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159 lines
6.1 KiB
C
159 lines
6.1 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_HMC5x83 HMC5x83 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_hmc5x83.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief HMC5x83 functions header.
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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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* 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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#ifndef PIOS_HMC5x83_H
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#define PIOS_HMC5x83_H
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#include <stdint.h>
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#include <pios_sensors.h>
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/* HMC5x83 Addresses */
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#define PIOS_HMC5x83_I2C_ADDR 0x1E
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#define PIOS_HMC5x83_I2C_READ_ADDR 0x3D
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#define PIOS_HMC5x83_I2C_WRITE_ADDR 0x3C
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#define PIOS_HMC5x83_SPI_READ_FLAG 0x80
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#define PIOS_HMC5x83_SPI_AUTOINCR_FLAG 0x40
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#define PIOS_HMC5x83_CONFIG_REG_A (uint8_t)0x00
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#define PIOS_HMC5x83_CONFIG_REG_B (uint8_t)0x01
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#define PIOS_HMC5x83_MODE_REG (uint8_t)0x02
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#define PIOS_HMC5x83_DATAOUT_XMSB_REG 0x03
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#define PIOS_HMC5x83_DATAOUT_XLSB_REG 0x04
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#define PIOS_HMC5x83_DATAOUT_ZMSB_REG 0x05
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#define PIOS_HMC5x83_DATAOUT_ZLSB_REG 0x06
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#define PIOS_HMC5x83_DATAOUT_YMSB_REG 0x07
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#define PIOS_HMC5x83_DATAOUT_YLSB_REG 0x08
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#define PIOS_HMC5x83_DATAOUT_STATUS_REG 0x09
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#define PIOS_HMC5x83_DATAOUT_IDA_REG 0x0A
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#define PIOS_HMC5x83_DATAOUT_IDB_REG 0x0B
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#define PIOS_HMC5x83_DATAOUT_IDC_REG 0x0C
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/* Output Data Rate */
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#define PIOS_HMC5x83_ODR_0_75 0x00
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#define PIOS_HMC5x83_ODR_1_5 0x04
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#define PIOS_HMC5x83_ODR_3 0x08
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#define PIOS_HMC5x83_ODR_7_5 0x0C
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#define PIOS_HMC5x83_ODR_15 0x10
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#define PIOS_HMC5x83_ODR_30 0x14
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#define PIOS_HMC5x83_ODR_75 0x18
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/* Measure configuration */
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#define PIOS_HMC5x83_MEASCONF_NORMAL 0x00
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#define PIOS_HMC5x83_MEASCONF_BIAS_POS 0x01
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#define PIOS_HMC5x83_MEASCONF_BIAS_NEG 0x02
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/* Gain settings */
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#define PIOS_HMC5x83_GAIN_0_88 0x00
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#define PIOS_HMC5x83_GAIN_1_3 0x20
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#define PIOS_HMC5x83_GAIN_1_9 0x40
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#define PIOS_HMC5x83_GAIN_2_5 0x60
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#define PIOS_HMC5x83_GAIN_4_0 0x80
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#define PIOS_HMC5x83_GAIN_4_7 0xA0
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#define PIOS_HMC5x83_GAIN_5_6 0xC0
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#define PIOS_HMC5x83_GAIN_8_1 0xE0
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#define PIOS_HMC5x83_CTRLA_TEMP 0x40
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/* Modes */
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#define PIOS_HMC5x83_MODE_CONTINUOUS 0x00
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#define PIOS_HMC5x83_MODE_SINGLE 0x01
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#define PIOS_HMC5x83_MODE_IDLE 0x02
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#define PIOS_HMC5x83_MODE_SLEEP 0x03
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/* Sensitivity Conversion Values */
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#define PIOS_HMC5x83_Sensitivity_0_88Ga 1370 // LSB/Ga
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#define PIOS_HMC5x83_Sensitivity_1_3Ga 1090 // LSB/Ga
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#define PIOS_HMC5x83_Sensitivity_1_9Ga 820 // LSB/Ga
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#define PIOS_HMC5x83_Sensitivity_2_5Ga 660 // LSB/Ga
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#define PIOS_HMC5x83_Sensitivity_4_0Ga 440 // LSB/Ga
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#define PIOS_HMC5x83_Sensitivity_4_7Ga 390 // LSB/Ga
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#define PIOS_HMC5x83_Sensitivity_5_6Ga 330 // LSB/Ga
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#define PIOS_HMC5x83_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
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/* Status Register */
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#define PIOS_HMC5x83_DATAOUT_STATUS_RDY 0x01
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typedef uintptr_t pios_hmc5x83_dev_t;
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struct pios_hmc5x83_io_driver {
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int32_t (*Write)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
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int32_t (*Read)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
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};
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#ifdef PIOS_INCLUDE_SPI
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extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER;
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#endif
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#ifdef PIOS_INCLUDE_I2C
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extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
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#endif
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// xyz axis orientation
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enum PIOS_HMC5X83_ORIENTATION {
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PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
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PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP,
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PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP,
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PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP,
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PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN,
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PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN,
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PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
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PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN,
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};
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struct pios_hmc5x83_cfg {
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#ifdef PIOS_HMC5X83_HAS_GPIOS
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const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
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#endif
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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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bool TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation
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enum PIOS_HMC5X83_ORIENTATION Orientation;
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const struct pios_hmc5x83_io_driver *Driver;
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};
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/* Public Functions */
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extern pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t device_num);
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extern void PIOS_HMC5x83_Register(pios_hmc5x83_dev_t handler, PIOS_SENSORS_TYPE sensortype);
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extern bool PIOS_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler);
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extern int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3]);
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extern uint8_t PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4]);
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extern int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler);
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extern bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler);
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extern const PIOS_SENSORS_Driver PIOS_HMC5x83_Driver;
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#endif /* PIOS_HMC5x83_H */
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/**
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* @}
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* @}
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*/
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