/** ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_HMC5x83 HMC5x83 Functions * @brief Deals with the hardware interface to the magnetometers * @{ * * @file pios_hmc5x83.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * @brief HMC5x83 functions header. * @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 */ #ifndef PIOS_HMC5x83_H #define PIOS_HMC5x83_H #include #include /* HMC5x83 Addresses */ #define PIOS_HMC5x83_I2C_ADDR 0x1E #define PIOS_HMC5x83_I2C_READ_ADDR 0x3D #define PIOS_HMC5x83_I2C_WRITE_ADDR 0x3C #define PIOS_HMC5x83_SPI_READ_FLAG 0x80 #define PIOS_HMC5x83_SPI_AUTOINCR_FLAG 0x40 #define PIOS_HMC5x83_CONFIG_REG_A (uint8_t)0x00 #define PIOS_HMC5x83_CONFIG_REG_B (uint8_t)0x01 #define PIOS_HMC5x83_MODE_REG (uint8_t)0x02 #define PIOS_HMC5x83_DATAOUT_XMSB_REG 0x03 #define PIOS_HMC5x83_DATAOUT_XLSB_REG 0x04 #define PIOS_HMC5x83_DATAOUT_ZMSB_REG 0x05 #define PIOS_HMC5x83_DATAOUT_ZLSB_REG 0x06 #define PIOS_HMC5x83_DATAOUT_YMSB_REG 0x07 #define PIOS_HMC5x83_DATAOUT_YLSB_REG 0x08 #define PIOS_HMC5x83_DATAOUT_STATUS_REG 0x09 #define PIOS_HMC5x83_DATAOUT_IDA_REG 0x0A #define PIOS_HMC5x83_DATAOUT_IDB_REG 0x0B #define PIOS_HMC5x83_DATAOUT_IDC_REG 0x0C /* Output Data Rate */ #define PIOS_HMC5x83_ODR_0_75 0x00 #define PIOS_HMC5x83_ODR_1_5 0x04 #define PIOS_HMC5x83_ODR_3 0x08 #define PIOS_HMC5x83_ODR_7_5 0x0C #define PIOS_HMC5x83_ODR_15 0x10 #define PIOS_HMC5x83_ODR_30 0x14 #define PIOS_HMC5x83_ODR_75 0x18 /* Measure configuration */ #define PIOS_HMC5x83_MEASCONF_NORMAL 0x00 #define PIOS_HMC5x83_MEASCONF_BIAS_POS 0x01 #define PIOS_HMC5x83_MEASCONF_BIAS_NEG 0x02 /* Gain settings */ #define PIOS_HMC5x83_GAIN_0_88 0x00 #define PIOS_HMC5x83_GAIN_1_3 0x20 #define PIOS_HMC5x83_GAIN_1_9 0x40 #define PIOS_HMC5x83_GAIN_2_5 0x60 #define PIOS_HMC5x83_GAIN_4_0 0x80 #define PIOS_HMC5x83_GAIN_4_7 0xA0 #define PIOS_HMC5x83_GAIN_5_6 0xC0 #define PIOS_HMC5x83_GAIN_8_1 0xE0 #define PIOS_HMC5x83_CTRLA_TEMP 0x40 /* Modes */ #define PIOS_HMC5x83_MODE_CONTINUOUS 0x00 #define PIOS_HMC5x83_MODE_SINGLE 0x01 #define PIOS_HMC5x83_MODE_IDLE 0x02 #define PIOS_HMC5x83_MODE_SLEEP 0x03 /* Sensitivity Conversion Values */ #define PIOS_HMC5x83_Sensitivity_0_88Ga 1370 // LSB/Ga #define PIOS_HMC5x83_Sensitivity_1_3Ga 1090 // LSB/Ga #define PIOS_HMC5x83_Sensitivity_1_9Ga 820 // LSB/Ga #define PIOS_HMC5x83_Sensitivity_2_5Ga 660 // LSB/Ga #define PIOS_HMC5x83_Sensitivity_4_0Ga 440 // LSB/Ga #define PIOS_HMC5x83_Sensitivity_4_7Ga 390 // LSB/Ga #define PIOS_HMC5x83_Sensitivity_5_6Ga 330 // LSB/Ga #define PIOS_HMC5x83_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED /* Status Register */ #define PIOS_HMC5x83_DATAOUT_STATUS_RDY 0x01 typedef uintptr_t pios_hmc5x83_dev_t; struct pios_hmc5x83_io_driver { 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 extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER; #endif #ifdef PIOS_INCLUDE_I2C extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER; #endif // xyz axis orientation enum PIOS_HMC5X83_ORIENTATION { PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP, PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP, PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP, PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN, PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN, PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN, PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN, }; struct pios_hmc5x83_cfg { #ifdef PIOS_HMC5X83_HAS_GPIOS const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */ #endif 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; bool TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation enum PIOS_HMC5X83_ORIENTATION Orientation; const struct pios_hmc5x83_io_driver *Driver; }; /* 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, PIOS_SENSORS_TYPE sensortype); 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 const PIOS_SENSORS_Driver PIOS_HMC5x83_Driver; #endif /* PIOS_HMC5x83_H */ /** * @} * @} */