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Code Issues Releases Activity

Some improvements to the HMC5883 driver. Still getting funny values but I

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suspect the chip at this point.
This commit is contained in:
James Cotton 2011-08-13 11:20:32 -05:00
parent 13e5f4123a
commit 62f51fc92d
2 changed files with 236 additions and 201 deletions
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435
flight/PiOS/STM32F2xx/pios_hmc5883.c
View File

@ -7,8 +7,7 @@
* @{
*
* @file pios_hmc5883.c
* @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief HMC5883 Magnetic Sensor Functions from AHRS
* @see The GNU Public License (GPL) Version 3
*
@ -48,9 +47,9 @@ typedef struct {
/* Local Variables */
volatile bool pios_hmc5883_data_ready;
static void PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct);
static bool PIOS_HMC5883_Read(uint8_t address, uint8_t * buffer, uint8_t len);
static bool PIOS_HMC5883_Write(uint8_t address, uint8_t buffer);
static int32_t PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct);
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);
static const struct pios_hmc5883_cfg * dev_cfg;
@ -69,15 +68,17 @@ 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_15;
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;
PIOS_HMC5883_Config(&HMC5883_InitStructure);
int32_t val = PIOS_HMC5883_Config(&HMC5883_InitStructure);
PIOS_Assert(val == 0);
pios_hmc5883_data_ready = false;
dev_cfg = cfg;
@ -87,143 +88,142 @@ void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg)
* @brief Initialize the HMC5883 magnetometer sensor
* \return none
* \param[in] PIOS_HMC5883_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 void PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct)
*
* 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_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct)
{
uint8_t CTRLA = 0x00;
uint8_t CTRLB = 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);
// CRTL_REGA
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, CTRLA)) ;
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, CTRLA) != 0)
return -1;
// CRTL_REGB
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, CTRLB)) ;
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, CTRLB) != 0)
return -1;
// Mode register
while (!PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, MODE)) ;
if (PIOS_HMC5883_Write(PIOS_HMC5883_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 none
*/
uint8_t buffer[6];
void PIOS_HMC5883_ReadMag(int16_t out[3])
* \return 0 for success or -1 for failure
*/
int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
{
uint8_t ctrlB;
pios_hmc5883_data_ready = false;
while (!PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_B, &ctrlB, 1)) ;
while (!PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6)) ;
switch (ctrlB & 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_HMC5883_Sensitivity_0_88Ga;
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_HMC5883_Sensitivity_1_3Ga;
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_HMC5883_Sensitivity_1_9Ga;
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_HMC5883_Sensitivity_2_5Ga;
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_HMC5883_Sensitivity_4_0Ga;
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_HMC5883_Sensitivity_4_7Ga;
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_HMC5883_Sensitivity_5_6Ga;
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_HMC5883_Sensitivity_8_1Ga;
break;
uint8_t buffer[6];
int32_t temp;
int32_t sensitivity;
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6) != 0)
return -1;
switch (CTRLB & 0xE0) {
case 0x00:
sensitivity = PIOS_HMC5883_Sensitivity_0_88Ga;
break;
case 0x20:
sensitivity = PIOS_HMC5883_Sensitivity_1_3Ga;
break;
case 0x40:
sensitivity = PIOS_HMC5883_Sensitivity_1_9Ga;
break;
case 0x60:
sensitivity = PIOS_HMC5883_Sensitivity_2_5Ga;
break;
case 0x80:
sensitivity = PIOS_HMC5883_Sensitivity_4_0Ga;
break;
case 0xA0:
sensitivity = PIOS_HMC5883_Sensitivity_4_7Ga;
break;
case 0xC0:
sensitivity = PIOS_HMC5883_Sensitivity_5_6Ga;
break;
case 0xE0:
sensitivity = PIOS_HMC5883_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
int16_t temp = out[2];
temp = out[2];
out[2] = out[1];
out[1] = temp;
return 0;
}
@ -231,7 +231,7 @@ void PIOS_HMC5883_ReadMag(int16_t out[3])
* @brief Read the identification bytes from the HMC5883 sensor
* \param[out] uint8_t array of size 4 to store HMC5883 ID.
* \return 0 if successful, -1 if not
*/
*/
uint8_t PIOS_HMC5883_ReadID(uint8_t out[4])
{
uint8_t retval = PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_IDA_REG, out, 3);
@ -243,74 +243,74 @@ uint8_t PIOS_HMC5883_ReadID(uint8_t out[4])
* @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_HMC5883_NewDataAvailable(void)
{
return (pios_hmc5883_data_ready);
}
/**
* @brief Reads one or more bytes into a buffer
* \param[in] address HMC5883 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
*/
static bool PIOS_HMC5883_Read(uint8_t address, uint8_t * buffer, uint8_t len)
* @brief Reads one or more bytes into a buffer
* \param[in] address HMC5883 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
*/
static int32_t PIOS_HMC5883_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_HMC5883_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(addr_buffer),
.buf = addr_buffer,
}
.info = __func__,
.addr = PIOS_HMC5883_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(addr_buffer),
.buf = addr_buffer,
}
,
{
.info = __func__,
.addr = PIOS_HMC5883_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = len,
.buf = buffer,
}
.info = __func__,
.addr = PIOS_HMC5883_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = len,
.buf = buffer,
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list)) ? 0 : -1;
}
/**
* @brief Writes one or more bytes to the HMC5883
* \param[in] address Register address
* \param[in] buffer source buffer
* \return 0 if operation was successful
* \return -1 if error during I2C transfer
*/
static bool PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
* @brief Writes one or more bytes to the HMC5883
* \param[in] address Register address
* \param[in] buffer source buffer
* \return 0 if operation was successful
* \return -1 if error during I2C transfer
*/
static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
{
uint8_t data[] = {
address,
buffer,
};
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = PIOS_HMC5883_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(data),
.buf = data,
}
.info = __func__,
.addr = PIOS_HMC5883_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(data),
.buf = data,
}
,
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list)) ? 0 : -1;
}
/**
@ -319,20 +319,35 @@ static bool PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
*/
int32_t PIOS_HMC5883_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 (HMC5883 ID is null-terminated ASCII string "H43") */
char id[4];
PIOS_HMC5883_ReadID((uint8_t *)id);
if(strncmp("H43\0",id,4) != 0) // match H43
if((id[0] != 'H') || (id[1] != '4') || (id[2] != '3')) // Expect H43
return -1;
return 0;
int32_t passed = 1;
uint8_t registers[3] = {0,0,0};
/* Backup existing configuration */
while (!PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A,registers,3) );
if (PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A,registers,3) != 0)
return -1;
/* Stop the device and read out last value */
PIOS_DELAY_WaitmS(10);
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_IDLE) != 0)
return -1;
if( PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status,1) != 0)
return -1;
if (PIOS_HMC5883_ReadMag(values) != 0)
return -1;
/*
* Put HMC5883 into self test mode
* This is done by placing measurement config into positive (0x01) or negative (0x10) bias
@ -344,34 +359,54 @@ int32_t PIOS_HMC5883_Test(void)
*
* Changing measurement config back to PIOS_HMC5883_MEASCONF_NORMAL will leave self-test mode.
*/
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, PIOS_HMC5883_MEASCONF_BIAS_POS | PIOS_HMC5883_ODR_15)) ;
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, PIOS_HMC5883_GAIN_2_5)) ;
while (!PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_SINGLE)) ;
uint8_t values[6];
while (!PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, values, 6)) ;
int16_t x = (int16_t) (((uint16_t) values[0] << 8) + values[1]);
int16_t z = (int16_t) (((uint16_t) values[2] << 8) + values[3]);
int16_t y = (int16_t) (((uint16_t) values[4] << 8) + values[5]);
if(abs(abs(x) - 766) > 20)
passed &= 0;
if(abs(abs(y) - 766) > 20)
passed &= 0;
if(abs(abs(z) - 713) > 20)
passed &= 0;
/* Restore backup configuration */
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A,registers[0]) );
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B,registers[1]) );
while (!PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG,registers[2]) );
return passed;
PIOS_DELAY_WaitmS(10);
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, PIOS_HMC5883_MEASCONF_BIAS_POS | PIOS_HMC5883_ODR_15) != 0)
return -1;
PIOS_DELAY_WaitmS(10);
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, PIOS_HMC5883_GAIN_8_1) != 0)
return -1;
PIOS_DELAY_WaitmS(10);
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_SINGLE) != 0)
return -1;
/* Must wait for value to be updated */
PIOS_DELAY_WaitmS(200);
if (PIOS_HMC5883_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;
*/
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, &ctrl_a_read,1);
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_B, &ctrl_b_read,1);
PIOS_HMC5883_Read(PIOS_HMC5883_MODE_REG, &mode_read,1);
PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status,1);
/* Restore backup configuration */
PIOS_DELAY_WaitmS(10);
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, registers[0]) != 0)
return -1;
PIOS_DELAY_WaitmS(10);
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, registers[1]) != 0)
return -1;
PIOS_DELAY_WaitmS(10);
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, registers[2]) != 0)
return -1;
return failed;
}
/**
* @brief IRQ Handler
*/
* @brief IRQ Handler
*/
void PIOS_HMC5883_IRQHandler(void)
{
pios_hmc5883_data_ready = true;

2
flight/PiOS/inc/pios_hmc5883.h
View File

@ -102,7 +102,7 @@ struct pios_hmc5883_cfg {
/* Public Functions */
extern void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg);
extern bool PIOS_HMC5883_NewDataAvailable(void);
extern void PIOS_HMC5883_ReadMag(int16_t out[3]);
extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
extern int32_t PIOS_HMC5883_Test(void);