Merge branch 'development'

docs/source/Doxyfile

@@ -864,7 +864,7 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = ../../src ../../inc
+INPUT                  = ../../src ../../inc ../../extras
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

docs/source/advanced-usage/extras.rst

@@ -0,0 +1,34 @@
+.. _extras:
+
+Extra Modules
+=============
+
+Simple AHRS
+"""""""""""
+
+Simple attitude and heading reference system module can return pitch and roll angles using acceleration value. Include ``mpu925x_simple_ahrs.h`` in desired source file and compile ``mpu925x_simple_ahrs.c`` source file with target program.
+
+.. code-block:: c
+	:caption: Example Code
+
+	#include "mpu925x.h"
+	#include "mpu925x_simple_ahrs.h"
+
+	// Create struct instances.
+	mpu925x_t mpu925x;
+	mpu925x_simple_ahrs ahrs;
+
+	// Initialize driver.
+	mpu925x_init(&mpu925x, 0);
+
+	// Get values.
+	mpu925x_get_acceleration(&mpu925x);
+	mpu925x_get_simple_ahrs(&mpu925x, &ahrs);
+
+	printf("Pitch: %f, Roll: %f\n", ahrs.pitch, ahrs.roll);
+
+API Reference
+^^^^^^^^^^^^^
+
+	.. doxygenfile:: mpu925x_simple_ahrs.h
+	:project: mpu925x-driver

docs/source/advanced-usage/index.rst

@@ -12,4 +12,4 @@ Advanced Usage
 	accelerometer
 	gyroscope
 	magnetometer
-	fifo
+	extras

docs/source/getting-started/index.rst

@@ -11,6 +11,7 @@ Adding to Your Project
 3. Add ``src/mpu925x_core.c``, ``src/mpu925x_settings.c`` and ``src/mpu925x_internals.c`` source files to your project's build toolchain. 
 4. Provide bus handle, bus read, bus write and delay functions depending on your platform (see: :ref:`porting guide<porting-guide>`).
 5. Include ``mpu925x.h`` header to your desired source files.
+6. [EXTRAS] Extra modules can be compiled with program if any of the extra functionalities needed. Extra modules are located in ``extras`` directory.
 
 Simple Usage
 ^^^^^^^^^^^^

examples/stm32_hal_i2c.c

@@ -58,9 +58,9 @@ int main()
 
 		.settings = {
 			// Other settings
-			.accelerometer_scale = _2g,
-			.gyroscope_scale = _250dps,
-			.orientation = z_minus
+			.accelerometer_scale = mpu925x_2g,
+			.gyroscope_scale = mpu925x_250dps,
+			.orientation = mpu925x_z_minus
 		}
 	};
 

extras/mpu925x_simple_ahrs.c

@@ -0,0 +1,44 @@
+/**
+ * @file
+ * @author Ceyhun Şen
+ * @brief Simple AHRS source file for MPU-925X driver.
+ * */
+
+/*
+ * MIT License
+ * 
+ * Copyright (c) 2022 Ceyhun Şen
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * */
+
+#include "mpu925x_simple_ahrs.h"
+#include <math.h>
+
+/**
+ * @brief Get pitch and roll angles.
+ * @param mpu925x MPU-925X struct pointer.
+ * @param ahrs Simple AHRS struct pointer.
+ * */
+void mpu925x_get_simple_ahrs(mpu925x_t *mpu925x, mpu925x_simple_ahrs *ahrs)
+{
+	ahrs->pitch = asin(mpu925x->sensor_data.acceleration[0] / sqrt(mpu925x->sensor_data.acceleration[0] * mpu925x->sensor_data.acceleration[0] + mpu925x->sensor_data.acceleration[1] * mpu925x->sensor_data.acceleration[1] + mpu925x->sensor_data.acceleration[2] * mpu925x->sensor_data.acceleration[2])) * 120;
+
+	ahrs->roll = atan(mpu925x->sensor_data.acceleration[1] / mpu925x->sensor_data.acceleration[2]) * 120;
+}

extras/mpu925x_simple_ahrs.h

@@ -0,0 +1,46 @@
+/**
+ * @file
+ * @author Ceyhun Şen
+ * @brief Simple AHRS header file for MPU-925X driver.
+ * */
+
+/*
+ * MIT License
+ * 
+ * Copyright (c) 2022 Ceyhun Şen
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * */
+
+#ifndef __MPU925X_SIMPLE_AHRS_H
+#define __MPU925X_SIMPLE_AHRS_H
+
+#include "mpu925x.h"
+
+/**
+ * @brief Pitch and roll angles for simple AHRS.
+ * */
+typedef struct mpu925x_simple_ahrs {
+	float pitch;
+	float roll;
+} mpu925x_simple_ahrs;
+
+void mpu925x_get_simple_ahrs(mpu925x_t *mpu925x, mpu925x_simple_ahrs *ahrs);
+
+#endif // __MPU925X_SIMPLE_AHRS_H

inc/mpu925x_internals.h

@@ -49,9 +49,6 @@ void mpu925x_get_accelerometer_bias(mpu925x_t *mpu925x, int16_t *bias);
 
 void mpu925x_bus_write_preserve(mpu925x_t *mpu925x, uint8_t slave_address, uint8_t reg, uint8_t *buffer, uint8_t size, uint8_t and_sentence);
 
-uint8_t ak8963_bus_read(mpu925x_t *mpu925x, uint8_t read_register, uint8_t *buffer, uint8_t size);
-uint8_t ak8963_bus_write(mpu925x_t *mpu925x, uint8_t write_register, uint8_t *buffer, uint8_t size);
-
 #define convert8bitto16bit(x, y)   (((x) << 8) | (y))
 #define powerof2(x)                (1 << (x))
 

src/mpu925x_core.c

@@ -168,7 +168,7 @@ void mpu925x_get_magnetic_field_raw(mpu925x_t *mpu925x)
 	switch (mpu925x->settings.measurement_mode) {
 		case mpu925x_single_measurement_mode:
 		case mpu925x_self_test_mode:
-			ak8963_bus_read(mpu925x, ST1, buffer, 1);
+			mpu925x->master_specific.bus_read(mpu925x, AK8963_ADDRESS, ST1, buffer, 1);
 			if ((buffer[0] & 1) != 1) {
 				return;
 			}
@@ -178,7 +178,7 @@ void mpu925x_get_magnetic_field_raw(mpu925x_t *mpu925x)
 	}
 
 	// Read raw data and ST2 overflow register.
-	ak8963_bus_read(mpu925x, HXL, buffer, 7);
+	mpu925x->master_specific.bus_read(mpu925x, AK8963_ADDRESS, HXL, buffer, 7);
 
 	// Check overflow.
 	if ((buffer[6] & 0x08) == 0x08) {

src/mpu925x_internals.c

@@ -33,7 +33,7 @@
 
 /**
  * @brief Initialize accelerometer and gyro.
- * @param mpu925x Struct that holds sensor data.
+ * @param mpu925x MPU-925X struct pointer.
  * @returns 0 on success, 1 on failure.
  * */
 uint8_t __mpu925x_init(mpu925x_t *mpu925x)
@@ -70,15 +70,15 @@ uint8_t __mpu925x_init(mpu925x_t *mpu925x)
 
 /**
  * @brief Initialize magnetometer.
- * @param mpu925x Struct that holds sensor data.
+ * @param mpu925x MPU-925X struct pointer.
  * @returns 0 on success, 1 on failure.
  * */
 uint8_t __ak8963_init(mpu925x_t *mpu925x)
 {
 	uint8_t buffer;
 
 	// Check WIA register. WIA register should return 0x48.
-	ak8963_bus_read(mpu925x, WIA, &buffer, 1);
+	mpu925x->master_specific.bus_read(mpu925x, AK8963_ADDRESS, WIA, &buffer, 1);
 	if (buffer != 0x48)
 		return 1;
 
@@ -93,7 +93,7 @@ uint8_t __ak8963_init(mpu925x_t *mpu925x)
 
 	// Read coefficient data and save it.
 	uint8_t coef_data[3];
-	ak8963_bus_read(mpu925x, ASAX, coef_data, 3);
+	mpu925x->master_specific.bus_read(mpu925x, AK8963_ADDRESS, ASAX, coef_data, 3);
 	for (uint8_t i = 0; i < 3; i++) {
 		mpu925x->settings.magnetometer_coefficient[i] = (coef_data[i] - 128) * 0.5 / 128 + 1;
 	}
@@ -110,7 +110,7 @@ uint8_t __ak8963_init(mpu925x_t *mpu925x)
 
 /**
  * @brief Get acceleration bias.
- * @param mpu925x Struct that holds sensor data.
+ * @param mpu925x MPU-925X struct pointer.
  * @param bias 3d array which will hold bias values.
  * */
 void mpu925x_get_accelerometer_bias(mpu925x_t *mpu925x, int16_t *bias)
@@ -128,7 +128,7 @@ void mpu925x_get_accelerometer_bias(mpu925x_t *mpu925x, int16_t *bias)
 
 /**
  * @brief Write data to bus whilst preserving other bits (not ready for usage).
- * @param mpu925x Struct that holds sensor data.
+ * @param mpu925x MPU-925X struct pointer.
  * */
 void mpu925x_bus_write_preserve(mpu925x_t *mpu925x, uint8_t slave_address, uint8_t reg, uint8_t *buffer, uint8_t size, uint8_t and_sentence)
 {
@@ -143,51 +143,8 @@ void mpu925x_bus_write_preserve(mpu925x_t *mpu925x, uint8_t slave_address, uint8
 }
 
 /**
- * @brief Read data from AK8963 as slave of MPU-925X.
- * @param mpu925x Struct that holds sensor data.
- * @param read_register Read register.
- * @param buffer Read data buffer.
- * @param size Size of the data that will be read.
- * */
-uint8_t ak8963_bus_read(mpu925x_t *mpu925x, uint8_t read_register, uint8_t *buffer, uint8_t size)
-{
-	return mpu925x->master_specific.bus_read(mpu925x, AK8963_ADDRESS, read_register, buffer, size);
-	//~ uint8_t slave_data[3] = {(1 << 7) | AK8963_ADDRESS, read_register, (1 << 7) | size};
-	//~ mpu925x->master_specific.bus_write(mpu925x, I2C_SLV0_ADDR, slave_data, 3);
-	//~ mpu925x->master_specific.delay_ms(mpu925x, 1);
-	//~ return mpu925x->master_specific.bus_read(mpu925x, EXT_SENS_DATA_00, buffer, size);
-}
-
-/**
- * @brief Write data to AK8963 as a slave of MPU-925X.
- * @param mpu925x Struct that holds sensor data.
- * @param write_register Write register.
- * @param Write data buffer.
- * @param size Size of the data that will be written.
- * */
-uint8_t ak8963_bus_write(mpu925x_t *mpu925x, uint8_t write_register, uint8_t *buffer, uint8_t size)
-{
-	return mpu925x->master_specific.bus_write(mpu925x, AK8963_ADDRESS, write_register, buffer, size);
-	//~ uint8_t write_data[2];
-
-	//~ write_data[0] = 0;
-	//~ mpu925x->master_specific.bus_write(mpu925x, I2C_SLV0_CTRL, write_data, 1);
-
-	//~ for (uint16_t i = 0; i < size; i++) {
-		//~ write_data[0] = AK8963_ADDRESS;
-		//~ write_data[1] = write_register + i;
-		//~ mpu925x->master_specific.bus_write(mpu925x, I2C_SLV4_ADDR, write_data, 2);
-		//~ write_data[0] = buffer[i];
-		//~ write_data[1] = 1 << 7;
-		//~ mpu925x->master_specific.bus_write(mpu925x, I2C_SLV4_DO, write_data, 2);
-		//~ mpu925x->master_specific.delay_ms(mpu925x, 1);
-	//~ }
-	//~ return 0;
-}
-
-/**
- * @brief Reset MPU-925X.
- * @param mpu925x Struct that holds sensor data.
+ * @brief Reset MPU-925X sensor.
+ * @param mpu925x MPU-925X struct pointer.
  * */
 void mpu925x_reset(mpu925x_t *mpu925x)
 {
@@ -197,12 +154,12 @@ void mpu925x_reset(mpu925x_t *mpu925x)
 }
 
 /**
- * @brief Reset AK8963.
- * @param mpu925x Struct that holds sensor data.
+ * @brief Reset AK8963 sensor.
+ * @param mpu925x MPU-925X struct pointer.
  * */
 void ak8963_reset(mpu925x_t *mpu925x)
 {
 	uint8_t buffer = 1;
-	ak8963_bus_write(mpu925x, CNTL2, &buffer, 1);
+	mpu925x->master_specific.bus_write(mpu925x, AK8963_ADDRESS, CNTL2, &buffer, 1);
 	mpu925x->master_specific.delay_ms(mpu925x, 100);
 }

src/mpu925x_settings.c

@@ -332,7 +332,7 @@ void mpu925x_set_magnetometer_measurement_mode(mpu925x_t *mpu925x, mpu925x_magne
 	// Save measurement mode.
 	mpu925x->settings.measurement_mode = measurement_mode;
 
-	ak8963_bus_read(mpu925x, CNTL1, &buffer, 1);
+	mpu925x->master_specific.bus_read(mpu925x, AK8963_ADDRESS, CNTL1, &buffer, 1);
 	buffer &= 0b11110000;
 
 	switch (measurement_mode) {
@@ -360,7 +360,7 @@ void mpu925x_set_magnetometer_measurement_mode(mpu925x_t *mpu925x, mpu925x_magne
 			break;
 	}
 
-	ak8963_bus_write(mpu925x, CNTL1, &buffer, 1);
+	mpu925x->master_specific.bus_write(mpu925x, AK8963_ADDRESS, CNTL1, &buffer, 1);
 
 	mpu925x->master_specific.delay_ms(mpu925x, 100);
 }
@@ -378,7 +378,7 @@ void mpu925x_set_magnetometer_bit_mode(mpu925x_t *mpu925x, mpu925x_magnetometer_
 	// Save bit mode.
 	mpu925x->settings.bit_mode = bit_mode;
 
-	ak8963_bus_read(mpu925x, CNTL1, &buffer, 1);
+	mpu925x->master_specific.bus_read(mpu925x, AK8963_ADDRESS, CNTL1, &buffer, 1);
 	buffer &= 0b11101111;
 
 	switch (bit_mode) {
@@ -393,7 +393,7 @@ void mpu925x_set_magnetometer_bit_mode(mpu925x_t *mpu925x, mpu925x_magnetometer_
 			break;
 	}
 
-	ak8963_bus_write(mpu925x, CNTL1, &buffer, 1);
+	mpu925x->master_specific.bus_write(mpu925x, AK8963_ADDRESS, CNTL1, &buffer, 1);
 
 	mpu925x->master_specific.delay_ms(mpu925x, 100);
 }