus. The heading is written into the float pointed to by heading. Additionally, the pitch and

roll in degrees are written to pitch and roll. heading, pitch, or roll can be null to indicate that the parameter is

not of interest to the client.

The sensor delivers heading, pitch, and roll with resolutions of 0.1 degrees.

Return Value

hmc6343_read_heading returns a standard status code. If the status indicates an error, the returned sample

data is undefined.

Thread Safety

hmc6343_read_heading is thread-safe if a mutex is associated with the I2C bus bus.


320

<hmc6352.h>

Overview

Driver for a Honeywell HMC6352 digital compass.

Resources


Web page


Datasheet

http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Missiles-

Munitions/HMC6352.pdf

Test hardware

This code has been tested using a SparkFun HMC6352 breakout:






Note that the SenseCore's default address was changed from 0x42 to 0x46 by moving the solder jumpers such

that it does not conflict with the HMC6352's default address.

API Summary

Macros


Functions

hmc6352_read_heading Read heading from compass








321

HMC6352_I2C_ADDR

Synopsis

#define HMC6352_I2C_ADDR 0x42

Description



322

hmc6352_read_heading

Synopsis

CTL_STATUS_t hmc6352_read_heading(CTL_I2C_BUS_t *bus, int address, float *heading);

Description

hmc6352_read_heading reads the heading, in degrees, from the HMC6352 compass on 8-bit address address

using the I2C bus bus. The heading is written into the float pointed to by heading. The sensor delivers headings

with a resolution of 0.1 degrees.

Return Value

hmc6352_read_heading returns a standard status code. If the status indicates an error, the returned sample

data is undefined.

Thread Safety

hmc6352_read_heading is thread-safe if a mutex is associated with the I2C bus bus.


323

<mag3110.h>

Overview

Driver for a Freescale MAG3110 magnetometer.

Resources


Web page

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MAG3110&

Datasheet

http://cache.freescale.com/files/sensors/doc/data_sheet/MAG3110.pdf

Test hardware

This code has been tested using a Freescale LFSTBEB3110 sensor daughterboard:

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=LFSTBEB3110





Specification


Bandwidth (Hz) 0.625, 1.25, 2.5, 5, 10, 20, 40

Range (µT) ±1000


API SummaryMacros

MAG3110_I2C_ADDR MAG3110 8-bit I2C address

Functions

mag3110_initialize_i2c Initialize sensor on I2C bus

mag3110_read_die_temperature Read die temperature

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MAG3110&

http://cache.freescale.com/files/sensors/doc/data_sheet/MAG3110.pdf





324

mag3110_set_oversampling_ratio Set oversampling ratio


325

MAG3110_I2C_ADDR

Synopsis

#define MAG3110_I2C_ADDR 0x1C

Description

MAG3110_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


326

mag3110_initialize_i2c

Synopsis

CTL_STATUS_t mag3110_initialize_i2c(CTL_MAGNETOMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

mag3110_initialize_i2c initializes the magnetometer interface self with methods to communicate with a

MAG3110 magnetometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

mag3110_initialize_i2c returns a standard status code.

Thread Safety

mag3110_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


327

mag3110_read_die_temperature

Synopsis

CTL_STATUS_t mag3110_read_die_temperature(CTL_MAGNETOMETER_t *self, float *temp);

Description

mag3110_read_die_temperature reads the die temperature of the MAG3110 self.

The die temperature is not returned correctly by the MAG3110. We raised a service request with Freescale

regarding this and their response is as follows:

"Yes, sorry, the die temperature is not being trimmed for MAG3110. This should have been in the errata. What

you are seeing is correct. You can get around this by trimming the output in software since the sensitivity of the

sensor is OK."

Return Value

mag3110_read_die_temperature returns a standard status code. If the status indicates an error, the returned


Thread Safety

mag3110_read_die_temperature is thread-safe if the transport member in self is thread-safe. Typically, for SPI



328

mag3110_set_oversampling_ratio

Synopsis

CTL_STATUS_t mag3110_set_oversampling_ratio(CTL_MAGNETOMETER_t *self, int ratio);

Description

mag3110_set_oversampling_ratio sets the oversampling ration of the MAG3110 self to ratio. ratio should be

16, 32, 64, or 128.

Return Value

mag3110_set_oversampling_ratio returns a standard status code.

Thread Safety

mag3110_set_oversampling_ratio is thread-safe if the transport member in self is thread-safe. Typically, for SPI



329

<adxl345.h>

Overview

Driver for an Analog Devices ADXL345 3-axis accelerometer.

Resources


Web page

http://www.analog.com/en/sensors/inertial-sensors/adxl345/products/product.html

Datasheet

http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf

Test hardware

This code has been tested using a SolderCore CoreTilt module:

http://soldercore.com/products/sensecore/coretilt/





Specification


Bandwidth (Hz)0.05, 0.1, 0.2, 0.39, 0.78, 1.56, 3.13, 6.25, 12.5, 25, 50,100, 200, 400, 800, 1600

Range (g) ±2, ±4, ±8, ±16

Communication up to 3.4 MHz (I2C) and 5 MHz (SPI)

API SummaryConstants

ADXL345_I2C_ADDR_ALTERNATE Alternate 8-bit I2C address

ADXL345_I2C_ADDR_DEFAULT Default 8-bit I2C address

Functions

http://www.analog.com/en/sensors/inertial-sensors/adxl345/products/product.html


http://soldercore.com/products/sensecore/coretilt/




330

adxl345_initialize_i2c Initialize sensor on I2C bus

adxl345_initialize_spi Initialize sensor on SPI bus


331

ADXL345_I2C_ADDR_ALTERNATE

Synopsis

#define ADXL345_I2C_ADDR_ALTERNATE 0xA6

Description

ADXL345_I2C_ADDR_ALTERNATE is the alternate 8-bit I2C address of the ADXL345 sensor with ALT

ADDRESS=0.


332

ADXL345_I2C_ADDR_DEFAULT

Synopsis

#define ADXL345_I2C_ADDR_DEFAULT 0x3A

Description

ADXL345_I2C_ADDR_DEFAULT is the default 8-bit I2C address of the ADXL345 sensor with ALT ADDRESS=1.


333

adxl345_initialize_i2c

Synopsis

CTL_STATUS_t adxl345_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

adxl345_initialize_i2c initializes the accelerometer interface self with methods to communicate with an

ADXL345 accelerometer on the I2C bus bus with 8-bit I2C address addr.

Once the accelerometer interface is initialized, you can use all standard accelerometer methods from the sensor

API on the interface.

Return Value

adxl345_initialize_i2c returns a standard status code.

Thread Safety

adxl345_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


334

adxl345_initialize_spi

Synopsis

CTL_STATUS_t adxl345_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *dev);

Description

adxl345_initialize_spi initializes the accelerometer interface self with methods to communicate with an

ADXL345 accelerometer on the SPI bus associated with dev. The protocol for device dev is set to 1 MHz, 8-bit SPI

mode 0. The maximum clock speed supported by the ADXL345 in SPI mode is 5 MHz: you can increase the clock




Return Value

adxl345_initialize_spi returns a standard status code.

Thread Safety

adxl345_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.

See Also

<ctl_sensors.h>


335

<adxl362.h>

Overview

Driver for an Analog Devices ADXL362 3-axis accelerometer.

Resources


Web page

http://www.analog.com/en/mems-sensors/mems-accelerometers/adxl362/products/product.html

Datasheet


Test hardware

This code has been tested using a SparkFun ADXL362 breakout:






Specification


Bandwidth (Hz) 12.5, 25, 50, 100 (default), 200, 400

Range (g) ±2, ±4, ±8

Communication 1 MHz to 5 MHz (SPI)

API Summary

Functions

adxl362_initialize_spi Initialize sensor on SPI bus

http://www.analog.com/en/mems-sensors/mems-accelerometers/adxl362/products/product.html






336

adxl362_initialize_spi

Synopsis

CTL_STATUS_t adxl362_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *dev);

Description

adxl362_initialize_spi initializes the accelerometer interface self with methods to communicate with an

ADXL362 accelerometer on the SPI bus associated with dev. The protocol for device dev is set to 1 MHz, 8-bit SPI

mode 0. The maximum clock speed supported by the ADXL362 in SPI mode is 5 MHz: you can increase the clock




Return Value

adxl362_initialize_spi returns a standard status code.

Thread Safety

adxl362_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.

See Also

<ctl_sensors.h>


337

<atavrsbin1.h>

Overview

Driver for Atmel Inertial One ATAVRSBIN1 board.

The Inertial One board provides a BMA150 accelerometer, an ITG-3200 gyroscope, and an AK8975

magnetometer on a common I2C bus.

Resources


Web page

http://www.atmel.com/products/microcontrollers/avr/sensors_xplain.aspx

Test hardware

This code has been tested using a ATAVRSBIN1 sensor wire-wrapped to a protoshield and on a SolderCore.

See Also

<bma150.h>, <itg3200.h>, <ak8975.h>

API Summary

Types

ATAVRSBIN1_t Sensor group

Functions

atavrsbin1_initialize_i2c Initialize sensor group on I2C bus



338

ATAVRSBIN1_t

Synopsis

typedef struct { CTL_IMU_t core; CTL_ACCELEROMETER_t accel; CTL_GYROSCOPE_t gyro; CTL_MAGNETOMETER_t mag;} ATAVRSBIN1_t;

Description

ATAVRSBIN1_t contains the instance data for the Inertial One sensor group.

Structure

core

The core IMU structure. The IMU structure is initialized with pointers to the gyro, accel, and mag members.

accel

The accelerometer instance containing the state of the BMA150.

gyro

The gyroscope instance containing the state of the ITG-3200.

mag

The magnetometer instance containing the state of the AK8975.


339

atavrsbin1_initialize_i2c

Synopsis

CTL_STATUS_t atavrsbin1_initialize_i2c(ATAVRSBIN1_t *self, CTL_I2C_BUS_t *bus);

Description

atavrsbin1_initialize_i2c initializes the BMA150 accelerometer, ITG-3200 gyroscope, and AK8975 magnetometer

on the I2C bus bus using factory I2C addresses. When complete, the the IMU member core is initialized pointing

to the appropriate members within self.

Return Value

atavrsbin1_initialize_i2c returns a standard status code.

Thread Safety

atavrsbin1_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.


340

<atavrsbin2.h>

Overview

Driver for Atmel Inertial Two ATAVRSBIN2 board.

The Inertial Two board provides a KXTF9 accelerometer, an an IMU-3000 gyroscope, and an HMC5883L

magnetometer on a common I2C bus.

Resources


Web page


Test hardware

This code has been tested using a ATAVRSBIN2 sensor wire-wrapped to a protoshield and on a SolderCore.

See Also

<kxtf9.h>, <imu3000.h>, <hmc5883l.h>

API Summary

Types

ATAVRSBIN2_t Sensor group

Functions

atavrsbin2_initialize_i2c Initialize sensor group on I2C bus



341

ATAVRSBIN2_t

Synopsis

typedef struct { CTL_IMU_t core; CTL_ACCELEROMETER_t accel; CTL_GYROSCOPE_t gyro; CTL_MAGNETOMETER_t mag;} ATAVRSBIN2_t;

Description

ATAVRSBIN2_t contains the instance data for the Inertial One sensor group.

Structure

core


accel

The accelerometer instance containing the state of the KXTF9.

gyro

The gyroscope instance containing the state of the IMU-3000.

mag

The magnetometer instance containing the state of the HMC5883L.


342

atavrsbin2_initialize_i2c

Synopsis

CTL_STATUS_t atavrsbin2_initialize_i2c(ATAVRSBIN2_t *self, CTL_I2C_BUS_t *bus);

Description

atavrsbin2_initialize_i2c initializes the KXTF9 accelerometer, IMU-3000 gyroscope, and HMC5883L

magnetometer on the I2C bus bus using factory I2C addresses. When complete, the the IMU member core is

initialized pointing to the appropriate members within self.

Return Value

atavrsbin2_initialize_i2c returns a standard status code.

Thread Safety

atavrsbin2_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.


343

<bma150.h>

Overview

Driver for Bosch Sensortec BMA150 3-axis accelerometer.

This driver assumes that the BMA150 will always runs with the shadow registers enabled, i.e. that the

shadow_dis bit in the second configuration register is zero. If you wish to run with the shadow registers

disabled, you will need to write your own replacement driver.

Note that this also works for an SMB380 accelerometer which has the same register interface as the BMA150.

BMA150 Resources

Web page

http://www.bosch-sensortec.com/homepage/products_3/3_axis_sensors/acceleration_sensors/bma150_4/

bma150

Datasheet

http://ae-bst.resource.bosch.com/media/products/dokumente/bma150/bst-bma150-ds000-07.pdf

Test hardware

This code has been tested using an Atmel ATAVRSBIN Inertial One Xplain board:

http://store.atmel.com/PartDetail.aspx?q=p:10500250#tc:description

The module was wire-wrapped on a prototyping shield and installed on a SolderCore:


Specification


Bandwidth (Hz) 25, 50, 100, 190, 375, 750, 1500

Range (g) ±2, ±4, ±8


SMB380 Resources

Datasheet

http://www.olimex.com/dev/pdf/OTHER/BMA150_Preliminary_Datasheet_Rev13_20070918.pdf

http://www.bosch-sensortec.com/homepage/products_3/3_axis_sensors/acceleration_sensors/bma150_4/bma150

http://www.bosch-sensortec.com/homepage/products_3/3_axis_sensors/acceleration_sensors/bma150_4/bma150

http://ae-bst.resource.bosch.com/media/products/dokumente/bma150/bst-bma150-ds000-07.pdf

http://store.atmel.com/PartDetail.aspx?q=p:10500250#tc:description


http://www.olimex.com/dev/pdf/OTHER/BMA150_Preliminary_Datasheet_Rev13_20070918.pdf


344

Test hardware

This code has been tested using an Olimex MOD-SMB380:

http://www.olimex.com/Products/Modules/Accel/MOD-SMB380/





API Summary

Macros

BMA150_I2C_ADDR BMA150 8-bit I2C address

Functions

bma150_initialize_i2c Initialize sensor on I2C bus

bma150_initialize_spi Initialize sensor on SPI bus

bma150_read_chip_id Read chip ID register

bma150_read_die_temperature Read temperature

bma150_soft_reset Soft-reset the sensor

http://www.olimex.com/Products/Modules/Accel/MOD-SMB380/




345

BMA150_I2C_ADDR

Synopsis

#define BMA150_I2C_ADDR 0x70

Description

BMA150_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


346

bma150_initialize_i2c

Synopsis

CTL_STATUS_t bma150_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

bma150_initialize_i2c initializes the accelerometer interface self with methods to communicate with a BMA150

accelerometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

bma150_initialize_i2c returns a standard status code.

Thread Safety

bma150_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


347

bma150_initialize_spi

Synopsis

CTL_STATUS_t bma150_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *dev);

Description

bma150_initialize_spi initializes the accelerometer interface self with methods to communicate with an

BMA150 accelerometer on the SPI bus associated with dev. The protocol for device dev is set to 1 MHz, 8-bit SPI

mode 0. The maximum clock speed supported by the BMA150 in SPI mode is 10 MHz: you can increase the clock




Return Value

bma150_initialize_spi returns a standard status code.

Thread Safety

bma150_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.

See Also

<ctl_sensors.h>


348

bma150_read_chip_id

Synopsis

CTL_STATUS_t bma150_read_chip_id(CTL_ACCELEROMETER_t *self);

Description

bma150_read_chip_id reads the chip ID register of the BMA150 accelerometer self.

Return Value

bma150_read_chip_id returns an extended status code: non-negative values indicate a successful read, and

value, of the chip ID.

Thread Safety

bma150_read_chip_id is thread-safe if the transport member in self is thread-safe. Typically, for SPI and I2C



349

bma150_read_die_temperature

Synopsis

CTL_STATUS_t bma150_read_die_temperature(CTL_ACCELEROMETER_t *self, float *temp);

Description

bma150_read_die_temperature reads the sensor's internal temperature register and writes the temperature, in

degrees Celsius, to the float pointed to by temp.

Return Value

bma150_read_die_temperature returns a standard status code. If the status indicates an error, the returned


Thread Safety

bma150_read_die_temperature is thread-safe if the transport member in self is thread-safe. Typically, for SPI



350

bma150_soft_reset

Synopsis

CTL_STATUS_t bma150_soft_reset(CTL_ACCELEROMETER_t *self);

Description

bma150_soft_reset performs a soft reset of the sensor self.

Return Value

bma150_soft_reset returns a standard status code.

Thread Safety

bma150_soft_reset is thread-safe if the transport member in self is thread-safe. Typically, for SPI and I2C



351

<bma250.h>

Overview

Driver for Bosch Sensortec BMA250 3-axis accelerometer.

Resources

Web page

http://www.bosch-sensortec.com/en/homepage/products_3/3_axis_sensors/acceleration_sensors/

bma250_1/bma250

Datasheet

http://ae-bst.resource.bosch.com/media/products/dokumente/bma250/BST-BMA250-DS002-05.pdf

Test hardware

This code has been tested using an Olimex STM32-405STK:

https://www.olimex.com/Products/ARM/ST/STM32-405STK/

Specification


Bandwidth (Hz) 8, 16, 31, 63, 125, 250, 500, 1000

Range (g) ±2, ±4, ±8, ±16


API Summary

Macros

BMA250_I2C_ADDR BMA250 8-bit I2C address

Functions

bma250_initialize_i2c Initialize sensor on I2C bus

bma250_initialize_spi Initialize sensor on SPI bus

bma250_read_chip_id Read chip ID register

bma250_read_die_temperature Read temperature

http://www.bosch-sensortec.com/en/homepage/products_3/3_axis_sensors/acceleration_sensors/bma250_1/bma250

http://www.bosch-sensortec.com/en/homepage/products_3/3_axis_sensors/acceleration_sensors/bma250_1/bma250

http://ae-bst.resource.bosch.com/media/products/dokumente/bma250/BST-BMA250-DS002-05.pdf

https://www.olimex.com/Products/ARM/ST/STM32-405STK/


352

BMA250_I2C_ADDR

Synopsis

#define BMA250_I2C_ADDR(SDO) (0x30 + (SDO)*2)

Description

BMA250_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet, with SDO

pulled low (0) or high (1).


353

bma250_initialize_i2c

Synopsis

CTL_STATUS_t bma250_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

bma250_initialize_i2c initializes the accelerometer interface self with methods to communicate with a BMA250




Return Value

bma250_initialize_i2c returns a standard status code.

Thread Safety

bma250_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


354

bma250_initialize_spi

Synopsis

CTL_STATUS_t bma250_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *dev);

Description

bma250_initialize_spi initializes the accelerometer interface self with methods to communicate with an

BMA250 accelerometer on the SPI bus associated with dev. The protocol for device dev is set to 1 MHz, 8-bit SPI

mode 0. The maximum clock speed supported by the BMA250 in SPI mode is 10 MHz: you can increase the clock




Return Value

bma250_initialize_spi returns a standard status code.

Thread Safety

bma250_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.

See Also

<ctl_sensors.h>


355

bma250_read_chip_id

Synopsis

CTL_STATUS_t bma250_read_chip_id(CTL_ACCELEROMETER_t *self);

Description

bma250_read_chip_id reads the chip ID register of the BMA250 accelerometer self.

Return Value

bma250_read_chip_id returns an extended status code: non-negative values indicate a successful read, and

value, of the chip ID.

Thread Safety

bma250_read_chip_id is thread-safe if the transport member in self is thread-safe. Typically, for SPI and I2C



356

bma250_read_die_temperature

Synopsis

CTL_STATUS_t bma250_read_die_temperature(CTL_ACCELEROMETER_t *self, float *temp);

Description

bma250_read_die_temperature reads the sensor's internal temperature register and writes the temperature, in

degrees Celsius, to the float pointed to by temp.

Return Value

bma250_read_die_temperature returns a standard status code. If the status indicates an error, the returned


Thread Safety

bma250_read_die_temperature is thread-safe if the transport member in self is thread-safe. Typically, for SPI



357

<imu3000.h>

Overview

Driver for InvenSense IMU-3000 gyroscope.

Resources


Web page

http://invensense.com/mems/gyro/imu3000.html

Datasheet

http://invensense.com/mems/gyro/documents/RM-IMU-3000A.pdf

Test hardware

This code has been tested using a SparkFun IMU-3000 breakout:






Specification


Bandwidth (Hz) 8,000 to 31.25 in 256 division steps.

Range (dps) 250, 500, 1000, 2000 (default)


API SummaryMacros

IMU3000_I2C_ADDR IMU-3000 8-bit I2C address selected with AD0 signal

Functions

imu3000_initialize_i2c Initialize sensor on I2C bus

imu3000_read_die_temperature Read die temperature

http://invensense.com/mems/gyro/imu3000.html

http://invensense.com/mems/gyro/documents/RM-IMU-3000A.pdf





358

IMU3000_I2C_ADDR

Synopsis

#define IMU3000_I2C_ADDR(AD0) (0xD0 + 2*(AD0))


359

imu3000_initialize_i2c

Synopsis

CTL_STATUS_t imu3000_initialize_i2c(CTL_GYROSCOPE_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

imu3000_initialize_i2c initializes the gyroscope interface self with methods to communicate with an IMU-3000

gyroscope on the I2C bus bus with 8-bit I2C address addr.

Once the gyroscope interface is initialized, you can use all standard gyroscope methods from the sensor API on

the interface.

Return Value

imu3000_initialize_i2c returns a standard status code.

Thread Safety

imu3000_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


360

imu3000_read_die_temperature

Synopsis

CTL_STATUS_t imu3000_read_die_temperature(CTL_GYROSCOPE_t *self, float *temp);

Description

this reads the die temperature of the IMU-3000 into temp.

Return Value

imu3000_read_die_temperature returns a standard status code. If the status indicates an error, the returned


Thread Safety

imu3000_read_die_temperature is thread-safe if the transport member in self is thread-safe. Typically, for SPI



361

<imu3000_combo.h>

Overview

Driver for a SparkFun IMU-3000 Combo IMU.

Resources


Web page


Test hardware

This code has been tested using a SparkFun IMU-3000 Combo:






See Also

<imu3000.h>, <adxl345.h>

API Summary

Types

IMU3000_COMBO_t Sensor group

Functions

imu3000_combo_initialize_i2c Initialize sensor on I2C bus






362

IMU3000_COMBO_t

Synopsis

typedef struct { CTL_IMU_t core; CTL_GYROSCOPE_t gyro; CTL_ACCELEROMETER_t accel; int __passthrough;} IMU3000_COMBO_t;

Description

IMU3000_COMBO_t contains the instance data for the IMU-3000 Combo sensor group.

Structure

core

The core IMU structure. The IMU structure is initialized with pointers to the gyro and accel members with

the manetometer mag set to zero.

accel

The accelerometer instance containing the state of the BMA150.

gyro

The gyroscope instance containing the state of the ITG-3200.

__passthrough

Private member: flag indicating auxiliary I2C bus is in pass-through mode.


363

imu3000_combo_initialize_i2c

Synopsis

CTL_STATUS_t imu3000_combo_initialize_i2c(IMU3000_COMBO_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

imu3000_combo_initialize_i2c initializes the ADXL345 accelerometer and IMU-3000 gyroscope, the I2C bus

bus using appropriate I2C addresses. The address addr is the address of the IMU-3000; the ADXL345's address is

fixed by hardware. When complete, the the IMU member core is initialized pointing to the appropriate members

within self.

imu3000_combo_initialize_i2c takes care of correcting the alignment of the accelerometer axes with respect to

the gyroscope.

Note

Once initialized, you can set the accelerometer's range and bandwidth, but you must do this before taking any

accelerometer measurements. Once an accelerometer measurement is taken, you cannot change the bandwidth

or range of the accelerometer because the accelerometer is under control of the IMU-3000. We have not found

a clean way to shut down autonomous reading by the IMU-3000 such that the auxiliary I2C bus can be placed in

bypass mode and the accelerometer reconfigured.

Return Value

imu3000_combo_initialize_i2c returns a standard status code.

Thread Safety

imu3000_combo_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.


364

<itg3200.h>

Overview

Driver for InvenSense ITG-3200 gyroscope.

Resources


Web page

http://invensense.com/mems/gyro/itg3200.html

Datasheet

http://invensense.com/mems/gyro/documents/RM-ITG-3200A.pdf

Test hardware

This code has been tested using a SolderCore CoreGyro module:

http://soldercore.com/products/sensecore/coregyro/





Specification


Bandwidth (Hz) 8 kHz to 31.25 Hz in 256 division steps.

Range (dps) 2000 (fixed)


API SummaryMacros

ITG3200_I2C_ADDR ITG-3200 8-bit I2C address selected with AD0 signal

Functions

itg3200_initialize_i2c Initialize sensor on I2C bus

itg3200_read_die_temperature Read die temperature

http://invensense.com/mems/gyro/itg3200.html

http://invensense.com/mems/gyro/documents/RM-ITG-3200A.pdf

http://soldercore.com/products/sensecore/coregyro/




365

ITG3200_I2C_ADDR

Synopsis

#define ITG3200_I2C_ADDR(AD0) (0xD0 + 2*(AD0))


366

itg3200_initialize_i2c

Synopsis

CTL_STATUS_t itg3200_initialize_i2c(CTL_GYROSCOPE_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

itg3200_initialize_i2c initializes the gyroscope interface self with methods to communicate with an ITG-3200



the interface.

Return Value

itg3200_initialize_i2c returns a standard status code.

Thread Safety

itg3200_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


367

itg3200_read_die_temperature

Synopsis

CTL_STATUS_t itg3200_read_die_temperature(CTL_GYROSCOPE_t *self, float *temp);

Description

this reads the die temperature of the ITG-3200 into temp.

Return Value

itg3200_read_die_temperature returns a standard status code. If the status indicates an error, the returned


Thread Safety

itg3200_read_die_temperature is thread-safe if the transport member in self is thread-safe. Typically, for SPI



368

<kxp84.h>

Overview

Driver for Kionix KXP84 3-axis accelerometer.

Resources


Web page

http://www.kionix.com/accelerometers/kxp84

Datasheet

http://www.kionix.com/Product-Specs/KXP84-2050%20Specifications%20Rev%202.pdf

Test hardware

This code has been tested using a Kionix KXP84-2050 Evaluation Board:

http://www.kionix.com/Downloads/KXP84%20Evaluation%20Board.pdf — Layout

http://www.kionix.com/Downloads/KXP84%20Eval%20Schematic.pdf — Schematic

This was hand wired to a SolderCore:


Specification


Bandwidth (Hz) Set by filter capacitors

Range (g) ±2 (fixed)


API Summary

Macros

KXP84_I2C_ADDR KXP84 8-bit I2C address selected by ADDR0 input

Functions

kxp84_initialize_i2c Initialize sensor on I2C bus

kxp84_initialize_spi Initialize sensor on SPI bus

http://www.kionix.com/accelerometers/kxp84

http://www.kionix.com/Product-Specs/KXP84-2050%20Specifications%20Rev%202.pdf

http://www.kionix.com/Downloads/KXP84%20Evaluation%20Board.pdf

http://www.kionix.com/Downloads/KXP84%20Eval%20Schematic.pdf



369

KXP84_I2C_ADDR

Synopsis

#define KXP84_I2C_ADDR(ADDR0) (0x30 + 2*(ADDR0))


370

kxp84_initialize_i2c

Synopsis

CTL_STATUS_t kxp84_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

kxp84_initialize_i2c initializes the accelerometer interface self with methods to communicate with a KXP84




Return Value

kxp84_initialize_i2c returns a standard status code.

Thread Safety

kxp84_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


371

kxp84_initialize_spi

Synopsis

CTL_STATUS_t kxp84_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *dev);

Description

kxp84_initialize_spi initializes the accelerometer interface self with methods to communicate with a KXP84

accelerometer on the SPI bus associated with dev. The protocol for device dev is set to 1 MHz, 8-bit SPI mode 0.



Return Value

kxp84_initialize_spi returns a standard status code.

Thread Safety

kxp84_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.


372

<kxtf9.h>

Overview

Driver for a Kionix KXTF9 3-axis accelerometer.

Resources


Web page

http://www.kionix.com/accelerometers/kxtf9

Datasheet

http://www.kionix.com/sites/default/files/KXTF9-1026%20Specifications%20Rev%206.pdf

Test hardware

This code has been tested using an ATAVRSBIN2 Inertial Evaluation Board and a MEGA-1284P Xplained board.

Specification


Bandwidth (Hz) No configurable

Range (g) ±2, ±4, ±8


API Summary

Macros

KXTF9_I2C_ADDR KXTF9 8-bit I2C address

Functions

kxtf9_initialize_i2c Initialize sensor on I2C bus

http://www.kionix.com/accelerometers/kxtf9

http://www.kionix.com/sites/default/files/KXTF9-1026%20Specifications%20Rev%206.pdf


373

KXTF9_I2C_ADDR

Synopsis

#define KXTF9_I2C_ADDR 0x1E

Description

KXTF9_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


374

kxtf9_initialize_i2c

Synopsis

CTL_STATUS_t kxtf9_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

kxtf9_initialize_i2c initializes the accelerometer interface self with methods to communicate with a KXTF9




Return Value

kxtf9_initialize_i2c returns a standard status code.

Thread Safety

kxtf9_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


375

<l3g4200d.h>

Overview

Driver for an STMicroelectronics L3G4200D 3-axis gyroscope.

Resources


Web page


Datasheet


CD00265057.pdf

Test hardware

This code has been tested using a SparkFun L3G4200D Breakout:






Specification


Bandwidth (Hz) 100, 200, 400, 800

Range (dps) 250, 500, 2000


API SummaryMacros

L3G4200D_I2C_ADDR L3G4200D 8-bit I2C address selected with SDO signal

Functions

l3g4200d_initialize_i2c Initialize sensor on I2C bus


http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00265057.pdf






376

L3G4200D_I2C_ADDR

Synopsis

#define L3G4200D_I2C_ADDR(SDO) (0xD0 + 2*(SDO))


377

l3g4200d_initialize_i2c

Synopsis

CTL_STATUS_t l3g4200d_initialize_i2c(CTL_GYROSCOPE_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

l3g4200d_initialize_i2c initializes the gyroscope interface self with methods to communicate with an

L3G4200D gyroscope on the I2C bus bus with 8-bit I2C address addr.


the interface.

Return Value

l3g4200d_initialize_i2c returns a standard status code.

Thread Safety

l3g4200d_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


378

<l3gd20.h>

Overview

Driver for an STMicroelectronics L3GD20 3-axis gyroscope.

Resources


Web page

http://www.st.com/web/catalog/sense_power/FM89/SC1288/PF252443

Datasheet

http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00036465.pdf

Test hardware

This code has been tested using an Olimex MOD-L3GD20:

https://www.olimex.com/Products/Modules/Sensors/MOD-L3GD20/





Specification


Bandwidth (Hz) 95, 190, 380, 760

Range (dps) 250, 500, 2000


API Summary

Macros

L3GD20_I2C_ADDR L3GD20 8-bit I2C address selected with SDO signal

Functions

l3gd20_initialize_i2c Initialize sensor on I2C bus



https://www.olimex.com/Products/Modules/Sensors/MOD-L3GD20/




379

L3GD20_I2C_ADDR

Synopsis

#define L3GD20_I2C_ADDR(SDO) (0xD4 + 2*(SDO))


380

l3gd20_initialize_i2c

Synopsis

CTL_STATUS_t l3gd20_initialize_i2c(CTL_GYROSCOPE_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

l3gd20_initialize_i2c initializes the gyroscope interface self with methods to communicate with an L3GD20



the interface.

Return Value

l3gd20_initialize_i2c returns a standard status code.

Thread Safety

l3gd20_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


381

<lis302dl.h>

Overview

Driver for STMicroelectronics LIS302DL 3-axis accelerometer in SPI or I2C mode.

Resources


Web page


Datasheet


CD00135460.pdf

Test hardware

This code has been tested using a SparkFun LIS302DL breakout:






Specification


Bandwidth (Hz) 100, 400

Range (g) ±2, ±8


API SummaryMacros

LIS302DL_I2C_ADDR LIS302DL 8-bit I2C address selected with SDO signal

Functions

lis302dl_initialize_i2c Initialize sensor on I2C bus








382

lis302dl_initialize_spi Initialize sensor on SPI bus


383

LIS302DL_I2C_ADDR

Synopsis

#define LIS302DL_I2C_ADDR(SDO) (0x38 + 2*(SDO))


384

lis302dl_initialize_i2c

Synopsis

CTL_STATUS_t lis302dl_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

lis302dl_initialize_i2c initializes the accelerometer interface self with methods to communicate with a LIS302DL




Return Value

lis302dl_initialize_i2c returns a standard status code.

Thread Safety

lis302dl_initialize_i2c is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C transports,


See Also

<ctl_sensors.h>


385

lis302dl_initialize_spi

Synopsis

CTL_STATUS_t lis302dl_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *spi);

Description

lis302dl_initialize_spi initializes the accelerometer interface self with methods to communicate with a LIS302DL


The maximum clock speed supported by the LIS302DL in SPI mode is 10 MHz: you can increase the clock speed

from the initial 1 MHz using ctl_spi_set_speed.



Return Value

lis302dl_initialize_spi returns a standard status code.

Thread Safety

lis302dl_initialize_spi is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C transports,


See Also

<ctl_sensors.h>


386

<lis331dlh.h>

Overview

Driver for STMicroelectronics LIS331DLH 3-axis accelerometer in SPI or I2C mode.

Resources


Web page


Datasheet


CD00213470.pdf

Test hardware

This code has been tested using a SparkFun LSM303DLH breakout:






Specification


Bandwidth (Hz) 50, 100, 400, 1000

Range (g) ±2, ±4, ±8


API SummaryMacros

LIS331DLH_I2C_ADDR LIS331DLH 8-bit I2C address selected with SA0 signal

LIS331DLH Accelerometer

lis331dlh_initialize_i2c Initialize sensor on I2C bus








387

lis331dlh_initialize_spi Initialize sensor on SPI bus


388

LIS331DLH_I2C_ADDR

Synopsis

#define LIS331DLH_I2C_ADDR(SDO) (0x30 + 2*(SDO))


389

lis331dlh_initialize_i2c

Synopsis

CTL_STATUS_t lis331dlh_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

lis331dlh_initialize_i2c initializes the accelerometer interface self with methods to communicate with a

LIS331DLH accelerometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

lis331dlh_initialize_i2c returns a standard status code.

Thread Safety

lis331dlh_initialize_i2c is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


390

lis331dlh_initialize_spi

Synopsis

CTL_STATUS_t lis331dlh_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *spi);

Description

lis331dlh_initialize_spi initializes the accelerometer interface self with methods to communicate with a

LIS331DLH accelerometer on the SPI bus associated with dev. The protocol for device dev is set to 1 MHz, 8-bit

SPI mode 0. The maximum clock speed supported by the LIS331DLH in SPI mode is 10 MHz: you can increase the

clock speed from the initial 1 MHz using ctl_spi_set_speed.



Return Value

lis331dlh_initialize_spi returns a standard status code.

Thread Safety

lis331dlh_initialize_spi is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


391

<lis331hh.h>

Overview

Driver for STMicroelectronics LIS331HH 3-axis accelerometer in SPI or I2C mode.

Resources


Web page


Datasheet


CD00250937.pdf

Test hardware

This code has been tested using a SparkFun LIS331HH breakout:






Specification


Bandwidth (Hz) 50, 100, 400, 1000

Range (g) ±6, ±12, ±24


API SummaryMacros

LIS331HH_I2C_ADDR LIS331HH 8-bit I2C address selected with SA0 signal

LIS331HH Accelerometer

lis331hh_initialize_i2c Initialize sensor on I2C bus








392

lis331hh_initialize_spi Initialize sensor on SPI bus


393

LIS331HH_I2C_ADDR

Synopsis

#define LIS331HH_I2C_ADDR(SDO) (0x30 + 2*(SDO))


394

lis331hh_initialize_i2c

Synopsis

CTL_STATUS_t lis331hh_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

lis331hh_initialize_i2c initializes the accelerometer interface self with methods to communicate with a

LIS331HH accelerometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

lis331hh_initialize_i2c returns a standard status code.

Thread Safety

lis331hh_initialize_i2c is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


395

lis331hh_initialize_spi

Synopsis

CTL_STATUS_t lis331hh_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *spi);

Description

lis331hh_initialize_spi initializes the accelerometer interface self with methods to communicate with a

LIS331HH accelerometer on the SPI bus associated with dev. The protocol for device dev is set to 1 MHz, 8-bit

SPI mode 0. The maximum clock speed supported by the LIS331HH in SPI mode is 10 MHz: you can increase the




Return Value

lis331hh_initialize_spi returns a standard status code.

Thread Safety

lis331hh_initialize_spi is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


396

<lis3dsh.h>

Overview

Driver for STMicroelectronics LIS3DSH 3-axis accelerometer in SPI or I2C mode.

Resources


Web page


Datasheet


Test hardware

This code has been tested using a STM32F4DISCOVERY board:

http://www.st.com/web/catalog/tools/FM116/SC959/SS1532/PF252419

Specification


Bandwidth (Hz) 50, 200, 400, 800

Range (g) ±2, ±4, ±6, ±8, ±16


API Summary

Macros

LIS3DSH_I2C_ADDR LIS3DSH 8-bit I2C address selected with SDO signal

Functions

lis3dsh_initialize_i2c Initialize sensor on I2C bus

lis3dsh_initialize_spi Initialize sensor on SPI bus



http://www.st.com/web/catalog/tools/FM116/SC959/SS1532/PF252419


397

LIS3DSH_I2C_ADDR

Synopsis

#define LIS3DSH_I2C_ADDR(SDO) (0x38 + 2*(SDO))


398

lis3dsh_initialize_i2c

Synopsis

CTL_STATUS_t lis3dsh_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

lis3dsh_initialize_i2c initializes the accelerometer interface self with methods to communicate with a LIS3DSH




Return Value

lis3dsh_initialize_i2c returns a standard status code.

Thread Safety

lis3dsh_initialize_i2c is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C transports,


See Also

<ctl_sensors.h>


399

lis3dsh_initialize_spi

Synopsis

CTL_STATUS_t lis3dsh_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *spi);

Description

lis3dsh_initialize_spi initializes the accelerometer interface self with methods to communicate with a LIS3DSH


The maximum clock speed supported by the LIS3DSH in SPI mode is 10 MHz: you can increase the clock speed

from the initial 1 MHz using ctl_spi_set_speed.



Return Value

lis3dsh_initialize_spi returns a standard status code.

Thread Safety

lis3dsh_initialize_spi is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C transports,


See Also

<ctl_sensors.h>


400

<lis3lv02dl.h>

Overview

Driver for STMicroelectronics LIS3LV02DL 3-axis accelerometer in SPI or I2C mode.

Resources


Web page


Datasheet

http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00091417.pdf

Test hardware

This code has been tested using an Olimex STM32-LCD which has an on-board LIS3LV02DL:

http://www.olimex.com/Products/ARM/ST/STM32-LCD/

Specification


Bandwidth (Hz) 40, 160, 640, 2560

Range (g) ±2, ±6


API Summary

Macros

LIS3LV02DL_I2C_ADDR LIS3LV02DL 8-bit I2C address

Functions

lis3lv02dl_initialize_i2c Initialize sensor on I2C bus

lis3lv02dl_initialize_spi Initialize sensor on SPI bus


http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00091417.pdf

http://www.olimex.com/Products/ARM/ST/STM32-LCD/


401

LIS3LV02DL_I2C_ADDR

Synopsis

#define LIS3LV02DL_I2C_ADDR 0x3A


402

lis3lv02dl_initialize_i2c

Synopsis

CTL_STATUS_t lis3lv02dl_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

lis3lv02dl_initialize_i2c initializes the accelerometer interface self with methods to communicate with a

LIS3LV02DL accelerometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

lis3lv02dl_initialize_i2c returns a standard status code.

Thread Safety

lis3lv02dl_initialize_i2c is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


403

lis3lv02dl_initialize_spi

Synopsis

CTL_STATUS_t lis3lv02dl_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *spi);

Description

lis3lv02dl_initialize_spi initializes the accelerometer interface self with methods to communicate with a

LIS3VL02DL accelerometer on the SPI bus associated with dev. The protocol for device dev is set to 1 MHz, 8-bit

SPI mode 0. The maximum clock speed supported by the LIS3LV02DL in SPI mode is 8 MHz: you can increase the




Return Value

lis3lv02dl_initialize_spi returns a standard status code.

Thread Safety

lis3lv02dl_initialize_spi is thread-safe if the transport transport is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


404

<mma7455l.h>

Overview

Driver for a Freescale MMA7455L accelerometer.

Resources


Web page

MMA745xL

Datasheet

MMA8451Q

Test hardware

This code has been tested using an Embedded Artists LPC1788-OEM module on the EA OEM Base Board.

Specification


Bandwidth (Hz) 62.5, 125

Range (g) ±2, ±4, ±8

Communication up to 400 kHz (I2C), 8 MHz (SPI)

API Summary

Macros

MMA7455_I2C_ADDR MMA7455L 8-bit I2C address

Functions

mma7455l_initialize_i2c Initialize sensor on I2C bus

mma7455l_initialize_spi Initialize sensor on SPI bus

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MMA745xL

http://cache.freescale.com/files/sensors/doc/data_sheet/MMA7455L.pdf


405

MMA7455_I2C_ADDR

Synopsis

#define MMA7455_I2C_ADDR 0x3A


406

mma7455l_initialize_i2c

Synopsis

CTL_STATUS_t mma7455l_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

mma7455l_initialize_i2c initializes the accelerometer interface self with methods to communicate with an

MMA7455L accelerometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

mma7455l_initialize_i2c returns a standard status code.

Thread Safety

mma7455l_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


407

mma7455l_initialize_spi

Synopsis

CTL_STATUS_t mma7455l_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *dev);

Description

mma7455l_initialize_spi initializes the accelerometer interface self with methods to communicate with an

MMA7455L accelerometer using the device dev.



Return Value

mma7455l_initialize_spi returns a standard status code.

Thread Safety

mma7455l_initialize_spi is thread-safe if a mutex is associated with the device dev.

See Also

<ctl_sensors.h>


408

<mma7660fc.h>

Overview

Driver for a Freescale MMA7660FC accelerometer.

Resources


Web page

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MMA7660FC

Datasheet

http://cache.freescale.com/files/sensors/doc/data_sheet/MMA7660FC.pdf

Test hardware

This code has been tested using a Seeed Studio MMA7660FC module:

http://www.seeedstudio.com/depot/grove-3axis-digital-accelerometer15g-p-765.html?cPath=144_146

This was attached to a SolderCore:


Specification


Bandwidth (Hz) Not configurable.

Range (g) ±1.5 (fixed)


API Summary

Macros

MMA7660FC_I2C_ADDR MMA7660FC 8-bit I2C address

Functions

mma7660fc_initialize_i2c Initialize sensor on I2C bus

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MMA7660FC

http://cache.freescale.com/files/sensors/doc/data_sheet/MMA7660FC.pdf

http://www.seeedstudio.com/depot/grove-3axis-digital-accelerometer15g-p-765.html?cPath=144_146



409

MMA7660FC_I2C_ADDR

Synopsis

#define MMA7660FC_I2C_ADDR 0x98

Description

MMA7660FC_I2C_ADDR defines the default 8-bit I2C address for the device as specified in the datasheet.


410

mma7660fc_initialize_i2c

Synopsis

CTL_STATUS_t mma7660fc_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

mma7660fc_initialize_i2c initializes the accelerometer interface self with methods to communicate with an

MMA7660FC accelerometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

mma7660fc_initialize_i2c returns a standard status code.

Thread Safety

mma7660fc_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


411

<mma845xq.h>

Overview

Driver for a Freescale MMA845xQ accelerometer.

Resources


Web page

MMA8451Q

MMA8452Q

MMA8453Q

Datasheet

MMA8451Q

MMA8452Q

MMA8453Q

Test hardware

This code has been tested using a Freescale LFSTBEB3110 sensor daughterboard:


The sensor was wired to a CoreProto and plugged into a SenseCore:




Specification


Bandwidth (Hz) 1.56, 6.25, 12.5, 50, 100, 200, 400, 800

Range (g) ±2, ±4, ±8


http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MMA8451Q



http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8451Q.pdf







412

API Summary

Macros

MMA8451Q_I2C_ADDR MMA845xQ 8-bit I2C address selected with SA0 signal

Functions

mma8451q_initialize_i2c Initialize sensor on I2C bus


413

MMA8451Q_I2C_ADDR

Synopsis

#define MMA8451Q_I2C_ADDR(SA0) (0x38 + 2*(SA0))


414

mma8451q_initialize_i2c

Synopsis

CTL_STATUS_t mma8451q_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

mma8451q_initialize_i2c initializes the accelerometer interface self with methods to communicate with an

MMA845xQ accelerometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

mma8451q_initialize_i2c returns a standard status code.

Thread Safety

mma8451q_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


415

<mma8491q.h>

Overview

Driver for a Freescale MMA8491Q accelerometer.

Resources


Web page

MMA8491Q

Datasheet

MMA8491Q

Test hardware

This code has been tested using an eLement-14/Freescale XTRINSIC-SENSORS-EVK:

http://uk.farnell.com/freescale-semiconductor/xtrinsic-sensors-evk/evaluation-kit-xtrinsic-sensor/

dp/2308734

This was wired to a CoreStack and installed on a SolderCore:


Specification


Bandwidth (Hz) 1.56, 6.25, 12.5, 50, 100, 200, 400, 800

Range (g) ±8

Communication 400 kHz (I2C)

API Summary

Macros

MMA8491Q_I2C_ADDR MMA8491Q 8-bit I2C address

Functions

mma8491q_initialize_i2c Initialize sensor on I2C bus







416

MMA8491Q_I2C_ADDR

Synopsis

#define MMA8491Q_I2C_ADDR 0xAA


417

mma8491q_initialize_i2c

Synopsis

CTL_STATUS_t mma8491q_initialize_i2c(MMA8491Q_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr, CTL_STATUS_t write_en *self, int);

Description

mma8491q_initialize_i2c initializes the accelerometer interface self with methods to communicate with an

MMA8491Q accelerometer on the I2C bus bus with 8-bit I2C address addr.



Return Value

mma8491q_initialize_i2c returns a standard status code.

Thread Safety

mma8491q_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


418

<mpu6000.h>

Overview

Driver for InvenSense MPU-6000 and MPU-6050 IMUs.

Resources


Web page

http://invensense.com/mems/gyro/mpu6050.html

Datasheet

http://invensense.com/mems/gyro/documents/RM-MPU-6000A.pdf

Test hardware

This code has been tested using a SolderCore CoreMPU module:

http://soldercore.com/products/sensecore/corempu/





API Summary

Macros

MPU6000_I2C_ADDR MPU-6000 8-bit I2C address selected with AD0 signal

Types

MPU6000_t Sensor group

Functions

mpu6000_aux_transport_setup Initialize transport on auxiliary I2C bus

mpu6000_initialize_i2c Initialize sensor on I2C bus

mpu6000_initialize_spi Initialize sensor on SPI bus

mpu6000_read_die_temperature Read die temperature

mpu6000_revision Decode device and silicon revision

http://invensense.com/mems/gyro/mpu6050.html

http://invensense.com/mems/gyro/documents/RM-MPU-6000A.pdf

http://soldercore.com/products/sensecore/corempu/




419

MPU6000_I2C_ADDR

Synopsis

#define MPU6000_I2C_ADDR(AD0) (0xD0 + 2*(AD0))


420

MPU6000_t

Synopsis

typedef struct { CTL_IMU_t core; CTL_GYROSCOPE_t gyro; CTL_ACCELEROMETER_t accel; unsigned char __product_id;} MPU6000_t;

Description

MPU6000_t contains the instance data for the MPU-6000 accelerometer and gyroscope sensor group.

Structure

core


accel

The instance containing the state of the MPU-6000 accelerometer.

gyro

The instance containing the state of the MPU-6000 gyroscope.

__product_id

A private member that contains the value read from the MPU-6000's product ID register.


421

mpu6000_aux_transport_setup

Synopsis

CTL_STATUS_t mpu6000_aux_transport_setup(CTL_TRANSPORT_t *aux, MPU6000_t *mpu);

Description

mpu6000_aux_transport_setup initializes the transport aux to issue I2C transactions on the MPU-60x0 mpu

auxiliary I2C bus. This allows SPI-based MPU-6000s to control a magnetometer, or any other sensor, attached to

its auxiliary I2C bus.

Return Value

mpu6000_aux_transport_setup returns a standard status code.

Thread Safety

mpu6000_aux_transport_setup is thread-safe if the transport aux is thread-safe. Typically, for SPI and I2C


See Also

<ctl_sensors.h>


422

mpu6000_initialize_i2c

Synopsis

CTL_STATUS_t mpu6000_initialize_i2c(MPU6000_t *self, CTL_I2C_BUS_t *bus, int addr);

Description

mpu6000_initialize_i2c initializes the MPU-6000's accelerometer and gyroscope on the I2C bus bus using the

8-bit I2C address addr. When complete, the the IMU member core is initialized pointing to the appropriate

members within self with the magnetometer set to zero.

Return Value

mpu6000_initialize_i2c returns a standard status code.

Thread Safety

mpu6000_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


423

mpu6000_initialize_spi

Synopsis

CTL_STATUS_t mpu6000_initialize_spi(MPU6000_t *self, CTL_SPI_DEVICE_t *dev);

Description

mpu6000_initialize_spi initializes the MPU-6000's accelerometer and gyroscope, on the SPI bus associated with

dev. The MPU-6000 device dev is initialized to 8-bit mode 0 at 1 MHz. When complete, the the IMU member core

is initialized pointing to the appropriate members within self with the magnetometer set to zero.

Return Value

mpu6000_initialize_spi returns a standard status code.

Thread Safety

mpu6000_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.

See Also

<ctl_sensors.h>


424

mpu6000_read_die_temperature

Synopsis

CTL_STATUS_t mpu6000_read_die_temperature(MPU6000_t *self, float *temp);

Description

this reads the die temperature of the MPU-6000 into temp.

Return Value

mpu6000_read_die_temperature returns a standard status code. If the status indicates an error, the returned


Thread Safety

mpu6000_read_die_temperature is thread-safe if the transport member in self is thread-safe. Typically, for SPI



425

mpu6000_revision

Synopsis

char *mpu6000_revision(const MPU6000_t *self);

Description

mpu6000_revision decodes the product ID into a printable string describing the specific device and silicon

revision.

mpu6000_revision returns a string describing the specific device.


426

<sca3000.h>

Overview

Driver for a VTI SCA3000 3-axis accelerometer.

Resources


Web page

http://www.vti.fi/en/products/accelerometers

Datasheet

http://www.sparkfun.com/datasheets/Sensors/Accelerometer/SCA3000-Manual.pdf

Test hardware

This code has been tested using a SparkFun SCA3000 Breakout:






Specification

Device I2C SPI Range

SCA3000-D01 1.6 MHz ±2 g

SCA3000-D02 400 kHz ±2 g

SCA3000-D03 400 kHz 3.2 MHz ±1.1 g

SCA3000-E01 325 kHz ±3 g

SCA3000-E02 100 kHz ±6 g

SCA3000-E04 325 kHz ±18 g

http://www.vti.fi/en/products/accelerometers

http://www.sparkfun.com/datasheets/Sensors/Accelerometer/SCA3000-Manual.pdf





427

SCA3000-L01 100 kHz 1.6 MHz ±4 g

API Summary

Functions

sca3000_initialize_i2c Initialize sensor on I2C bus

sca3000_initialize_spi Initialize sensor on SPI bus


428

sca3000_initialize_i2c

Synopsis

CTL_STATUS_t sca3000_initialize_i2c(CTL_ACCELEROMETER_t *self, CTL_I2C_BUS_t *bus, int addr, SCA3000_DEVICE_t variant);

Description

sca3000_initialize_i2c initializes the accelerometer interface self with methods to communicate with an

SCA3000 accelerometer on the I2C bus bus with 8-bit I2C address addr. The particular SCA3000 device variant is

specified by variant.



Return Value

sca3000_initialize_i2c returns a standard status code.

Thread Safety

sca3000_initialize_i2c is thread-safe if a mutex is associated with the I2C bus bus.

See Also

<ctl_sensors.h>


429

sca3000_initialize_spi

Synopsis

CTL_STATUS_t sca3000_initialize_spi(CTL_ACCELEROMETER_t *self, CTL_SPI_DEVICE_t *dev, SCA3000_DEVICE_t variant);

Description

sca3000_initialize_spi initializes the accelerometer interface self with methods to communicate with an

SCA3000 accelerometer on the SPI bus associated with dev. The particular SCA3000 device variant is specified by

variant. The protocol for device dev is set to 1 MHz, 8-bit SPI mode 0.



Return Value

sca3000_initialize_spi returns a standard status code.

Thread Safety

sca3000_initialize_spi is thread-safe if a mutex is associated with the SPI bus that dev is attached to.

See Also

<ctl_sensors.h>