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Code Issues Releases Activity

OP-1658 - HMC5x83 sensor device model implementation

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This commit is contained in:
Alessio Morale 2014-12-23 21:30:47 +01:00
parent 6341fa7eca
commit 84f577029e
2 changed files with 57 additions and 0 deletions
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52
flight/pios/common/pios_hmc5x83.c
View File

@ -50,6 +50,22 @@ typedef struct {
static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev);
// sensor driver interface
bool PIOS_HMC5x83_driver_Test(uintptr_t context);
void PIOS_HMC5x83_driver_Reset(uintptr_t context);
void PIOS_HMC5x83_driver_get_scale(float *scales, uint8_t size, uintptr_t context);
void PIOS_HMC5x83_driver_fetch(void *, uint8_t size, uintptr_t context);
bool PIOS_HMC5x83_driver_poll(uintptr_t context);
PIOS_SENSORS_Driver PIOS_HMC5x83_Driver = {
.test = PIOS_HMC5x83_driver_Test,
.poll = PIOS_HMC5x83_driver_poll,
.fetch = PIOS_HMC5x83_driver_fetch,
.reset = PIOS_HMC5x83_driver_Reset,
.get_queue = NULL,
.get_scale = PIOS_HMC5x83_driver_get_scale,
.is_polled = true,
};
/**
* Allocate the device setting structure
* @return pios_hmc5x83_dev_data_t pointer to newly created structure
@ -99,6 +115,11 @@ pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_
return (pios_hmc5x83_dev_t)dev;
}
void PIOS_HMC5x83_Register(pios_hmc5x83_dev_t handler)
{
PIOS_SENSORS_Register(&PIOS_HMC5x83_Driver, PIOS_SENSORS_TYPE_3AXIS_MAG, handler);
}
/**
* @brief Initialize the HMC5x83 magnetometer sensor
* \return none
@ -549,6 +570,37 @@ int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint
}
#endif /* PIOS_INCLUDE_I2C */
/* PIOS sensor driver implementation */
bool PIOS_HMC5x83_driver_Test(uintptr_t context)
{
return !PIOS_HMC5x83_Test((pios_hmc5x83_dev_t)context);
}
void PIOS_HMC5x83_driver_Reset(__attribute__((unused)) uintptr_t context) {}
void PIOS_HMC5x83_driver_get_scale(float *scales, uint8_t size, __attribute__((unused)) uintptr_t context)
{
PIOS_Assert(size > 0);
scales[0] = 1;
}
void PIOS_HMC5x83_driver_fetch(void *data, uint8_t size, uintptr_t context)
{
PIOS_Assert(size > 0);
int16_t mag[3];
PIOS_HMC5x83_ReadMag((pios_hmc5x83_dev_t)context, mag);
PIOS_SENSORS_3Axis_SensorsWithTemp *tmp = data;
tmp->count = 1;
tmp->sample[0].x = mag[0];
tmp->sample[0].y = mag[1];
tmp->sample[0].z = mag[2];
tmp->temperature = 0;
}
bool PIOS_HMC5x83_driver_poll(uintptr_t context)
{
return PIOS_HMC5x83_NewDataAvailable((pios_hmc5x83_dev_t)context);
}
#endif /* PIOS_INCLUDE_HMC5x83 */

5
flight/pios/inc/pios_hmc5x83.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_HMC5x83_H
#define PIOS_HMC5x83_H
#include <stdint.h>
#include <pios_sensors.h>
/* HMC5x83 Addresses */
#define PIOS_HMC5x83_I2C_ADDR 0x1E
#define PIOS_HMC5x83_I2C_READ_ADDR 0x3D
@ -123,12 +124,16 @@ struct pios_hmc5x83_cfg {
/* Public Functions */
extern pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t device_num);
extern void PIOS_HMC5x83_Register(pios_hmc5x83_dev_t handler);
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);
extern PIOS_SENSORS_Driver PIOS_MPU6000_Driver;
#endif /* PIOS_HMC5x83_H */
/**