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385 lines
12 KiB
C
385 lines
12 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_HMC5843 HMC5843 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_hmc5843.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief HMC5843 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_HMC5843)
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#include <pios_exti.h>
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/* HMC5843 Addresses */
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#define PIOS_HMC5843_I2C_ADDR 0x1E
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#define PIOS_HMC5843_CONFIG_REG_A (uint8_t)0x00
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#define PIOS_HMC5843_CONFIG_REG_B (uint8_t)0x01
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#define PIOS_HMC5843_MODE_REG (uint8_t)0x02
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#define PIOS_HMC5843_DATAOUT_XMSB_REG 0x03
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#define PIOS_HMC5843_DATAOUT_XLSB_REG 0x04
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#define PIOS_HMC5843_DATAOUT_YMSB_REG 0x05
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#define PIOS_HMC5843_DATAOUT_YLSB_REG 0x06
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#define PIOS_HMC5843_DATAOUT_ZMSB_REG 0x07
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#define PIOS_HMC5843_DATAOUT_ZLSB_REG 0x08
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#define PIOS_HMC5843_DATAOUT_STATUS_REG 0x09
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#define PIOS_HMC5843_DATAOUT_IDA_REG 0x0A
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#define PIOS_HMC5843_DATAOUT_IDB_REG 0x0B
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#define PIOS_HMC5843_DATAOUT_IDC_REG 0x0C
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/* Output Data Rate */
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#define PIOS_HMC5843_ODR_05 0x00
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#define PIOS_HMC5843_ODR_1 0x04
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#define PIOS_HMC5843_ODR_2 0x08
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#define PIOS_HMC5843_ODR_5 0x0C
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#define PIOS_HMC5843_ODR_10 0x10
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#define PIOS_HMC5843_ODR_20 0x14
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#define PIOS_HMC5843_ODR_50 0x18
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/* Measure configuration */
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#define PIOS_HMC5843_MEASCONF_NORMAL 0x00
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#define PIOS_HMC5843_MEASCONF_BIAS_POS 0x01
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#define PIOS_HMC5843_MEASCONF_BIAS_NEG 0x02
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/* Gain settings */
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#define PIOS_HMC5843_GAIN_0_7 0x00
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#define PIOS_HMC5843_GAIN_1 0x20
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#define PIOS_HMC5843_GAIN_1_5 0x40
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#define PIOS_HMC5843_GAIN_2 0x60
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#define PIOS_HMC5843_GAIN_3_2 0x80
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#define PIOS_HMC5843_GAIN_3_8 0xA0
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#define PIOS_HMC5843_GAIN_4_5 0xC0
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#define PIOS_HMC5843_GAIN_6_5 0xE0
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/* Modes */
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#define PIOS_HMC5843_MODE_CONTINUOUS 0x00
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#define PIOS_HMC5843_MODE_SINGLE 0x01
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#define PIOS_HMC5843_MODE_IDLE 0x02
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#define PIOS_HMC5843_MODE_SLEEP 0x02
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/* Sensitivity Conversion Values */
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#define PIOS_HMC5843_Sensitivity_0_7Ga 1602 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_1Ga 1300 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_1_5Ga 970 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_2Ga 780 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_3_2Ga 530 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_3_8Ga 460 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_4_5Ga 390 // LSB/Ga
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#define PIOS_HMC5843_Sensitivity_6_5Ga 280 // LSB/Ga --> NOT RECOMMENDED
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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_HMC5843_ConfigTypeDef;
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/* Local Variables */
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volatile bool pios_hmc5843_data_ready;
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static void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef * HMC5843_Config_Struct);
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static bool PIOS_HMC5843_Read(uint8_t address, uint8_t * buffer, uint8_t len);
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static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
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void PIOS_HMC5843_EndOfConversion (void)
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{
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pios_hmc5843_data_ready = true;
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}
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static const struct pios_exti_cfg pios_exti_hmc5843_cfg __exti_config = {
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.vector = PIOS_HMC5843_EndOfConversion,
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.line = PIOS_HMC5843_DRDY_EXTI_LINE,
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.pin = {
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.gpio = PIOS_HMC5843_DRDY_GPIO_PORT,
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.init = {
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.GPIO_Pin = PIOS_HMC5843_DRDY_GPIO_PIN,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = PIOS_HMC5843_DRDY_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_HMC5843_DRDY_PRIO,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.exti = {
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.init = {
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.EXTI_Line = PIOS_HMC5843_DRDY_EXTI_LINE,
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.EXTI_Mode = EXTI_Mode_Interrupt,
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.EXTI_Trigger = EXTI_Trigger_Rising,
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.EXTI_LineCmd = ENABLE,
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},
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},
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};
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/**
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* @brief Initialise the HMC5843 sensor
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*/
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void PIOS_HMC5843_Init(void)
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{
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/* Enable DRDY GPIO clock */
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RCC_APB2PeriphClockCmd(PIOS_HMC5843_DRDY_CLK | RCC_APB2Periph_AFIO, ENABLE);
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PIOS_EXTI_Init(&pios_exti_hmc5843_cfg);
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/* Configure the HMC5843 Sensor */
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PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
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HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
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HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
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HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
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HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOUS;
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PIOS_HMC5843_Config(&HMC5843_InitStructure);
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pios_hmc5843_data_ready = false;
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}
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/**
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* Initialise the HMC5843 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 | 0.5
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* 0 | 0 | 1 | 1
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* 0 | 1 | 0 | 2
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* 0 | 1 | 1 | 5
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* 1 | 0 | 0 | 10 (default)
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* 1 | 0 | 1 | 20
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* 1 | 1 | 0 | 50
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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 | ±0.7Ga | 1620 | 0xF8000x07FF (-2048:2047)
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* 0 | 0 | 1 | ±1.0Ga (def) | 1300 | 0xF8000x07FF (-2048:2047)
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* 0 | 1 | 0 | ±1.5Ga | 970 | 0xF8000x07FF (-2048:2047)
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* 0 | 1 | 1 | ±2.0Ga | 780 | 0xF8000x07FF (-2048:2047)
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* 1 | 0 | 0 | ±3.2Ga | 530 | 0xF8000x07FF (-2048:2047)
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* 1 | 0 | 1 | ±3.8Ga | 460 | 0xF8000x07FF (-2048:2047)
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* 1 | 1 | 0 | ±4.5Ga | 390 | 0xF8000x07FF (-2048:2047)
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* 1 | 1 | 1 | ±6.5Ga | 280 | 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_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef * HMC5843_Config_Struct)
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{
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uint8_t CRTLA = 0x00;
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uint8_t CRTLB = 0x00;
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uint8_t MODE = 0x00;
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CRTLA |= (uint8_t) (HMC5843_Config_Struct->M_ODR | HMC5843_Config_Struct->Meas_Conf);
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CRTLB |= (uint8_t) (HMC5843_Config_Struct->Gain);
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MODE |= (uint8_t) (HMC5843_Config_Struct->Mode);
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// CRTL_REGA
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while (!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_A, CRTLA)) ;
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// CRTL_REGB
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while (!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_B, CRTLB)) ;
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// Mode register
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while (!PIOS_HMC5843_Write(PIOS_HMC5843_MODE_REG, MODE)) ;
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}
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/**
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* Read the magnetic readings from the sensor
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*/
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void PIOS_HMC5843_ReadMag(int16_t out[3])
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{
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uint8_t buffer[6];
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uint8_t crtlB;
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pios_hmc5843_data_ready = false;
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while (!PIOS_HMC5843_Read(PIOS_HMC5843_CONFIG_REG_B, &crtlB, 1)) ;
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while (!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_XMSB_REG, buffer, 6)) ;
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switch (crtlB & 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_HMC5843_Sensitivity_0_7Ga;
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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_HMC5843_Sensitivity_1Ga;
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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_HMC5843_Sensitivity_1_5Ga;
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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_HMC5843_Sensitivity_2Ga;
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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_HMC5843_Sensitivity_3_2Ga;
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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_HMC5843_Sensitivity_3_8Ga;
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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_HMC5843_Sensitivity_4_5Ga;
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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_HMC5843_Sensitivity_6_5Ga;
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break;
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}
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}
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/**
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* Read the identification bytes from the sensor
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*/
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void PIOS_HMC5843_ReadID(uint8_t out[4])
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{
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while (!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_IDA_REG, out, 3)) ;
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out[3] = '\0';
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}
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bool PIOS_HMC5843_NewDataAvailable(void)
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{
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return (pios_hmc5843_data_ready);
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}
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/**
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* Reads one or more bytes into a buffer
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* \param[in] address HMC5843 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 -2 if unable to claim i2c device
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*/
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static bool PIOS_HMC5843_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_HMC5843_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_HMC5843_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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* Writes one or more bytes to the HMC5843
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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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* \retval -1 if error during I2C transfer
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* \retval -2 if unable to claim i2c device
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*/
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static bool PIOS_HMC5843_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_HMC5843_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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#endif
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/**
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* @}
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* @}
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*/
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