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sensors: lis2mdl local implemaentation #582

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53 changes: 41 additions & 12 deletions sensors/mag/lis2mdl.c
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Original file line number Diff line number Diff line change
Expand Up @@ -131,26 +131,45 @@ static int lis2mdl_hwSetup(lis2mdl_ctx_t *ctx)
}


static void lis2mdl_threadPublish(void *data)
int lis2mdl_read(const sensor_info_t *info, const sensor_event_t **evt)
{
int err;
sensor_info_t *info = (sensor_info_t *)data;
lis2mdl_ctx_t *ctx = info->ctx;
uint8_t ibuf[SENSOR_OUTPUT_SIZE] = { 0 };
const uint8_t obuf = REG_DATA_OUT | SPI_READ_BIT;
int err;

err = sensorsspi_xfer(&ctx->spiCtx, &ctx->spiSS, &obuf, sizeof(obuf), ibuf, sizeof(ibuf), sizeof(obuf));

if (err < 0) {
fprintf(stderr, "lis2mdl read: %d\n", err);
return -1;
}

gettime(&(ctx->evt.timestamp), NULL);
ctx->evt.mag.magX = translateMag(ibuf[1], ibuf[0]);
ctx->evt.mag.magY = -translateMag(ibuf[3], ibuf[2]); /* minus accounts for non right-handness of measurement */
ctx->evt.mag.magZ = translateMag(ibuf[5], ibuf[4]);

if (evt != NULL) {
*evt = &ctx->evt;
}

return 1;
}


static void lis2mdl_threadPublish(void *data)
{
sensor_info_t *info = (sensor_info_t *)data;

while (1) {
usleep(100 * 1000);

err = sensorsspi_xfer(&ctx->spiCtx, &ctx->spiSS, &obuf, sizeof(obuf), ibuf, sizeof(ibuf), sizeof(obuf));

if (err >= 0) {
gettime(&(ctx->evt.timestamp), NULL);
ctx->evt.mag.magX = translateMag(ibuf[1], ibuf[0]);
ctx->evt.mag.magY = -translateMag(ibuf[3], ibuf[2]); /* minus accounts for non right-handness of measurement */
ctx->evt.mag.magZ = translateMag(ibuf[5], ibuf[4]);
sensors_publish(info->id, &ctx->evt);
if (lis2mdl_read(info, NULL) < 0) {
continue;
}

sensors_publish(info->id, &ctx->evt);
}
}

Expand All @@ -169,6 +188,14 @@ static int lis2mdl_start(sensor_info_t *info)
}


int lis2mdl_dealloc(sensor_info_t *info)
{
free((lis2mdl_ctx_t *)info->ctx);

return 0;
}


static int lis2mdl_alloc(sensor_info_t *info, const char *args)
{
lis2mdl_ctx_t *ctx;
Expand Down Expand Up @@ -220,7 +247,9 @@ void __attribute__((constructor)) lis2mdl_mag_register(void)
static sensor_drv_t sensor = {
.name = "lis2mdl",
.alloc = lis2mdl_alloc,
.start = lis2mdl_start
.dealloc = lis2mdl_dealloc,
.start = lis2mdl_start,
.read = lis2mdl_read
};

sensors_register(&sensor);
Expand Down
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