diff --git a/flight/pios/common/pios_hmc5x83.c b/flight/pios/common/pios_hmc5x83.c new file mode 100644 index 000000000..922b5fde7 --- /dev/null +++ b/flight/pios/common/pios_hmc5x83.c @@ -0,0 +1,518 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_HMC5x83 HMC5x83 Functions + * @brief Deals with the hardware interface to the magnetometers + * @{ + * @file pios_hmc5x83.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @brief HMC5x83 Magnetic Sensor Functions from AHRS + * @see The GNU Public License (GPL) Version 3 + * + ****************************************************************************** + */ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "pios.h" +#include + +#ifdef PIOS_INCLUDE_HMC5X83 + +/* Global Variables */ + +/* Local Types */ + +/* Local Variables */ +volatile bool pios_hmc5x83_data_ready; + +static int32_t PIOS_HMC5x83_Config(const struct pios_hmc5x83_cfg *cfg); +// static int32_t PIOS_HMC5x83_Read(uint8_t address, uint8_t *buffer, uint8_t len); +// static int32_t PIOS_HMC5x83_Write(uint8_t address, uint8_t buffer); + +static const struct pios_hmc5x83_cfg *dev_cfg; +static uint32_t dev_port_id; +static uint8_t dev_slave_num; +/** + * @brief Initialize the HMC5x83 magnetometer sensor. + * @return none + */ +void PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t slave_num) +{ + dev_cfg = cfg; // store config before enabling interrupt + dev_port_id = port_id; + dev_slave_num = slave_num; +#ifdef PIOS_HMC5X83_HAS_GPIOS + PIOS_EXTI_Init(cfg->exti_cfg); +#endif + + int32_t val = PIOS_HMC5x83_Config(cfg); + + PIOS_Assert(val == 0); + + pios_hmc5x83_data_ready = false; +} + +/** + * @brief Initialize the HMC5x83 magnetometer sensor + * \return none + * \param[in] PIOS_HMC5x83_ConfigTypeDef struct to be used to configure sensor. + * + * CTRL_REGA: Control Register A + * Read Write + * Default value: 0x10 + * 7:5 0 These bits must be cleared for correct operation. + * 4:2 DO2-DO0: Data Output Rate Bits + * DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz) + * ------------------------------------------------------ + * 0 | 0 | 0 | 0.75 + * 0 | 0 | 1 | 1.5 + * 0 | 1 | 0 | 3 + * 0 | 1 | 1 | 7.5 + * 1 | 0 | 0 | 15 (default) + * 1 | 0 | 1 | 30 + * 1 | 1 | 0 | 75 + * 1 | 1 | 1 | Not Used + * 1:0 MS1-MS0: Measurement Configuration Bits + * MS1 | MS0 | MODE + * ------------------------------ + * 0 | 0 | Normal + * 0 | 1 | Positive Bias + * 1 | 0 | Negative Bias + * 1 | 1 | Not Used + * + * CTRL_REGB: Control RegisterB + * Read Write + * Default value: 0x20 + * 7:5 GN2-GN0: Gain Configuration Bits. + * GN2 | GN1 | GN0 | Mag Input | Gain | Output Range + * | | | Range[Ga] | [LSB/mGa] | + * ------------------------------------------------------ + * 0 | 0 | 0 | ±0.88Ga | 1370 | 0xF800–0x07FF (-2048:2047) + * 0 | 0 | 1 | ±1.3Ga (def) | 1090 | 0xF800–0x07FF (-2048:2047) + * 0 | 1 | 0 | ±1.9Ga | 820 | 0xF800–0x07FF (-2048:2047) + * 0 | 1 | 1 | ±2.5Ga | 660 | 0xF800–0x07FF (-2048:2047) + * 1 | 0 | 0 | ±4.0Ga | 440 | 0xF800–0x07FF (-2048:2047) + * 1 | 0 | 1 | ±4.7Ga | 390 | 0xF800–0x07FF (-2048:2047) + * 1 | 1 | 0 | ±5.6Ga | 330 | 0xF800–0x07FF (-2048:2047) + * 1 | 1 | 1 | ±8.1Ga | 230 | 0xF800–0x07FF (-2048:2047) + * |Not recommended| + * + * 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation. + * + * _MODE_REG: Mode Register + * Read Write + * Default value: 0x02 + * 7:2 0 These bits must be cleared for correct operation. + * 1:0 MD1-MD0: Mode Select Bits + * MS1 | MS0 | MODE + * ------------------------------ + * 0 | 0 | Continuous-Conversion Mode. + * 0 | 1 | Single-Conversion Mode + * 1 | 0 | Negative Bias + * 1 | 1 | Sleep Mode + */ +static uint8_t CTRLB = 0x00; +static int32_t PIOS_HMC5x83_Config(const struct pios_hmc5x83_cfg *cfg) +{ + uint8_t CTRLA = 0x00; + uint8_t MODE = 0x00; + + CTRLB = 0; + + CTRLA |= (uint8_t)(cfg->M_ODR | cfg->Meas_Conf); + CTRLB |= (uint8_t)(cfg->Gain); + MODE |= (uint8_t)(cfg->Mode); + + // CRTL_REGA + if (dev_cfg->Driver->Write(PIOS_HMC5x83_CONFIG_REG_A, CTRLA) != 0) { + return -1; + } + + // CRTL_REGB + if (dev_cfg->Driver->Write(PIOS_HMC5x83_CONFIG_REG_B, CTRLB) != 0) { + return -1; + } + + // Mode register + if (dev_cfg->Driver->Write(PIOS_HMC5x83_MODE_REG, MODE) != 0) { + return -1; + } + + return 0; +} + +/** + * @brief Read current X, Z, Y values (in that order) + * \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings + * \return 0 for success or -1 for failure + */ +int32_t PIOS_HMC5x83_ReadMag(int16_t out[3]) +{ + pios_hmc5x83_data_ready = false; + uint8_t buffer[6]; + int32_t temp; + int32_t sensitivity; + + if (dev_cfg->Driver->Read(PIOS_HMC5x83_DATAOUT_XMSB_REG, buffer, 6) != 0) { + return -1; + } + + switch (CTRLB & 0xE0) { + case 0x00: + sensitivity = PIOS_HMC5x83_Sensitivity_0_88Ga; + break; + case 0x20: + sensitivity = PIOS_HMC5x83_Sensitivity_1_3Ga; + break; + case 0x40: + sensitivity = PIOS_HMC5x83_Sensitivity_1_9Ga; + break; + case 0x60: + sensitivity = PIOS_HMC5x83_Sensitivity_2_5Ga; + break; + case 0x80: + sensitivity = PIOS_HMC5x83_Sensitivity_4_0Ga; + break; + case 0xA0: + sensitivity = PIOS_HMC5x83_Sensitivity_4_7Ga; + break; + case 0xC0: + sensitivity = PIOS_HMC5x83_Sensitivity_5_6Ga; + break; + case 0xE0: + sensitivity = PIOS_HMC5x83_Sensitivity_8_1Ga; + break; + default: + PIOS_Assert(0); + } + + for (int i = 0; i < 3; i++) { + temp = ((int16_t)((uint16_t)buffer[2 * i] << 8) + + buffer[2 * i + 1]) * 1000 / sensitivity; + out[i] = temp; + } + // Data reads out as X,Z,Y + temp = out[2]; + out[2] = out[1]; + out[1] = temp; + + // This should not be necessary but for some reason it is coming out of continuous conversion mode + dev_cfg->Driver->Write(PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_CONTINUOUS); + + return 0; +} + + +/** + * @brief Read the identification bytes from the HMC5x83 sensor + * \param[out] uint8_t array of size 4 to store HMC5x83 ID. + * \return 0 if successful, -1 if not + */ +uint8_t PIOS_HMC5x83_ReadID(uint8_t out[4]) +{ + uint8_t retval = dev_cfg->Driver->Read(PIOS_HMC5x83_DATAOUT_IDA_REG, out, 3); + + out[3] = '\0'; + return retval; +} + +/** + * @brief Tells whether new magnetometer readings are available + * \return true if new data is available + * \return false if new data is not available + */ +bool PIOS_HMC5x83_NewDataAvailable(void) +{ + return pios_hmc5x83_data_ready; +} + +/** + * @brief Run self-test operation. Do not call this during operational use!! + * \return 0 if success, -1 if test failed + */ +int32_t PIOS_HMC5x83_Test(void) +{ + int32_t failed = 0; + uint8_t registers[3] = { 0, 0, 0 }; + uint8_t status; + uint8_t ctrl_a_read; + uint8_t ctrl_b_read; + uint8_t mode_read; + int16_t values[3]; + + + /* Verify that ID matches (HMC5x83 ID is null-terminated ASCII string "H43") */ + char id[4]; + + PIOS_HMC5x83_ReadID((uint8_t *)id); + if ((id[0] != 'H') || (id[1] != '4') || (id[2] != '3')) { // Expect H43 + return -1; + } + + /* Backup existing configuration */ + if (dev_cfg->Driver->Read(PIOS_HMC5x83_CONFIG_REG_A, registers, 3) != 0) { + return -1; + } + + /* Stop the device and read out last value */ + PIOS_DELAY_WaitmS(10); + if (dev_cfg->Driver->Write(PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_IDLE) != 0) { + return -1; + } + if (dev_cfg->Driver->Read(PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1) != 0) { + return -1; + } + if (PIOS_HMC5x83_ReadMag(values) != 0) { + return -1; + } + + /* + * Put HMC5x83 into self test mode + * This is done by placing measurement config into positive (0x01) or negative (0x10) bias + * and then placing the mode register into single-measurement mode. This causes the HMC5x83 + * to create an artificial magnetic field of ~1.1 Gauss. + * + * If gain were PIOS_HMC5x83_GAIN_2_5, for example, X and Y will read around +766 LSB + * (1.16 Ga * 660 LSB/Ga) and Z would read around +713 LSB (1.08 Ga * 660 LSB/Ga) + * + * Changing measurement config back to PIOS_HMC5x83_MEASCONF_NORMAL will leave self-test mode. + */ + PIOS_DELAY_WaitmS(10); + if (dev_cfg->Driver->Write(PIOS_HMC5x83_CONFIG_REG_A, PIOS_HMC5x83_MEASCONF_BIAS_POS | PIOS_HMC5x83_ODR_15) != 0) { + return -1; + } + PIOS_DELAY_WaitmS(10); + if (dev_cfg->Driver->Write(PIOS_HMC5x83_CONFIG_REG_B, PIOS_HMC5x83_GAIN_8_1) != 0) { + return -1; + } + PIOS_DELAY_WaitmS(10); + if (dev_cfg->Driver->Write(PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_SINGLE) != 0) { + return -1; + } + + /* Must wait for value to be updated */ + PIOS_DELAY_WaitmS(200); + + if (PIOS_HMC5x83_ReadMag(values) != 0) { + return -1; + } + + /* + if(abs(values[0] - 766) > 20) + failed |= 1; + if(abs(values[1] - 766) > 20) + failed |= 1; + if(abs(values[2] - 713) > 20) + failed |= 1; + */ + + dev_cfg->Driver->Read(PIOS_HMC5x83_CONFIG_REG_A, &ctrl_a_read, 1); + dev_cfg->Driver->Read(PIOS_HMC5x83_CONFIG_REG_B, &ctrl_b_read, 1); + dev_cfg->Driver->Read(PIOS_HMC5x83_MODE_REG, &mode_read, 1); + dev_cfg->Driver->Read(PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1); + + + /* Restore backup configuration */ + PIOS_DELAY_WaitmS(10); + if (dev_cfg->Driver->Write(PIOS_HMC5x83_CONFIG_REG_A, registers[0]) != 0) { + return -1; + } + PIOS_DELAY_WaitmS(10); + if (dev_cfg->Driver->Write(PIOS_HMC5x83_CONFIG_REG_B, registers[1]) != 0) { + return -1; + } + PIOS_DELAY_WaitmS(10); + if (dev_cfg->Driver->Write(PIOS_HMC5x83_MODE_REG, registers[2]) != 0) { + return -1; + } + + return failed; +} + +/** + * @brief IRQ Handler + */ +bool PIOS_HMC5x83_IRQHandler(void) +{ + pios_hmc5x83_data_ready = true; + + return false; +} + +#ifdef PIOS_INCLUDE_SPI +int32_t PIOS_HMC5x83_SPI_Read(uint8_t address, uint8_t *buffer, uint8_t len); +int32_t PIOS_HMC5x83_SPI_Write(uint8_t address, uint8_t buffer); + +const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER = { + .Read = PIOS_HMC5x83_SPI_Read, + .Write = PIOS_HMC5x83_SPI_Write, +}; + +static int32_t pios_hmc5x83_spi_claim_bus() +{ + if (PIOS_SPI_ClaimBus(dev_port_id) < 0) { + return -1; + } + PIOS_SPI_RC_PinSet(dev_port_id, dev_slave_num, 0); + return 0; +} + +static void pios_hmc5x83_spi_release_bus() +{ + PIOS_SPI_RC_PinSet(dev_port_id, dev_slave_num, 1); + PIOS_SPI_ReleaseBus(dev_port_id); +} +/** + * @brief Reads one or more bytes into a buffer + * \param[in] address HMC5x83 register address (depends on size) + * \param[out] buffer destination buffer + * \param[in] len number of bytes which should be read + * \return 0 if operation was successful + * \return -1 if error during I2C transfer + * \return -2 if unable to claim i2c device + */ +int32_t PIOS_HMC5x83_SPI_Read(uint8_t address, uint8_t *buffer, uint8_t len) +{ + if (pios_hmc5x83_spi_claim_bus() < 0) { + return -1; + } + + memset(buffer, 0xA5, len); + PIOS_SPI_TransferByte(dev_port_id, address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG | PIOS_HMC5x83_SPI_READ_FLAG); + + // buffer[0] = address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG | PIOS_HMC5x83_SPI_READ_FLAG; + /* Copy the transfer data to the buffer */ + if (PIOS_SPI_TransferBlock(dev_port_id, NULL, buffer, len, NULL) < 0) { + pios_hmc5x83_spi_release_bus(); + return -3; + } + pios_hmc5x83_spi_release_bus(); + return 0; +} + +/** + * @brief Writes one or more bytes to the HMC5x83 + * \param[in] address Register address + * \param[in] buffer source buffer + * \return 0 if operation was successful + * \return -1 if error during I2C transfer + * \return -2 if unable to claim spi device + */ +int32_t PIOS_HMC5x83_SPI_Write(uint8_t address, uint8_t buffer) +{ + if (pios_hmc5x83_spi_claim_bus() < 0) { + return -1; + } + uint8_t data[] = { + address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG, + buffer, + }; + + if (PIOS_SPI_TransferBlock(dev_port_id, data, NULL, sizeof(data), NULL) < 0) { + pios_hmc5x83_spi_release_bus(); + return -2; + } + + pios_hmc5x83_spi_release_bus(); + return 0; +} +#endif /* ifdef PIOS_INCLUDE_SPI */ +#ifdef PIOS_INCLUDE_I2C + +int32_t PIOS_HMC5x83_I2C_Read(uint8_t address, uint8_t *buffer, uint8_t len); +int32_t PIOS_HMC5x83_I2C_Write(uint8_t address, uint8_t buffer); + +const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER = { + .Read = PIOS_HMC5x83_I2C_Read, + .Write = PIOS_HMC5x83_I2C_Write, +}; + +/** + * @brief Reads one or more bytes into a buffer + * \param[in] address HMC5x83 register address (depends on size) + * \param[out] buffer destination buffer + * \param[in] len number of bytes which should be read + * \return 0 if operation was successful + * \return -1 if error during I2C transfer + * \return -2 if unable to claim i2c device + */ +int32_t PIOS_HMC5x83_I2C_Read(uint8_t address, uint8_t *buffer, uint8_t len) +{ + uint8_t addr_buffer[] = { + address, + }; + + const struct pios_i2c_txn txn_list[] = { + { + .info = __func__, + .addr = PIOS_HMC5x83_I2C_ADDR, + .rw = PIOS_I2C_TXN_WRITE, + .len = sizeof(addr_buffer), + .buf = addr_buffer, + } + , + { + .info = __func__, + .addr = PIOS_HMC5x83_I2C_ADDR, + .rw = PIOS_I2C_TXN_READ, + .len = len, + .buf = buffer, + } + }; + + return PIOS_I2C_Transfer(dev_port_id, txn_list, NELEMENTS(txn_list)); +} + +/** + * @brief Writes one or more bytes to the HMC5x83 + * \param[in] address Register address + * \param[in] buffer source buffer + * \return 0 if operation was successful + * \return -1 if error during I2C transfer + * \return -2 if unable to claim i2c device + */ +int32_t PIOS_HMC5x83_I2C_Write(uint8_t address, uint8_t buffer) +{ + uint8_t data[] = { + address, + buffer, + }; + + const struct pios_i2c_txn txn_list[] = { + { + .info = __func__, + .addr = PIOS_HMC5x83_I2C_ADDR, + .rw = PIOS_I2C_TXN_WRITE, + .len = sizeof(data), + .buf = data, + } + , + }; + + ; + return PIOS_I2C_Transfer(dev_port_id, txn_list, NELEMENTS(txn_list)); +} +#endif /* ifdef PIOS_INCLUDE_I2C */ + + +#endif /* PIOS_INCLUDE_HMC5x83 */ + +/** + * @} + * @} + */ diff --git a/flight/pios/inc/pios_hmc5x83.h b/flight/pios/inc/pios_hmc5x83.h new file mode 100644 index 000000000..fc0d9bbab --- /dev/null +++ b/flight/pios/inc/pios_hmc5x83.h @@ -0,0 +1,132 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_HMC5x83 HMC5x83 Functions + * @brief Deals with the hardware interface to the magnetometers + * @{ + * + * @file pios_hmc5x83.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @brief HMC5x83 functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_HMC5x83_H +#define PIOS_HMC5x83_H + +/* HMC5x83 Addresses */ +#define PIOS_HMC5x83_I2C_ADDR 0x1E +#define PIOS_HMC5x83_I2C_READ_ADDR 0x3D +#define PIOS_HMC5x83_I2C_WRITE_ADDR 0x3C + +#define PIOS_HMC5x83_SPI_READ_FLAG 0x80 +#define PIOS_HMC5x83_SPI_AUTOINCR_FLAG 0x40 +#define PIOS_HMC5x83_CONFIG_REG_A (uint8_t)0x00 +#define PIOS_HMC5x83_CONFIG_REG_B (uint8_t)0x01 +#define PIOS_HMC5x83_MODE_REG (uint8_t)0x02 +#define PIOS_HMC5x83_DATAOUT_XMSB_REG 0x03 +#define PIOS_HMC5x83_DATAOUT_XLSB_REG 0x04 +#define PIOS_HMC5x83_DATAOUT_ZMSB_REG 0x05 +#define PIOS_HMC5x83_DATAOUT_ZLSB_REG 0x06 +#define PIOS_HMC5x83_DATAOUT_YMSB_REG 0x07 +#define PIOS_HMC5x83_DATAOUT_YLSB_REG 0x08 +#define PIOS_HMC5x83_DATAOUT_STATUS_REG 0x09 +#define PIOS_HMC5x83_DATAOUT_IDA_REG 0x0A +#define PIOS_HMC5x83_DATAOUT_IDB_REG 0x0B +#define PIOS_HMC5x83_DATAOUT_IDC_REG 0x0C + +/* Output Data Rate */ +#define PIOS_HMC5x83_ODR_0_75 0x00 +#define PIOS_HMC5x83_ODR_1_5 0x04 +#define PIOS_HMC5x83_ODR_3 0x08 +#define PIOS_HMC5x83_ODR_7_5 0x0C +#define PIOS_HMC5x83_ODR_15 0x10 +#define PIOS_HMC5x83_ODR_30 0x14 +#define PIOS_HMC5x83_ODR_75 0x18 + +/* Measure configuration */ +#define PIOS_HMC5x83_MEASCONF_NORMAL 0x00 +#define PIOS_HMC5x83_MEASCONF_BIAS_POS 0x01 +#define PIOS_HMC5x83_MEASCONF_BIAS_NEG 0x02 + +/* Gain settings */ +#define PIOS_HMC5x83_GAIN_0_88 0x00 +#define PIOS_HMC5x83_GAIN_1_3 0x20 +#define PIOS_HMC5x83_GAIN_1_9 0x40 +#define PIOS_HMC5x83_GAIN_2_5 0x60 +#define PIOS_HMC5x83_GAIN_4_0 0x80 +#define PIOS_HMC5x83_GAIN_4_7 0xA0 +#define PIOS_HMC5x83_GAIN_5_6 0xC0 +#define PIOS_HMC5x83_GAIN_8_1 0xE0 + +/* Modes */ +#define PIOS_HMC5x83_MODE_CONTINUOUS 0x00 +#define PIOS_HMC5x83_MODE_SINGLE 0x01 +#define PIOS_HMC5x83_MODE_IDLE 0x02 +#define PIOS_HMC5x83_MODE_SLEEP 0x03 + +/* Sensitivity Conversion Values */ +#define PIOS_HMC5x83_Sensitivity_0_88Ga 1370 // LSB/Ga +#define PIOS_HMC5x83_Sensitivity_1_3Ga 1090 // LSB/Ga +#define PIOS_HMC5x83_Sensitivity_1_9Ga 820 // LSB/Ga +#define PIOS_HMC5x83_Sensitivity_2_5Ga 660 // LSB/Ga +#define PIOS_HMC5x83_Sensitivity_4_0Ga 440 // LSB/Ga +#define PIOS_HMC5x83_Sensitivity_4_7Ga 390 // LSB/Ga +#define PIOS_HMC5x83_Sensitivity_5_6Ga 330 // LSB/Ga +#define PIOS_HMC5x83_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED + +struct pios_hmc5x83_io_driver { + int32_t (*Write)(uint8_t address, uint8_t buffer); + int32_t (*Read)(uint8_t address, uint8_t *buffer, uint8_t len); +}; + +#ifdef PIOS_INCLUDE_SPI +extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER; +#endif + +#ifdef PIOS_INCLUDE_I2C +extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER; +#endif + +struct pios_hmc5x83_cfg { +#ifdef PIOS_HMC5x83_HAS_GPIOS + const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */ +#endif + 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; + const struct pios_hmc5x83_io_driver *Driver; +}; + +/* Public Functions */ +extern void PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t device_num); +extern bool PIOS_HMC5x83_NewDataAvailable(void); +extern int32_t PIOS_HMC5x83_ReadMag(int16_t out[3]); +extern uint8_t PIOS_HMC5x83_ReadID(uint8_t out[4]); +extern int32_t PIOS_HMC5x83_Test(void); +extern bool PIOS_HMC5x83_IRQHandler(); + +#endif /* PIOS_HMC5x83_H */ + +/** + * @} + * @} + */ diff --git a/flight/pios/pios.h b/flight/pios/pios.h index 60535ede9..1bb1ea968 100644 --- a/flight/pios/pios.h +++ b/flight/pios/pios.h @@ -210,6 +210,12 @@ #include #endif +#ifdef PIOS_INCLUDE_HMC5X83 +/* HMC5883/HMC5983 3-Axis Digital Compass */ +/* #define PIOS_HMC5x83_HAS_GPIOS */ +#include +#endif + #ifdef PIOS_INCLUDE_BMP085 /* BMP085 Barometric Pressure Sensor */ #include