mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-17 02:52:12 +01:00
hmc5843: hide internal #defines and functions
Way too much was being exposed in the API for the HMC5843. This commit properly hides internal details of the driver. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1629 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac
stac
parent
0e7a801e9e
commit
55d90970ed
@ -226,14 +226,6 @@ int main()
|
||||
PIOS_I2C_Init();
|
||||
PIOS_HMC5843_Init();
|
||||
|
||||
/* Configure the HMC5843 Sensor */
|
||||
PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
|
||||
HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
|
||||
HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
|
||||
HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
|
||||
HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOUS;
|
||||
PIOS_HMC5843_Config(&HMC5843_InitStructure);
|
||||
|
||||
// Get 3 ID bytes
|
||||
strcpy ((char *)mag_data.id, "ZZZ");
|
||||
PIOS_HMC5843_ReadID(mag_data.id);
|
||||
|
||||
@ -34,12 +34,80 @@
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5843)
|
||||
|
||||
/* HMC5843 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 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_HMC5843_ConfigTypeDef;
|
||||
|
||||
/* Local Variables */
|
||||
static bool pios_hmc5843_data_ready;
|
||||
|
||||
static void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct);
|
||||
static bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
|
||||
|
||||
/**
|
||||
* @brieft Initialise the HMC5843 sensor
|
||||
*/
|
||||
@ -72,6 +140,14 @@ void PIOS_HMC5843_Init(void)
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
|
||||
/* Configure the HMC5843 Sensor */
|
||||
PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
|
||||
HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
|
||||
HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
|
||||
HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
|
||||
HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOUS;
|
||||
PIOS_HMC5843_Config(&HMC5843_InitStructure);
|
||||
|
||||
pios_hmc5843_data_ready = false;
|
||||
}
|
||||
|
||||
@ -132,7 +208,7 @@ void PIOS_HMC5843_Init(void)
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Sleep Mode
|
||||
*/
|
||||
void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct)
|
||||
static void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct)
|
||||
{
|
||||
uint8_t CRTLA = 0x00;
|
||||
uint8_t CRTLB = 0x00;
|
||||
@ -241,7 +317,7 @@ bool PIOS_HMC5843_NewDataAvailable(void)
|
||||
* \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)
|
||||
static bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
uint8_t addr_buffer[] = {
|
||||
address,
|
||||
@ -275,7 +351,7 @@ bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
*/
|
||||
bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
|
||||
static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
|
||||
{
|
||||
uint8_t data[] = {
|
||||
address,
|
||||
|
||||
@ -31,81 +31,11 @@
|
||||
#ifndef PIOS_HMC5843_H
|
||||
#define PIOS_HMC5843_H
|
||||
|
||||
/* HMC5843 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 bool PIOS_HMC5843_NewDataAvailable(void);
|
||||
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…
x
Reference in New Issue
Block a user