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hmc5843: hide internal #defines and functions

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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 2010-09-15 14:21:04 +00:00 committed by stac
parent 0e7a801e9e
commit 55d90970ed
3 changed files with 79 additions and 81 deletions
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8
flight/AHRS/ahrs.c
View File

@ -226,14 +226,6 @@ int main()
PIOS_I2C_Init(); PIOS_I2C_Init();
PIOS_HMC5843_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 // Get 3 ID bytes
strcpy ((char *)mag_data.id, "ZZZ"); strcpy ((char *)mag_data.id, "ZZZ");
PIOS_HMC5843_ReadID(mag_data.id); PIOS_HMC5843_ReadID(mag_data.id);

82
flight/PiOS/Common/pios_hmc5843.c
View File

@ -34,12 +34,80 @@
#if defined(PIOS_INCLUDE_HMC5843) #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 */ /* 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 */ /* Local Variables */
static bool pios_hmc5843_data_ready; 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 * @brieft Initialise the HMC5843 sensor
*/ */
@ -72,6 +140,14 @@ void PIOS_HMC5843_Init(void)
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure); 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; pios_hmc5843_data_ready = false;
} }
@ -132,7 +208,7 @@ void PIOS_HMC5843_Init(void)
* 1 | 0 | Negative Bias * 1 | 0 | Negative Bias
* 1 | 1 | Sleep Mode * 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 CRTLA = 0x00;
uint8_t CRTLB = 0x00; uint8_t CRTLB = 0x00;
@ -241,7 +317,7 @@ bool PIOS_HMC5843_NewDataAvailable(void)
* \return -1 if error during I2C transfer * \return -1 if error during I2C transfer
* \return -4 if invalid length * \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[] = { uint8_t addr_buffer[] = {
address, 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 0 if operation was successful
* \return -1 if error during I2C transfer * \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[] = { uint8_t data[] = {
address, address,

70
flight/PiOS/inc/pios_hmc5843.h
View File

@ -31,81 +31,11 @@
#ifndef PIOS_HMC5843_H #ifndef PIOS_HMC5843_H
#define 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 */ /* Public Functions */
extern void PIOS_HMC5843_Init(void); extern void PIOS_HMC5843_Init(void);
extern void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct);
extern bool PIOS_HMC5843_NewDataAvailable(void); extern bool PIOS_HMC5843_NewDataAvailable(void);
extern void PIOS_HMC5843_ReadMag(int16_t out[3]); extern void PIOS_HMC5843_ReadMag(int16_t out[3]);
extern void PIOS_HMC5843_ReadID(uint8_t out[4]); 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 */ #endif /* PIOS_HMC5843_H */