/** ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_HMC5843 HMC5843 Functions * @brief Deals with the hardware interface to the magnetometers * @{ * * @file pios_hmc5843.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief HMC5843 Magnetic Sensor Functions from AHRS * @see The GNU Public License (GPL) Version 3 * ****************************************************************************** */ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "pios.h" #ifdef PIOS_INCLUDE_HMC5843 #include /* 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 */ /* 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 */ volatile 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); void PIOS_HMC5843_EndOfConversion(void) { pios_hmc5843_data_ready = true; } static const struct pios_exti_cfg pios_exti_hmc5843_cfg __exti_config = { .vector = PIOS_HMC5843_EndOfConversion, .line = PIOS_HMC5843_DRDY_EXTI_LINE, .pin = { .gpio = PIOS_HMC5843_DRDY_GPIO_PORT, .init = { .GPIO_Pin = PIOS_HMC5843_DRDY_GPIO_PIN, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .irq = { .init = { .NVIC_IRQChannel = PIOS_HMC5843_DRDY_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_HMC5843_DRDY_PRIO, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .exti = { .init = { .EXTI_Line = PIOS_HMC5843_DRDY_EXTI_LINE, .EXTI_Mode = EXTI_Mode_Interrupt, .EXTI_Trigger = EXTI_Trigger_Rising, .EXTI_LineCmd = ENABLE, }, }, }; /** * @brief Initialise the HMC5843 sensor */ void PIOS_HMC5843_Init(void) { /* Enable DRDY GPIO clock */ RCC_APB2PeriphClockCmd(PIOS_HMC5843_DRDY_CLK | RCC_APB2Periph_AFIO, ENABLE); PIOS_EXTI_Init(&pios_exti_hmc5843_cfg); /* 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; } /** * Initialise the HMC5843 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 | 0.5 * 0 | 0 | 1 | 1 * 0 | 1 | 0 | 2 * 0 | 1 | 1 | 5 * 1 | 0 | 0 | 10 (default) * 1 | 0 | 1 | 20 * 1 | 1 | 0 | 50 * 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 | ±0.7Ga | 1620 | 0xF800–0x07FF (-2048:2047) * 0 | 0 | 1 | ±1.0Ga (def) | 1300 | 0xF800–0x07FF (-2048:2047) * 0 | 1 | 0 | ±1.5Ga | 970 | 0xF800–0x07FF (-2048:2047) * 0 | 1 | 1 | ±2.0Ga | 780 | 0xF800–0x07FF (-2048:2047) * 1 | 0 | 0 | ±3.2Ga | 530 | 0xF800–0x07FF (-2048:2047) * 1 | 0 | 1 | ±3.8Ga | 460 | 0xF800–0x07FF (-2048:2047) * 1 | 1 | 0 | ±4.5Ga | 390 | 0xF800–0x07FF (-2048:2047) * 1 | 1 | 1 | ±6.5Ga | 280 | 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_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct) { uint8_t CRTLA = 0x00; uint8_t CRTLB = 0x00; uint8_t MODE = 0x00; CRTLA |= (uint8_t)(HMC5843_Config_Struct->M_ODR | HMC5843_Config_Struct->Meas_Conf); CRTLB |= (uint8_t)(HMC5843_Config_Struct->Gain); MODE |= (uint8_t)(HMC5843_Config_Struct->Mode); // CRTL_REGA while (!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_A, CRTLA)) { ; } // CRTL_REGB while (!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_B, CRTLB)) { ; } // Mode register while (!PIOS_HMC5843_Write(PIOS_HMC5843_MODE_REG, MODE)) { ; } } /** * Read the magnetic readings from the sensor */ void PIOS_HMC5843_ReadMag(int16_t out[3]) { uint8_t buffer[6]; uint8_t crtlB; pios_hmc5843_data_ready = false; while (!PIOS_HMC5843_Read(PIOS_HMC5843_CONFIG_REG_B, &crtlB, 1)) { ; } while (!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_XMSB_REG, buffer, 6)) { ; } switch (crtlB & 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_HMC5843_Sensitivity_0_7Ga; } 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_HMC5843_Sensitivity_1Ga; } 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_HMC5843_Sensitivity_1_5Ga; } 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_HMC5843_Sensitivity_2Ga; } 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_HMC5843_Sensitivity_3_2Ga; } 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_HMC5843_Sensitivity_3_8Ga; } 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_HMC5843_Sensitivity_4_5Ga; } 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_HMC5843_Sensitivity_6_5Ga; } break; } } /** * Read the identification bytes from the sensor */ void PIOS_HMC5843_ReadID(uint8_t out[4]) { while (!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_IDA_REG, out, 3)) { ; } out[3] = '\0'; } bool PIOS_HMC5843_NewDataAvailable(void) { return pios_hmc5843_data_ready; } /** * Reads one or more bytes into a buffer * \param[in] address HMC5843 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 -2 if unable to claim i2c device */ static bool PIOS_HMC5843_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_HMC5843_I2C_ADDR, .rw = PIOS_I2C_TXN_WRITE, .len = sizeof(addr_buffer), .buf = addr_buffer, } , { .info = __func__, .addr = PIOS_HMC5843_I2C_ADDR, .rw = PIOS_I2C_TXN_READ, .len = len, .buf = buffer, } }; return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list)); } /** * Writes one or more bytes to the HMC5843 * \param[in] address Register address * \param[in] buffer source buffer * \return 0 if operation was successful * \retval -1 if error during I2C transfer * \retval -2 if unable to claim i2c device */ static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer) { uint8_t data[] = { address, buffer, }; const struct pios_i2c_txn txn_list[] = { { .info = __func__, .addr = PIOS_HMC5843_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)); } #endif /* PIOS_INCLUDE_HMC5843 */ /** * @} * @} */