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https://bitbucket.org/librepilot/librepilot.git
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06443b4281
AHRS_comms still needs to be implemented. INS/GPS functionality still needs to be implemented. Double-check of the new drivers still needs to be done. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
394 lines
13 KiB
C
394 lines
13 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_HMC5883 HMC5883 Functions
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* @brief Deals with the hardware interface to the magnetometers
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* @{
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*
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* @file pios_hmc5883.c
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* @author David "Buzz" Carlson (buzz@chebuzz.com)
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief HMC5883 Magnetic Sensor Functions from AHRS
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************
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*/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_HMC5883)
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/* Global Variables */
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/* Local 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_HMC5883_ConfigTypeDef;
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/* Local Variables */
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volatile bool pios_hmc5883_data_ready;
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static void PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct);
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static bool PIOS_HMC5883_Read(uint8_t address, uint8_t * buffer, uint8_t len);
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static bool PIOS_HMC5883_Write(uint8_t address, uint8_t buffer);
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/**
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* @brief Initialize the HMC5883 magnetometer sensor.
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* @return none
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*/
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void PIOS_HMC5883_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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EXTI_InitTypeDef EXTI_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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/* Enable DRDY GPIO clock */
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RCC_APB2PeriphClockCmd(PIOS_HMC5883_DRDY_CLK | RCC_APB2Periph_AFIO, ENABLE);
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/* Configure EOC pin as input floating */
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GPIO_InitStructure.GPIO_Pin = PIOS_HMC5883_DRDY_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_Init(PIOS_HMC5883_DRDY_GPIO_PORT, &GPIO_InitStructure);
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/* Configure the End Of Conversion (EOC) interrupt */
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GPIO_EXTILineConfig(PIOS_HMC5883_DRDY_PORT_SOURCE, PIOS_HMC5883_DRDY_PIN_SOURCE);
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EXTI_InitStructure.EXTI_Line = PIOS_HMC5883_DRDY_EXTI_LINE;
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EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
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EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
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EXTI_InitStructure.EXTI_LineCmd = ENABLE;
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EXTI_Init(&EXTI_InitStructure);
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/* Enable and set EOC EXTI Interrupt to the lowest priority */
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_HMC5883_DRDY_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_HMC5883_DRDY_PRIO;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* Configure the HMC5883 Sensor */
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PIOS_HMC5883_ConfigTypeDef HMC5883_InitStructure;
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HMC5883_InitStructure.M_ODR = PIOS_HMC5883_ODR_15;
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HMC5883_InitStructure.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL;
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HMC5883_InitStructure.Gain = PIOS_HMC5883_GAIN_1_9;
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HMC5883_InitStructure.Mode = PIOS_HMC5883_MODE_CONTINUOUS;
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PIOS_HMC5883_Config(&HMC5883_InitStructure);
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pios_hmc5883_data_ready = false;
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}
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/**
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* @brief Initialize the HMC5883 magnetometer sensor
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* \return none
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* \param[in] PIOS_HMC5883_ConfigTypeDef struct to be used to configure 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 | 0.75
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* 0 | 0 | 1 | 1.5
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* 0 | 1 | 0 | 3
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* 0 | 1 | 1 | 7.5
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* 1 | 0 | 0 | 15 (default)
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* 1 | 0 | 1 | 30
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* 1 | 1 | 0 | 75
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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 | ±0.88Ga | 1370 | 0xF8000x07FF (-2048:2047)
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* 0 | 0 | 1 | ±1.3Ga (def) | 1090 | 0xF8000x07FF (-2048:2047)
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* 0 | 1 | 0 | ±1.9Ga | 820 | 0xF8000x07FF (-2048:2047)
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* 0 | 1 | 1 | ±2.5Ga | 660 | 0xF8000x07FF (-2048:2047)
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* 1 | 0 | 0 | ±4.0Ga | 440 | 0xF8000x07FF (-2048:2047)
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* 1 | 0 | 1 | ±4.7Ga | 390 | 0xF8000x07FF (-2048:2047)
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* 1 | 1 | 0 | ±5.6Ga | 330 | 0xF8000x07FF (-2048:2047)
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* 1 | 1 | 1 | ±8.1Ga | 230 | 0xF8000x07FF (-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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static void PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct)
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{
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uint8_t CTRLA = 0x00;
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uint8_t CTRLB = 0x00;
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uint8_t MODE = 0x00;
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CTRLA |= (uint8_t) (HMC5883_Config_Struct->M_ODR | HMC5883_Config_Struct->Meas_Conf);
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CTRLB |= (uint8_t) (HMC5883_Config_Struct->Gain);
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MODE |= (uint8_t) (HMC5883_Config_Struct->Mode);
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// CRTL_REGA
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while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, CTRLA)) ;
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// CRTL_REGB
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while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, CTRLB)) ;
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// Mode register
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while (!PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, MODE)) ;
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}
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/**
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* @brief Read current X, Z, Y values (in that order)
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* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
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* \return none
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*/
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void PIOS_HMC5883_ReadMag(int16_t out[3])
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{
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uint8_t buffer[6];
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uint8_t ctrlB;
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pios_hmc5883_data_ready = false;
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while (!PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_B, &ctrlB, 1)) ;
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while (!PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6)) ;
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switch (ctrlB & 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 / PIOS_HMC5883_Sensitivity_0_88Ga;
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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 / PIOS_HMC5883_Sensitivity_1_3Ga;
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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 / PIOS_HMC5883_Sensitivity_1_9Ga;
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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 / PIOS_HMC5883_Sensitivity_2_5Ga;
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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 / PIOS_HMC5883_Sensitivity_4_0Ga;
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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 / PIOS_HMC5883_Sensitivity_4_7Ga;
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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 / PIOS_HMC5883_Sensitivity_5_6Ga;
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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 / PIOS_HMC5883_Sensitivity_8_1Ga;
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break;
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}
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}
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/**
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* @brief Read the identification bytes from the HMC5883 sensor
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* \param[out] uint8_t array of size 4 to store HMC5883 ID.
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* \return none
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*/
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void PIOS_HMC5883_ReadID(uint8_t out[4])
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{
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while (!PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_IDA_REG, out, 3)) ;
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out[3] = '\0';
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}
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/**
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* @brief Tells whether new magnetometer readings are available
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* \return true if new data is available
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* \return false if new data is not available
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*/
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bool PIOS_HMC5883_NewDataAvailable(void)
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{
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return (pios_hmc5883_data_ready);
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}
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/**
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* @brief Reads one or more bytes into a buffer
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* \param[in] address HMC5883 register address (depends on size)
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* \param[out] buffer destination buffer
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* \param[in] len number of bytes which should be read
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* \return 0 if operation was successful
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* \return -1 if error during I2C transfer
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* \return -4 if invalid length
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*/
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static bool PIOS_HMC5883_Read(uint8_t address, uint8_t * buffer, uint8_t len)
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{
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uint8_t addr_buffer[] = {
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address,
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};
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = PIOS_HMC5883_I2C_ADDR,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(addr_buffer),
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.buf = addr_buffer,
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}
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,
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{
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.info = __func__,
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.addr = PIOS_HMC5883_I2C_ADDR,
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.rw = PIOS_I2C_TXN_READ,
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.len = len,
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.buf = buffer,
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}
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};
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return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
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}
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/**
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* @brief Writes one or more bytes to the HMC5883
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* \param[in] address Register address
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* \param[in] buffer source buffer
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* \return 0 if operation was successful
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* \return -1 if error during I2C transfer
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*/
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static bool PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
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{
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uint8_t data[] = {
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address,
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buffer,
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};
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = PIOS_HMC5883_I2C_ADDR,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(data),
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.buf = data,
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}
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,
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};
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return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
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}
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/**
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* @brief Run self-test operation. Do not call this during operational use!!
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* \return 0 if test failed
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* \return non-zero value if test succeeded
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*/
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int32_t PIOS_HMC5883_Test(void)
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{
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/* Verify that ID matches (HMC5883 ID is null-terminated ASCII string "H43") */
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char id[4];
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PIOS_HMC5883_ReadID((uint8_t *)id);
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if(!strncmp("H43\0",id,4))
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return 0;
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else
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return 1;
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int32_t passed = 1;
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uint8_t registers[3] = {0,0,0};
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/* Backup existing configuration */
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while (!PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A,registers,3) );
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/*
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* Put HMC5883 into self test mode
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* This is done by placing measurement config into positive (0x01) or negative (0x10) bias
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* and then placing the mode register into single-measurement mode. This causes the HMC5883
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* to create an artificial magnetic field of ~1.1 Gauss.
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*
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* If gain were PIOS_HMC5883_GAIN_2_5, for example, X and Y will read around +766 LSB
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* (1.16 Ga * 660 LSB/Ga) and Z would read around +713 LSB (1.08 Ga * 660 LSB/Ga)
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*
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* Changing measurement config back to PIOS_HMC5883_MEASCONF_NORMAL will leave self-test mode.
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*/
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while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, PIOS_HMC5883_MEASCONF_BIAS_POS | PIOS_HMC5883_ODR_15)) ;
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while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, PIOS_HMC5883_GAIN_2_5)) ;
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while (!PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_SINGLE)) ;
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uint8_t values[6];
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while (!PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, values, 6)) ;
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int16_t x = (int16_t) (((uint16_t) values[0] << 8) + values[1]);
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int16_t y = (int16_t) (((uint16_t) values[2] << 8) + values[3]);
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int16_t z = (int16_t) (((uint16_t) values[4] << 8) + values[5]);
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if(abs(abs(x) - 766) > 20)
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passed &= 0;
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if(abs(abs(y) - 766) > 20)
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passed &= 0;
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if(abs(abs(z) - 713) > 20)
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passed &= 0;
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/* Restore backup configuration */
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while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A,registers[0]) );
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while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B,registers[1]) );
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while (!PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG,registers[2]) );
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return passed;
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}
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/**
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* @brief IRQ Handler
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*/
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void PIOS_HMC5883_IRQHandler(void)
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{
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pios_hmc5883_data_ready = true;
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}
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#endif /* PIOS_INCLUDE_HMC5883 */
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/**
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* @}
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* @}
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*/
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