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LibrePilot/flight/PiOS/inc/pios_hmc5883.h
2011-08-13 11:20:32 -05:00

115 lines
3.9 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_HMC5883 HMC5883 Functions
* @brief Deals with the hardware interface to the magnetometers
* @{
*
* @file pios_hmc5883.h
* @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief HMC5883 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_HMC5883_H
#define PIOS_HMC5883_H
#include <pios.h>
/* HMC5883 Addresses */
#define PIOS_HMC5883_I2C_ADDR 0x1E
#define PIOS_HMC5883_I2C_READ_ADDR 0x3D
#define PIOS_HMC5883_I2C_WRITE_ADDR 0x3C
#define PIOS_HMC5883_CONFIG_REG_A (uint8_t)0x00
#define PIOS_HMC5883_CONFIG_REG_B (uint8_t)0x01
#define PIOS_HMC5883_MODE_REG (uint8_t)0x02
#define PIOS_HMC5883_DATAOUT_XMSB_REG 0x03
#define PIOS_HMC5883_DATAOUT_XLSB_REG 0x04
#define PIOS_HMC5883_DATAOUT_ZMSB_REG 0x05
#define PIOS_HMC5883_DATAOUT_ZLSB_REG 0x06
#define PIOS_HMC5883_DATAOUT_YMSB_REG 0x07
#define PIOS_HMC5883_DATAOUT_YLSB_REG 0x08
#define PIOS_HMC5883_DATAOUT_STATUS_REG 0x09
#define PIOS_HMC5883_DATAOUT_IDA_REG 0x0A
#define PIOS_HMC5883_DATAOUT_IDB_REG 0x0B
#define PIOS_HMC5883_DATAOUT_IDC_REG 0x0C
/* Output Data Rate */
#define PIOS_HMC5883_ODR_0_75 0x00
#define PIOS_HMC5883_ODR_1_5 0x04
#define PIOS_HMC5883_ODR_3 0x08
#define PIOS_HMC5883_ODR_7_5 0x0C
#define PIOS_HMC5883_ODR_15 0x10
#define PIOS_HMC5883_ODR_30 0x14
#define PIOS_HMC5883_ODR_75 0x18
/* Measure configuration */
#define PIOS_HMC5883_MEASCONF_NORMAL 0x00
#define PIOS_HMC5883_MEASCONF_BIAS_POS 0x01
#define PIOS_HMC5883_MEASCONF_BIAS_NEG 0x02
/* Gain settings */
#define PIOS_HMC5883_GAIN_0_88 0x00
#define PIOS_HMC5883_GAIN_1_3 0x20
#define PIOS_HMC5883_GAIN_1_9 0x40
#define PIOS_HMC5883_GAIN_2_5 0x60
#define PIOS_HMC5883_GAIN_4_0 0x80
#define PIOS_HMC5883_GAIN_4_7 0xA0
#define PIOS_HMC5883_GAIN_5_6 0xC0
#define PIOS_HMC5883_GAIN_8_1 0xE0
/* Modes */
#define PIOS_HMC5883_MODE_CONTINUOUS 0x00
#define PIOS_HMC5883_MODE_SINGLE 0x01
#define PIOS_HMC5883_MODE_IDLE 0x02
#define PIOS_HMC5883_MODE_SLEEP 0x03
/* Sensitivity Conversion Values */
#define PIOS_HMC5883_Sensitivity_0_88Ga 1370 // LSB/Ga
#define PIOS_HMC5883_Sensitivity_1_3Ga 1090 // LSB/Ga
#define PIOS_HMC5883_Sensitivity_1_9Ga 820 // LSB/Ga
#define PIOS_HMC5883_Sensitivity_2_5Ga 660 // LSB/Ga
#define PIOS_HMC5883_Sensitivity_4_0Ga 440 // LSB/Ga
#define PIOS_HMC5883_Sensitivity_4_7Ga 390 // LSB/Ga
#define PIOS_HMC5883_Sensitivity_5_6Ga 330 // LSB/Ga
#define PIOS_HMC5883_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
struct pios_hmc5883_cfg {
struct stm32_gpio drdy;
struct stm32_exti eoc_exti;
struct stm32_irq eoc_irq;
};
/* Public Functions */
extern void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg);
extern bool PIOS_HMC5883_NewDataAvailable(void);
extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
extern int32_t PIOS_HMC5883_Test(void);
#endif /* PIOS_HMC5883_H */
/**
* @}
* @}
*/