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https://bitbucket.org/librepilot/librepilot.git
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Finalised and verified PIOS_HMC5843 library.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@624 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy
gussy
parent
e05f4cf068
commit
73b5e29e02
@ -51,32 +51,45 @@ int main()
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PIOS_ADC_Init();
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/* Magnetic sensor system */
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#if 1
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PIOS_I2C_Init();
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PIOS_HMC5843_Init();
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#endif
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/* Toggle LED's forever */
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PIOS_LED_On(LED1);
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/* Configure the HMC5843 Sensor */
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PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
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HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
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HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
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HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
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HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOS;
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PIOS_HMC5843_Config(&HMC5843_InitStructure);
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uint8_t buffer[3] = {0};
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int32_t result;
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uint8_t id[3] = {0};
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int16_t data[3] = {0};
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int32_t heading = 0;
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// Main loop
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for(;;) {
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// Alive signal
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PIOS_LED_Toggle(LED1);
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#if 1
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result = PIOS_HMC5843_Read(0x0A, buffer, 3);
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//PIOS_COM_SendFormattedString(COM_USART1, "Result: %d\r", result);
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//PIOS_COM_SendFormattedString(COM_USART1, "Ident: \r", buffer);
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#endif
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// Get 3 ID bytes
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PIOS_HMC5843_ReadID(id);
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// Get magnetic readings
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PIOS_HMC5843_ReadMag(data);
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// Calculate the heading
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heading = atan2((double)(data[0]), (double)(-1 * data[1])) * (180 / M_PI);
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if(heading < 0) heading += 360;
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// Output Heading data to
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PIOS_COM_SendFormattedString(COM_USART1, "Chip ID: %s\rHeading: %d\rRaw Mag Values: X=%d Y=%d Y=%d\r", id, heading, data[0], data[1], data[2]);
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// Test ADC
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PIOS_COM_SendFormattedString(COM_USART1, "%s,%d,%d,%d,%d,%d,%d\r\n", buffer, PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3), PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5));
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PIOS_COM_SendFormattedString(COM_USART1, "ADC Values: %d,%d,%d,%d,%d,%d\r\n", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3), PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5));
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PIOS_DELAY_WaitmS(100);
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PIOS_DELAY_WaitmS(250);
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}
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return 0;
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}
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@ -35,16 +35,162 @@
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/* Local Variables */
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/**
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* Initialise the HMC5843 sensor
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*/
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void PIOS_HMC5843_Init(void)
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{
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// Set in continuous mode
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PIOS_HMC5843_Write(0x02, 0x00);
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// Nothing to do here
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// If we were using the DRDY (data ready) interrupt input, we would set it up here
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}
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/**
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* Initialise the HMC5843 sensor
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*
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* CTRL_REGA: Control Register A
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* Read Write
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* Default value: 0x10
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* 7:5 0 These bits must be cleared for correct operation.
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* 4:2 DO2-DO0: Data Output Rate Bits
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* DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz)
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* ------------------------------------------------------
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* 0 | 0 | 0 | 0.5
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* 0 | 0 | 1 | 1
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* 0 | 1 | 0 | 2
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* 0 | 1 | 1 | 5
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* 1 | 0 | 0 | 10 (default)
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* 1 | 0 | 1 | 20
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* 1 | 1 | 0 | 50
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* 1 | 1 | 1 | Not Used
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* 1:0 MS1-MS0: Measurement Configuration Bits
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* MS1 | MS0 | MODE
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* ------------------------------
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* 0 | 0 | Normal
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* 0 | 1 | Positive Bias
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* 1 | 0 | Negative Bias
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* 1 | 1 | Not Used
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*
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* CTRL_REGB: Control RegisterB
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* Read Write
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* Default value: 0x20
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* 7:5 GN2-GN0: Gain Configuration Bits.
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* GN2 | GN1 | GN0 | Mag Input | Gain | Output Range
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* | | | Range[Ga] | [LSB/mGa] |
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* ------------------------------------------------------
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* 0 | 0 | 0 | ±0.7Ga | 1620 | 0xF800–0x07FF (-2048:2047)
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* 0 | 0 | 1 | ±1.0Ga (def) | 1300 | 0xF800–0x07FF (-2048:2047)
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* 0 | 1 | 0 | ±1.5Ga | 970 | 0xF800–0x07FF (-2048:2047)
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* 0 | 1 | 1 | ±2.0Ga | 780 | 0xF800–0x07FF (-2048:2047)
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* 1 | 0 | 0 | ±3.2Ga | 530 | 0xF800–0x07FF (-2048:2047)
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* 1 | 0 | 1 | ±3.8Ga | 460 | 0xF800–0x07FF (-2048:2047)
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* 1 | 1 | 0 | ±4.5Ga | 390 | 0xF800–0x07FF (-2048:2047)
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* 1 | 1 | 1 | ±6.5Ga | 280 | 0xF800–0x07FF (-2048:2047)
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* |Not recommended|
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*
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* 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
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*
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* _MODE_REG: Mode Register
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* Read Write
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* Default value: 0x02
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* 7:2 0 These bits must be cleared for correct operation.
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* 1:0 MD1-MD0: Mode Select Bits
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* MS1 | MS0 | MODE
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* ------------------------------
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* 0 | 0 | Continuous-Conversion Mode.
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* 0 | 1 | Single-Conversion Mode
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* 1 | 0 | Negative Bias
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* 1 | 1 | Sleep Mode
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*/
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void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct)
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{
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uint8_t CRTLA = 0x00;
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uint8_t CRTLB = 0x00;
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uint8_t MODE = 0x00;
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CRTLA |= (uint8_t) (HMC5843_Config_Struct->M_ODR | HMC5843_Config_Struct->Meas_Conf);
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CRTLB |= (uint8_t) (HMC5843_Config_Struct->Gain);
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MODE |= (uint8_t) (HMC5843_Config_Struct->Mode);
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// CRTL_REGA
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PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_A, CRTLA);
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// CRTL_REGB
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PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_B, CRTLB);
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// Mode register
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PIOS_HMC5843_Write(PIOS_HMC5843_MODE_REG, MODE);
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}
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/**
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* Read the magnetic readings from the sensor
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*/
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void PIOS_HMC5843_ReadMag(int16_t *out)
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{
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uint8_t buffer[6];
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uint8_t crtlB;
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PIOS_HMC5843_Read(PIOS_HMC5843_CONFIG_REG_B, &crtlB, 1);
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PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_XMSB_REG, buffer, 6);
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switch(crtlB & 0xE0) {
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case 0x00:
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for(int i = 0; i < 3; i++)
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out[i] = ((int16_t) ((uint16_t) buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000
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/ PIOS_HMC5843_Sensitivity_0_7Ga;
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break;
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case 0x20:
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for(int i = 0; i < 3; i++)
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out[i] = ((int16_t) ((uint16_t) buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000
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/ PIOS_HMC5843_Sensitivity_1Ga;
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break;
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case 0x40:
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for(int i = 0; i < 3; i++)
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out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000
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/ PIOS_HMC5843_Sensitivity_1_5Ga;
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break;
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case 0x60:
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for(int i = 0; i < 3; i++)
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out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000
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/ PIOS_HMC5843_Sensitivity_2Ga;
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break;
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case 0x80:
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for(int i = 0; i < 3; i++)
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out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000
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/ PIOS_HMC5843_Sensitivity_3_2Ga;
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break;
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case 0xA0:
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for(int i = 0; i < 3; i++)
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out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000
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/ PIOS_HMC5843_Sensitivity_3_8Ga;
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break;
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case 0xC0:
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for(int i = 0; i < 3; i++)
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out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000
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/ PIOS_HMC5843_Sensitivity_4_5Ga;
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break;
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case 0xE0:
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for(int i = 0; i < 3; i++)
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out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000
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/ PIOS_HMC5843_Sensitivity_6_5Ga;
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break;
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}
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}
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/**
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* Read the identification bytes from the sensor
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*/
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void PIOS_HMC5843_ReadID(uint8_t *out)
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{
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PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_IDA_REG, out, 3);
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}
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/**
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* Reads one or more bytes into a buffer
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@ -60,11 +206,11 @@ int32_t PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
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/* Send I2C address and register address */
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/* To avoid issues copy address into temporary buffer */
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uint8_t addr_buffer[1] = {(uint8_t)address};
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int32_t error = PIOS_I2C_Transfer(I2C_Write_WithoutStop, HMC5843_I2C_ADDR, addr_buffer, 1);
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int32_t error = PIOS_I2C_Transfer(I2C_Write_WithoutStop, PIOS_HMC5843_I2C_ADDR, addr_buffer, 1);
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/* Now receive byte(s) */
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if(!error) {
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error = PIOS_I2C_Transfer(I2C_Read, HMC5843_I2C_ADDR, buffer, len);
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error = PIOS_I2C_Transfer(I2C_Read, PIOS_HMC5843_I2C_ADDR, buffer, len);
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}
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/* Return error status */
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@ -86,7 +232,7 @@ int32_t PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
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WriteBuffer[0] = address;
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WriteBuffer[1] = buffer;
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int32_t error = PIOS_I2C_Transfer(I2C_Write, HMC5843_I2C_ADDR, WriteBuffer, 2);
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int32_t error = PIOS_I2C_Transfer(I2C_Write, PIOS_HMC5843_I2C_ADDR, WriteBuffer, 2);
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/* Return error status */
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return error < 0 ? -1 : 0;
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@ -27,17 +27,77 @@
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#define PIOS_HMC5843_H
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/* BMP085 Addresses */
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#define HMC5843_I2C_ADDR 0x3C
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#define PIOS_HMC5843_I2C_ADDR 0x3C
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#define PIOS_HMC5843_CONFIG_REG_A (uint8_t)0x00
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#define PIOS_HMC5843_CONFIG_REG_B (uint8_t)0x01
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#define PIOS_HMC5843_MODE_REG (uint8_t)0x02
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#define PIOS_HMC5843_DATAOUT_XMSB_REG 0x03
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#define PIOS_HMC5843_DATAOUT_XLSB_REG 0x04
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#define PIOS_HMC5843_DATAOUT_YMSB_REG 0x05
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#define PIOS_HMC5843_DATAOUT_YLSB_REG 0x06
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#define PIOS_HMC5843_DATAOUT_ZMSB_REG 0x07
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#define PIOS_HMC5843_DATAOUT_ZLSB_REG 0x08
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#define PIOS_HMC5843_DATAOUT_STATUS_REG 0x09
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#define PIOS_HMC5843_DATAOUT_IDA_REG 0x0A
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#define PIOS_HMC5843_DATAOUT_IDB_REG 0x0B
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#define PIOS_HMC5843_DATAOUT_IDC_REG 0x0C
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/* Output Data Rate */
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#define PIOS_HMC5843_ODR_05 0x00
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#define PIOS_HMC5843_ODR_1 0x04
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#define PIOS_HMC5843_ODR_2 0x08
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#define PIOS_HMC5843_ODR_5 0x0C
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#define PIOS_HMC5843_ODR_10 0x10
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#define PIOS_HMC5843_ODR_20 0x14
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#define PIOS_HMC5843_ODR_50 0x18
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/* Local Types */
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/* Measure configuration */
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#define PIOS_HMC5843_MEASCONF_NORMAL 0x00
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#define PIOS_HMC5843_MEASCONF_BIAS_POS 0x01
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#define PIOS_HMC5843_MEASCONF_BIAS_NEG 0x02
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/* Gain settings */
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#define PIOS_HMC5843_GAIN_0_7 0x00
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#define PIOS_HMC5843_GAIN_1 0x20
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#define PIOS_HMC5843_GAIN_1_5 0x40
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#define PIOS_HMC5843_GAIN_2 0x60
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#define PIOS_HMC5843_GAIN_3_2 0x80
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#define PIOS_HMC5843_GAIN_3_8 0xA0
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#define PIOS_HMC5843_GAIN_4_5 0xC0
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#define PIOS_HMC5843_GAIN_6_5 0xE0
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/* Modes */
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#define PIOS_HMC5843_MODE_CONTINUOS 0x00
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#define PIOS_HMC5843_MODE_SINGLE 0x01
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#define PIOS_HMC5843_MODE_IDLE 0x02
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#define PIOS_HMC5843_MODE_SLEEP 0x02
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/* Sensitivity Conversion Values */
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#define PIOS_HMC5843_Sensitivity_0_7Ga 1602 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_1Ga 1300 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_1_5Ga 970 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_2Ga 780 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_3_2Ga 530 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_3_8Ga 460 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_4_5Ga 390 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_6_5Ga 280 // LSB/Ga --> NOT RECOMMENDED
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/* Global Types */
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typedef struct {
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uint8_t M_ODR; /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
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uint8_t Meas_Conf; /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
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uint8_t Gain; /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
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uint8_t Mode;
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} PIOS_HMC5843_ConfigTypeDef;
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/* Global Variables */
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/* Public Functions */
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extern void PIOS_HMC5843_Init(void);
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extern void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct);
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extern void PIOS_HMC5843_ReadMag(int16_t *out);
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extern void PIOS_HMC5843_ReadID(uint8_t *out);
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extern int32_t PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len);
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extern int32_t PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
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