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Code Issues Releases Activity

HMC5883: Clean up the mag driver

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This commit is contained in:
James Cotton 2011-08-21 01:29:55 -05:00
parent f756e9cbc8
commit 38d9df8fcb
3 changed files with 27 additions and 20 deletions
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5
flight/INS/pios_board.c
View File

@ -585,6 +585,11 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
.NVIC_IRQChannelCmd = ENABLE,
},
},
.M_ODR = PIOS_HMC5883_ODR_75,
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
.Gain = PIOS_HMC5883_GAIN_1_9,
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
};
#include "pios_bma180.h"

36
flight/PiOS/STM32F2xx/pios_hmc5883.c
View File

@ -37,17 +37,11 @@
/* Global Variables */
/* Local Types */
typedef struct {
uint8_t M_ODR; /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
uint8_t Meas_Conf; /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
uint8_t Gain; /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
uint8_t Mode;
} PIOS_HMC5883_ConfigTypeDef;
/* Local Variables */
volatile bool pios_hmc5883_data_ready;
static int32_t PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct);
static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg * cfg);
static int32_t PIOS_HMC5883_Read(uint8_t address, uint8_t * buffer, uint8_t len);
static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer);
@ -71,13 +65,7 @@ void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg)
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_Init(&cfg->eoc_irq.init);
/* Configure the HMC5883 Sensor */
PIOS_HMC5883_ConfigTypeDef HMC5883_InitStructure;
HMC5883_InitStructure.M_ODR = PIOS_HMC5883_ODR_75;
HMC5883_InitStructure.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL;
HMC5883_InitStructure.Gain = PIOS_HMC5883_GAIN_1_9;
HMC5883_InitStructure.Mode = PIOS_HMC5883_MODE_CONTINUOUS;
int32_t val = PIOS_HMC5883_Config(&HMC5883_InitStructure);
int32_t val = PIOS_HMC5883_Config(cfg);
PIOS_Assert(val == 0);
@ -144,15 +132,15 @@ void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg)
* 1 | 1 | Sleep Mode
*/
static uint8_t CTRLB = 0x00;
static int32_t PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct)
static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg * cfg)
{
uint8_t CTRLA = 0x00;
uint8_t MODE = 0x00;
CTRLB = 0;
CTRLA |= (uint8_t) (HMC5883_Config_Struct->M_ODR | HMC5883_Config_Struct->Meas_Conf);
CTRLB |= (uint8_t) (HMC5883_Config_Struct->Gain);
MODE |= (uint8_t) (HMC5883_Config_Struct->Mode);
CTRLA |= (uint8_t) (cfg->M_ODR | cfg->Meas_Conf);
CTRLB |= (uint8_t) (cfg->Gain);
MODE |= (uint8_t) (cfg->Mode);
// CRTL_REGA
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, CTRLA) != 0)
@ -174,6 +162,8 @@ static int32_t PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_S
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
* \return 0 for success or -1 for failure
*/
uint32_t fail = 0;
uint32_t succeed = 0;
int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
{
pios_hmc5883_data_ready = false;
@ -181,8 +171,11 @@ int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
int32_t temp;
int32_t sensitivity;
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6) != 0)
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6) != 0) {
fail++;
return -1;
}
succeed++;
switch (CTRLB & 0xE0) {
case 0x00:
@ -223,6 +216,9 @@ int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
out[2] = out[1];
out[1] = temp;
// This should not be necessary but for some reason it is coming out of continuous conversion mode
PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_CONTINUOUS);
return 0;
}
@ -382,7 +378,7 @@ int32_t PIOS_HMC5883_Test(void)
failed |= 1;
if(abs(values[2] - 713) > 20)
failed |= 1;
*/
*/
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, &ctrl_a_read,1);
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_B, &ctrl_b_read,1);

6
flight/PiOS/inc/pios_hmc5883.h
View File

@ -97,6 +97,12 @@ struct pios_hmc5883_cfg {
struct stm32_gpio drdy;
struct stm32_exti eoc_exti;
struct stm32_irq eoc_irq;
uint8_t M_ODR; /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
uint8_t Meas_Conf; /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
uint8_t Gain; /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
uint8_t Mode;
};
/* Public Functions */