mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
hmc5843: convert line endings from CRLF to LF
No functional changes. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1627 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac
stac
parent
ac6989fbeb
commit
4ac001553d
@ -1,213 +1,213 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5843 HMC5843 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5843.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief HMC5843 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
|
||||
*/
|
||||
|
||||
/* Project Includes */
|
||||
#include "pios.h"
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5843)
|
||||
|
||||
/* Glocal Variables */
|
||||
|
||||
|
||||
/* Local Variables */
|
||||
|
||||
/**
|
||||
* @brieft Initialise the HMC5843 sensor
|
||||
*/
|
||||
void PIOS_HMC5843_Init(void)
|
||||
{
|
||||
// Nothing to do here
|
||||
// If we were using the DRDY (data ready) interrupt input, we would set it up here
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialise the HMC5843 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 | 0.5
|
||||
* 0 | 0 | 1 | 1
|
||||
* 0 | 1 | 0 | 2
|
||||
* 0 | 1 | 1 | 5
|
||||
* 1 | 0 | 0 | 10 (default)
|
||||
* 1 | 0 | 1 | 20
|
||||
* 1 | 1 | 0 | 50
|
||||
* 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 | ±0.7Ga | 1620 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 0 | 1 | ±1.0Ga (def) | 1300 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 0 | ±1.5Ga | 970 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 1 | ±2.0Ga | 780 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 0 | ±3.2Ga | 530 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 1 | ±3.8Ga | 460 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 0 | ±4.5Ga | 390 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 1 | ±6.5Ga | 280 | 0xF8000x07FF (-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
|
||||
*/
|
||||
void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct)
|
||||
{
|
||||
uint8_t CRTLA = 0x00;
|
||||
uint8_t CRTLB = 0x00;
|
||||
uint8_t MODE = 0x00;
|
||||
|
||||
CRTLA |= (uint8_t) (HMC5843_Config_Struct->M_ODR | HMC5843_Config_Struct->Meas_Conf);
|
||||
CRTLB |= (uint8_t) (HMC5843_Config_Struct->Gain);
|
||||
MODE |= (uint8_t) (HMC5843_Config_Struct->Mode);
|
||||
|
||||
// CRTL_REGA
|
||||
while(!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_A, CRTLA));
|
||||
|
||||
// CRTL_REGB
|
||||
while(!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_B, CRTLB));
|
||||
|
||||
// Mode register
|
||||
while(!PIOS_HMC5843_Write(PIOS_HMC5843_MODE_REG, MODE));
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the magnetic readings from the sensor
|
||||
*/
|
||||
void PIOS_HMC5843_ReadMag(int16_t out[3])
|
||||
{
|
||||
uint8_t buffer[6];
|
||||
uint8_t crtlB;
|
||||
|
||||
while(!PIOS_HMC5843_Read(PIOS_HMC5843_CONFIG_REG_B, &crtlB, 1));
|
||||
while(!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_XMSB_REG, buffer, 6));
|
||||
|
||||
switch(crtlB & 0xE0) {
|
||||
case 0x00:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = ((int16_t) ((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_0_7Ga;
|
||||
break;
|
||||
case 0x20:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = ((int16_t) ((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_1Ga;
|
||||
break;
|
||||
case 0x40:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_1_5Ga;
|
||||
break;
|
||||
case 0x60:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_2Ga;
|
||||
break;
|
||||
case 0x80:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_3_2Ga;
|
||||
break;
|
||||
case 0xA0:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_3_8Ga;
|
||||
break;
|
||||
case 0xC0:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_4_5Ga;
|
||||
break;
|
||||
case 0xE0:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_6_5Ga;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the identification bytes from the sensor
|
||||
*/
|
||||
void PIOS_HMC5843_ReadID(uint8_t out[4])
|
||||
{
|
||||
while(!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_IDA_REG, out, 3));
|
||||
out[3] = '\0';
|
||||
}
|
||||
|
||||
/**
|
||||
* Reads one or more bytes into a buffer
|
||||
* \param[in] address HMC5843 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 -4 if invalid length
|
||||
*/
|
||||
bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5843 HMC5843 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5843.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief HMC5843 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
|
||||
*/
|
||||
|
||||
/* Project Includes */
|
||||
#include "pios.h"
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5843)
|
||||
|
||||
/* Glocal Variables */
|
||||
|
||||
|
||||
/* Local Variables */
|
||||
|
||||
/**
|
||||
* @brieft Initialise the HMC5843 sensor
|
||||
*/
|
||||
void PIOS_HMC5843_Init(void)
|
||||
{
|
||||
// Nothing to do here
|
||||
// If we were using the DRDY (data ready) interrupt input, we would set it up here
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialise the HMC5843 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 | 0.5
|
||||
* 0 | 0 | 1 | 1
|
||||
* 0 | 1 | 0 | 2
|
||||
* 0 | 1 | 1 | 5
|
||||
* 1 | 0 | 0 | 10 (default)
|
||||
* 1 | 0 | 1 | 20
|
||||
* 1 | 1 | 0 | 50
|
||||
* 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 | ±0.7Ga | 1620 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 0 | 1 | ±1.0Ga (def) | 1300 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 0 | ±1.5Ga | 970 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 1 | ±2.0Ga | 780 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 0 | ±3.2Ga | 530 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 1 | ±3.8Ga | 460 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 0 | ±4.5Ga | 390 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 1 | ±6.5Ga | 280 | 0xF8000x07FF (-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
|
||||
*/
|
||||
void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct)
|
||||
{
|
||||
uint8_t CRTLA = 0x00;
|
||||
uint8_t CRTLB = 0x00;
|
||||
uint8_t MODE = 0x00;
|
||||
|
||||
CRTLA |= (uint8_t) (HMC5843_Config_Struct->M_ODR | HMC5843_Config_Struct->Meas_Conf);
|
||||
CRTLB |= (uint8_t) (HMC5843_Config_Struct->Gain);
|
||||
MODE |= (uint8_t) (HMC5843_Config_Struct->Mode);
|
||||
|
||||
// CRTL_REGA
|
||||
while(!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_A, CRTLA));
|
||||
|
||||
// CRTL_REGB
|
||||
while(!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_B, CRTLB));
|
||||
|
||||
// Mode register
|
||||
while(!PIOS_HMC5843_Write(PIOS_HMC5843_MODE_REG, MODE));
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the magnetic readings from the sensor
|
||||
*/
|
||||
void PIOS_HMC5843_ReadMag(int16_t out[3])
|
||||
{
|
||||
uint8_t buffer[6];
|
||||
uint8_t crtlB;
|
||||
|
||||
while(!PIOS_HMC5843_Read(PIOS_HMC5843_CONFIG_REG_B, &crtlB, 1));
|
||||
while(!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_XMSB_REG, buffer, 6));
|
||||
|
||||
switch(crtlB & 0xE0) {
|
||||
case 0x00:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = ((int16_t) ((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_0_7Ga;
|
||||
break;
|
||||
case 0x20:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = ((int16_t) ((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_1Ga;
|
||||
break;
|
||||
case 0x40:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_1_5Ga;
|
||||
break;
|
||||
case 0x60:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_2Ga;
|
||||
break;
|
||||
case 0x80:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_3_2Ga;
|
||||
break;
|
||||
case 0xA0:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_3_8Ga;
|
||||
break;
|
||||
case 0xC0:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_4_5Ga;
|
||||
break;
|
||||
case 0xE0:
|
||||
for(int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000
|
||||
/ PIOS_HMC5843_Sensitivity_6_5Ga;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the identification bytes from the sensor
|
||||
*/
|
||||
void PIOS_HMC5843_ReadID(uint8_t out[4])
|
||||
{
|
||||
while(!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_IDA_REG, out, 3));
|
||||
out[3] = '\0';
|
||||
}
|
||||
|
||||
/**
|
||||
* Reads one or more bytes into a buffer
|
||||
* \param[in] address HMC5843 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 -4 if invalid length
|
||||
*/
|
||||
bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
uint8_t addr_buffer[] = {
|
||||
address,
|
||||
};
|
||||
@ -230,18 +230,18 @@ bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Writes one or more bytes to the HMC5843
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
*/
|
||||
bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Writes one or more bytes to the HMC5843
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
*/
|
||||
bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
|
||||
{
|
||||
uint8_t data[] = {
|
||||
address,
|
||||
buffer,
|
||||
@ -258,11 +258,11 @@ bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -1,114 +1,114 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5843 HMC5843 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5843.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief HMC5843 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_HMC5843_H
|
||||
#define PIOS_HMC5843_H
|
||||
|
||||
/* BMP085 Addresses */
|
||||
#define PIOS_HMC5843_I2C_ADDR 0x1E
|
||||
#define PIOS_HMC5843_CONFIG_REG_A (uint8_t)0x00
|
||||
#define PIOS_HMC5843_CONFIG_REG_B (uint8_t)0x01
|
||||
#define PIOS_HMC5843_MODE_REG (uint8_t)0x02
|
||||
#define PIOS_HMC5843_DATAOUT_XMSB_REG 0x03
|
||||
#define PIOS_HMC5843_DATAOUT_XLSB_REG 0x04
|
||||
#define PIOS_HMC5843_DATAOUT_YMSB_REG 0x05
|
||||
#define PIOS_HMC5843_DATAOUT_YLSB_REG 0x06
|
||||
#define PIOS_HMC5843_DATAOUT_ZMSB_REG 0x07
|
||||
#define PIOS_HMC5843_DATAOUT_ZLSB_REG 0x08
|
||||
#define PIOS_HMC5843_DATAOUT_STATUS_REG 0x09
|
||||
#define PIOS_HMC5843_DATAOUT_IDA_REG 0x0A
|
||||
#define PIOS_HMC5843_DATAOUT_IDB_REG 0x0B
|
||||
#define PIOS_HMC5843_DATAOUT_IDC_REG 0x0C
|
||||
|
||||
/* Output Data Rate */
|
||||
#define PIOS_HMC5843_ODR_05 0x00
|
||||
#define PIOS_HMC5843_ODR_1 0x04
|
||||
#define PIOS_HMC5843_ODR_2 0x08
|
||||
#define PIOS_HMC5843_ODR_5 0x0C
|
||||
#define PIOS_HMC5843_ODR_10 0x10
|
||||
#define PIOS_HMC5843_ODR_20 0x14
|
||||
#define PIOS_HMC5843_ODR_50 0x18
|
||||
|
||||
/* Measure configuration */
|
||||
#define PIOS_HMC5843_MEASCONF_NORMAL 0x00
|
||||
#define PIOS_HMC5843_MEASCONF_BIAS_POS 0x01
|
||||
#define PIOS_HMC5843_MEASCONF_BIAS_NEG 0x02
|
||||
|
||||
/* Gain settings */
|
||||
#define PIOS_HMC5843_GAIN_0_7 0x00
|
||||
#define PIOS_HMC5843_GAIN_1 0x20
|
||||
#define PIOS_HMC5843_GAIN_1_5 0x40
|
||||
#define PIOS_HMC5843_GAIN_2 0x60
|
||||
#define PIOS_HMC5843_GAIN_3_2 0x80
|
||||
#define PIOS_HMC5843_GAIN_3_8 0xA0
|
||||
#define PIOS_HMC5843_GAIN_4_5 0xC0
|
||||
#define PIOS_HMC5843_GAIN_6_5 0xE0
|
||||
|
||||
/* Modes */
|
||||
#define PIOS_HMC5843_MODE_CONTINUOUS 0x00
|
||||
#define PIOS_HMC5843_MODE_SINGLE 0x01
|
||||
#define PIOS_HMC5843_MODE_IDLE 0x02
|
||||
#define PIOS_HMC5843_MODE_SLEEP 0x02
|
||||
|
||||
/* Sensitivity Conversion Values */
|
||||
#define PIOS_HMC5843_Sensitivity_0_7Ga 1602 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_1Ga 1300 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_1_5Ga 970 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_2Ga 780 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_3_2Ga 530 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_3_8Ga 460 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_4_5Ga 390 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_6_5Ga 280 // LSB/Ga --> NOT RECOMMENDED
|
||||
|
||||
/* Global 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_HMC5843_ConfigTypeDef;
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_HMC5843_Init(void);
|
||||
extern void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct);
|
||||
extern void PIOS_HMC5843_ReadMag(int16_t out[3]);
|
||||
extern void PIOS_HMC5843_ReadID(uint8_t out[4]);
|
||||
extern bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
extern bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
|
||||
|
||||
#endif /* PIOS_HMC5843_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5843 HMC5843 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5843.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief HMC5843 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_HMC5843_H
|
||||
#define PIOS_HMC5843_H
|
||||
|
||||
/* BMP085 Addresses */
|
||||
#define PIOS_HMC5843_I2C_ADDR 0x1E
|
||||
#define PIOS_HMC5843_CONFIG_REG_A (uint8_t)0x00
|
||||
#define PIOS_HMC5843_CONFIG_REG_B (uint8_t)0x01
|
||||
#define PIOS_HMC5843_MODE_REG (uint8_t)0x02
|
||||
#define PIOS_HMC5843_DATAOUT_XMSB_REG 0x03
|
||||
#define PIOS_HMC5843_DATAOUT_XLSB_REG 0x04
|
||||
#define PIOS_HMC5843_DATAOUT_YMSB_REG 0x05
|
||||
#define PIOS_HMC5843_DATAOUT_YLSB_REG 0x06
|
||||
#define PIOS_HMC5843_DATAOUT_ZMSB_REG 0x07
|
||||
#define PIOS_HMC5843_DATAOUT_ZLSB_REG 0x08
|
||||
#define PIOS_HMC5843_DATAOUT_STATUS_REG 0x09
|
||||
#define PIOS_HMC5843_DATAOUT_IDA_REG 0x0A
|
||||
#define PIOS_HMC5843_DATAOUT_IDB_REG 0x0B
|
||||
#define PIOS_HMC5843_DATAOUT_IDC_REG 0x0C
|
||||
|
||||
/* Output Data Rate */
|
||||
#define PIOS_HMC5843_ODR_05 0x00
|
||||
#define PIOS_HMC5843_ODR_1 0x04
|
||||
#define PIOS_HMC5843_ODR_2 0x08
|
||||
#define PIOS_HMC5843_ODR_5 0x0C
|
||||
#define PIOS_HMC5843_ODR_10 0x10
|
||||
#define PIOS_HMC5843_ODR_20 0x14
|
||||
#define PIOS_HMC5843_ODR_50 0x18
|
||||
|
||||
/* Measure configuration */
|
||||
#define PIOS_HMC5843_MEASCONF_NORMAL 0x00
|
||||
#define PIOS_HMC5843_MEASCONF_BIAS_POS 0x01
|
||||
#define PIOS_HMC5843_MEASCONF_BIAS_NEG 0x02
|
||||
|
||||
/* Gain settings */
|
||||
#define PIOS_HMC5843_GAIN_0_7 0x00
|
||||
#define PIOS_HMC5843_GAIN_1 0x20
|
||||
#define PIOS_HMC5843_GAIN_1_5 0x40
|
||||
#define PIOS_HMC5843_GAIN_2 0x60
|
||||
#define PIOS_HMC5843_GAIN_3_2 0x80
|
||||
#define PIOS_HMC5843_GAIN_3_8 0xA0
|
||||
#define PIOS_HMC5843_GAIN_4_5 0xC0
|
||||
#define PIOS_HMC5843_GAIN_6_5 0xE0
|
||||
|
||||
/* Modes */
|
||||
#define PIOS_HMC5843_MODE_CONTINUOUS 0x00
|
||||
#define PIOS_HMC5843_MODE_SINGLE 0x01
|
||||
#define PIOS_HMC5843_MODE_IDLE 0x02
|
||||
#define PIOS_HMC5843_MODE_SLEEP 0x02
|
||||
|
||||
/* Sensitivity Conversion Values */
|
||||
#define PIOS_HMC5843_Sensitivity_0_7Ga 1602 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_1Ga 1300 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_1_5Ga 970 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_2Ga 780 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_3_2Ga 530 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_3_8Ga 460 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_4_5Ga 390 // LSB/Ga
|
||||
#define PIOS_HMC5843_Sensitivity_6_5Ga 280 // LSB/Ga --> NOT RECOMMENDED
|
||||
|
||||
/* Global 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_HMC5843_ConfigTypeDef;
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_HMC5843_Init(void);
|
||||
extern void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct);
|
||||
extern void PIOS_HMC5843_ReadMag(int16_t out[3]);
|
||||
extern void PIOS_HMC5843_ReadID(uint8_t out[4]);
|
||||
extern bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
extern bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
|
||||
|
||||
#endif /* PIOS_HMC5843_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
Loading…
Reference in New Issue
Block a user