rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-15 07:29:15 +01:00
Code Issues Releases Activity

OP-1403 - Add support for multiple hmc* devices

Browse Source
This commit is contained in:
Alessio Morale 2014-07-19 18:22:44 +02:00
parent 57a43a5587
commit 6a3cb7b808
2 changed files with 136 additions and 96 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

212
flight/pios/common/pios_hmc5x83.c
View File

@ -30,46 +30,79 @@
#include "pios.h"
#include <pios_hmc5x83.h>
#include <pios_mem.h>
#ifdef PIOS_INCLUDE_HMC5X83
#define PIOS_HMC5X83_MAGIC 0x4d783833
/* Global Variables */
/* Local Types */
/* Local Variables */
volatile bool pios_hmc5x83_data_ready;
typedef struct {
uint32_t magic;
const struct pios_hmc5x83_cfg *cfg;
uint32_t port_id;
uint8_t slave_num;
uint8_t CTRLB;
volatile bool data_ready;
} pios_hmc5x83_dev_data_t;
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 int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev);
/**
* Allocate the device setting structure
* @return pios_hmc5x83_dev_data_t pointer to newly created structure
*/
pios_hmc5x83_dev_data_t *dev_alloc()
{
pios_hmc5x83_dev_data_t *dev = (pios_hmc5x83_dev_data_t *)pios_malloc(sizeof(pios_hmc5x83_dev_data_t));
PIOS_DEBUG_Assert(dev);
memset(dev, 0x00, sizeof(pios_hmc5x83_dev_data_t));
dev->magic = PIOS_HMC5X83_MAGIC;
return dev;
}
/**
* Validate a pios_hmc5x83_dev_t handler and return the related pios_hmc5x83_dev_data_t pointer
* @param dev device handler
* @return the device data structure
*/
pios_hmc5x83_dev_data_t *dev_validate(pios_hmc5x83_dev_t dev)
{
pios_hmc5x83_dev_data_t *dev_data = (pios_hmc5x83_dev_data_t *)dev;
PIOS_DEBUG_Assert(dev_data->magic == PIOS_HMC5X83_MAGIC);
return dev_data;
}
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)
pios_hmc5x83_dev_t 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;
pios_hmc5x83_dev_data_t *dev = dev_alloc();
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);
int32_t val = PIOS_HMC5x83_Config(dev);
PIOS_Assert(val == 0);
pios_hmc5x83_data_ready = false;
dev->data_ready = false;
return (pios_hmc5x83_dev_t)dev;
}
/**
* @brief Initialize the HMC5x83 magnetometer sensor
* \return none
* \param[in] pios_hmc5x83_dev_data_t device config to be used.
* \param[in] PIOS_HMC5x83_ConfigTypeDef struct to be used to configure sensor.
*
* CTRL_REGA: Control Register A
@ -126,31 +159,32 @@ void PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uin
* 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)
static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev)
{
uint8_t CTRLA = 0x00;
uint8_t MODE = 0x00;
CTRLB = 0;
const struct pios_hmc5x83_cfg *cfg = dev->cfg;
dev->CTRLB = 0;
CTRLA |= (uint8_t)(cfg->M_ODR | cfg->Meas_Conf);
CTRLA |= cfg->TempCompensation ? PIOS_HMC5x83_CTRLA_TEMP : 0;
CTRLB |= (uint8_t)(cfg->Gain);
dev->CTRLB |= (uint8_t)(cfg->Gain);
MODE |= (uint8_t)(cfg->Mode);
// CRTL_REGA
if (dev_cfg->Driver->Write(PIOS_HMC5x83_CONFIG_REG_A, CTRLA) != 0) {
if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_CONFIG_REG_A, CTRLA) != 0) {
return -1;
}
// CRTL_REGB
if (dev_cfg->Driver->Write(PIOS_HMC5x83_CONFIG_REG_B, CTRLB) != 0) {
if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_CONFIG_REG_B, dev->CTRLB) != 0) {
return -1;
}
// Mode register
if (dev_cfg->Driver->Write(PIOS_HMC5x83_MODE_REG, MODE) != 0) {
if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_MODE_REG, MODE) != 0) {
return -1;
}
@ -159,21 +193,24 @@ static int32_t PIOS_HMC5x83_Config(const struct pios_hmc5x83_cfg *cfg)
/**
* @brief Read current X, Z, Y values (in that order)
* \param[in] dev device handler
* \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])
int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
{
pios_hmc5x83_data_ready = false;
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
dev->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) {
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_XMSB_REG, buffer, 6) != 0) {
return -1;
}
switch (CTRLB & 0xE0) {
switch (dev->CTRLB & 0xE0) {
case 0x00:
sensitivity = PIOS_HMC5x83_Sensitivity_0_88Ga;
break;
@ -213,7 +250,7 @@ int32_t PIOS_HMC5x83_ReadMag(int16_t out[3])
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);
dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_CONTINUOUS);
return 0;
}
@ -224,9 +261,10 @@ int32_t PIOS_HMC5x83_ReadMag(int16_t out[3])
* \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 PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4])
{
uint8_t retval = dev_cfg->Driver->Read(PIOS_HMC5x83_DATAOUT_IDA_REG, out, 3);
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
uint8_t retval = dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_IDA_REG, out, 3);
out[3] = '\0';
return retval;
@ -237,16 +275,18 @@ uint8_t PIOS_HMC5x83_ReadID(uint8_t out[4])
* \return true if new data is available
* \return false if new data is not available
*/
bool PIOS_HMC5x83_NewDataAvailable(void)
bool PIOS_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler)
{
return pios_hmc5x83_data_ready;
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
return dev->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 PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler)
{
int32_t failed = 0;
uint8_t registers[3] = { 0, 0, 0 };
@ -255,30 +295,30 @@ int32_t PIOS_HMC5x83_Test(void)
uint8_t ctrl_b_read;
uint8_t mode_read;
int16_t values[3];
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
/* Verify that ID matches (HMC5x83 ID is null-terminated ASCII string "H43") */
char id[4];
PIOS_HMC5x83_ReadID((uint8_t *)id);
PIOS_HMC5x83_ReadID(handler, (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) {
if (dev->cfg->Driver->Read(handler, 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) {
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_IDLE) != 0) {
return -1;
}
if (dev_cfg->Driver->Read(PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1) != 0) {
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1) != 0) {
return -1;
}
if (PIOS_HMC5x83_ReadMag(values) != 0) {
if (PIOS_HMC5x83_ReadMag(handler, values) != 0) {
return -1;
}
@ -294,51 +334,42 @@ int32_t PIOS_HMC5x83_Test(void)
* 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) {
if (dev->cfg->Driver->Write(handler, 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) {
if (dev->cfg->Driver->Write(handler, 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) {
if (dev->cfg->Driver->Write(handler, 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) {
if (PIOS_HMC5x83_ReadMag(handler, 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);
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_A, &ctrl_a_read, 1);
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_B, &ctrl_b_read, 1);
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_MODE_REG, &mode_read, 1);
dev->cfg->Driver->Read(handler, 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) {
if (dev->cfg->Driver->Write(handler, 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) {
if (dev->cfg->Driver->Write(handler, 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) {
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, registers[2]) != 0) {
return -1;
}
@ -348,35 +379,36 @@ int32_t PIOS_HMC5x83_Test(void)
/**
* @brief IRQ Handler
*/
bool PIOS_HMC5x83_IRQHandler(void)
bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler)
{
pios_hmc5x83_data_ready = true;
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
dev->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);
int32_t PIOS_HMC5x83_SPI_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
int32_t PIOS_HMC5x83_SPI_Write(pios_hmc5x83_dev_t handler, 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()
static int32_t pios_hmc5x83_spi_claim_bus(pios_hmc5x83_dev_data_t *dev)
{
if (PIOS_SPI_ClaimBus(dev_port_id) < 0) {
if (PIOS_SPI_ClaimBus(dev->port_id) < 0) {
return -1;
}
PIOS_SPI_RC_PinSet(dev_port_id, dev_slave_num, 0);
PIOS_SPI_RC_PinSet(dev->port_id, dev->slave_num, 0);
return 0;
}
static void pios_hmc5x83_spi_release_bus()
static void pios_hmc5x83_spi_release_bus(pios_hmc5x83_dev_data_t *dev)
{
PIOS_SPI_RC_PinSet(dev_port_id, dev_slave_num, 1);
PIOS_SPI_ReleaseBus(dev_port_id);
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
@ -387,22 +419,24 @@ static void pios_hmc5x83_spi_release_bus()
* \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)
int32_t PIOS_HMC5x83_SPI_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len)
{
if (pios_hmc5x83_spi_claim_bus() < 0) {
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
if (pios_hmc5x83_spi_claim_bus(dev) < 0) {
return -1;
}
memset(buffer, 0xA5, len);
PIOS_SPI_TransferByte(dev_port_id, address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG | PIOS_HMC5x83_SPI_READ_FLAG);
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();
if (PIOS_SPI_TransferBlock(dev->port_id, NULL, buffer, len, NULL) < 0) {
pios_hmc5x83_spi_release_bus(dev);
return -3;
}
pios_hmc5x83_spi_release_bus();
pios_hmc5x83_spi_release_bus(dev);
return 0;
}
@ -414,9 +448,11 @@ int32_t PIOS_HMC5x83_SPI_Read(uint8_t address, uint8_t *buffer, uint8_t len)
* \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)
int32_t PIOS_HMC5x83_SPI_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer)
{
if (pios_hmc5x83_spi_claim_bus() < 0) {
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
if (pios_hmc5x83_spi_claim_bus(dev) < 0) {
return -1;
}
uint8_t data[] = {
@ -424,19 +460,19 @@ int32_t PIOS_HMC5x83_SPI_Write(uint8_t address, uint8_t buffer)
buffer,
};
if (PIOS_SPI_TransferBlock(dev_port_id, data, NULL, sizeof(data), NULL) < 0) {
pios_hmc5x83_spi_release_bus();
if (PIOS_SPI_TransferBlock(dev->port_id, data, NULL, sizeof(data), NULL) < 0) {
pios_hmc5x83_spi_release_bus(dev);
return -2;
}
pios_hmc5x83_spi_release_bus();
pios_hmc5x83_spi_release_bus(dev);
return 0;
}
#endif /* ifdef PIOS_INCLUDE_SPI */
#endif /* 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);
int32_t PIOS_HMC5x83_I2C_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER = {
.Read = PIOS_HMC5x83_I2C_Read,
@ -452,8 +488,9 @@ const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER = {
* \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)
int32_t PIOS_HMC5x83_I2C_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len)
{
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
uint8_t addr_buffer[] = {
address,
};
@ -476,7 +513,7 @@ int32_t PIOS_HMC5x83_I2C_Read(uint8_t address, uint8_t *buffer, uint8_t len)
}
};
return PIOS_I2C_Transfer(dev_port_id, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(dev->port_id, txn_list, NELEMENTS(txn_list));
}
/**
@ -487,8 +524,9 @@ int32_t PIOS_HMC5x83_I2C_Read(uint8_t address, uint8_t *buffer, uint8_t len)
* \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)
int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer)
{
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
uint8_t data[] = {
address,
buffer,
@ -506,9 +544,9 @@ int32_t PIOS_HMC5x83_I2C_Write(uint8_t address, uint8_t buffer)
};
;
return PIOS_I2C_Transfer(dev_port_id, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(dev->port_id, txn_list, NELEMENTS(txn_list));
}
#endif /* ifdef PIOS_INCLUDE_I2C */
#endif /* PIOS_INCLUDE_I2C */
#endif /* PIOS_INCLUDE_HMC5x83 */

20
flight/pios/inc/pios_hmc5x83.h
View File

@ -30,7 +30,7 @@
#ifndef PIOS_HMC5x83_H
#define PIOS_HMC5x83_H
#include <stdint.h>
/* HMC5x83 Addresses */
#define PIOS_HMC5x83_I2C_ADDR 0x1E
#define PIOS_HMC5x83_I2C_READ_ADDR 0x3D
@ -94,9 +94,11 @@
#define PIOS_HMC5x83_Sensitivity_5_6Ga 330 // LSB/Ga
#define PIOS_HMC5x83_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
typedef uintptr_t pios_hmc5x83_dev_t;
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);
int32_t (*Write)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
int32_t (*Read)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
};
#ifdef PIOS_INCLUDE_SPI
@ -120,12 +122,12 @@ struct pios_hmc5x83_cfg {
};
/* 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();
extern pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t device_num);
extern bool PIOS_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler);
extern int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3]);
extern uint8_t PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4]);
extern int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler);
extern bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler);
#endif /* PIOS_HMC5x83_H */