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LibrePilot/flight/pios/common/pios_hmc5843.c

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_HMC5843 HMC5843 Functions
* @brief Deals with the hardware interface to the magnetometers
* @{
*
* @file pios_hmc5843.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief HMC5843 Magnetic Sensor Functions from AHRS
* @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
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_HMC5843
#include <pios_exti.h>
/* HMC5843 Addresses */
#define PIOS_HMC5843_I2C_ADDR 0x1E
#define PIOS_HMC5843_CONFIG_REG_A (uint8_t)0x00
#define PIOS_HMC5843_CONFIG_REG_B (uint8_t)0x01
#define PIOS_HMC5843_MODE_REG (uint8_t)0x02
#define PIOS_HMC5843_DATAOUT_XMSB_REG 0x03
#define PIOS_HMC5843_DATAOUT_XLSB_REG 0x04
#define PIOS_HMC5843_DATAOUT_YMSB_REG 0x05
#define PIOS_HMC5843_DATAOUT_YLSB_REG 0x06
#define PIOS_HMC5843_DATAOUT_ZMSB_REG 0x07
#define PIOS_HMC5843_DATAOUT_ZLSB_REG 0x08
#define PIOS_HMC5843_DATAOUT_STATUS_REG 0x09
#define PIOS_HMC5843_DATAOUT_IDA_REG 0x0A
#define PIOS_HMC5843_DATAOUT_IDB_REG 0x0B
#define PIOS_HMC5843_DATAOUT_IDC_REG 0x0C
/* Output Data Rate */
#define PIOS_HMC5843_ODR_05 0x00
#define PIOS_HMC5843_ODR_1 0x04
#define PIOS_HMC5843_ODR_2 0x08
#define PIOS_HMC5843_ODR_5 0x0C
#define PIOS_HMC5843_ODR_10 0x10
#define PIOS_HMC5843_ODR_20 0x14
#define PIOS_HMC5843_ODR_50 0x18
/* Measure configuration */
#define PIOS_HMC5843_MEASCONF_NORMAL 0x00
#define PIOS_HMC5843_MEASCONF_BIAS_POS 0x01
#define PIOS_HMC5843_MEASCONF_BIAS_NEG 0x02
/* Gain settings */
#define PIOS_HMC5843_GAIN_0_7 0x00
#define PIOS_HMC5843_GAIN_1 0x20
#define PIOS_HMC5843_GAIN_1_5 0x40
#define PIOS_HMC5843_GAIN_2 0x60
#define PIOS_HMC5843_GAIN_3_2 0x80
#define PIOS_HMC5843_GAIN_3_8 0xA0
#define PIOS_HMC5843_GAIN_4_5 0xC0
#define PIOS_HMC5843_GAIN_6_5 0xE0
/* Modes */
#define PIOS_HMC5843_MODE_CONTINUOUS 0x00
#define PIOS_HMC5843_MODE_SINGLE 0x01
#define PIOS_HMC5843_MODE_IDLE 0x02
#define PIOS_HMC5843_MODE_SLEEP 0x02
/* Sensitivity Conversion Values */
#define PIOS_HMC5843_Sensitivity_0_7Ga 1602 // LSB/Ga
#define PIOS_HMC5843_Sensitivity_1Ga 1300 // LSB/Ga
#define PIOS_HMC5843_Sensitivity_1_5Ga 970 // LSB/Ga
#define PIOS_HMC5843_Sensitivity_2Ga 780 // LSB/Ga
#define PIOS_HMC5843_Sensitivity_3_2Ga 530 // LSB/Ga
#define PIOS_HMC5843_Sensitivity_3_8Ga 460 // LSB/Ga
#define PIOS_HMC5843_Sensitivity_4_5Ga 390 // LSB/Ga
#define PIOS_HMC5843_Sensitivity_6_5Ga 280 // LSB/Ga --> NOT RECOMMENDED
/* Global Variables */
/* Local Types */
typedef struct {
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;
} PIOS_HMC5843_ConfigTypeDef;
/* Local Variables */
volatile bool pios_hmc5843_data_ready;
static void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct);
static bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len);
static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
void PIOS_HMC5843_EndOfConversion(void)
{
pios_hmc5843_data_ready = true;
}
static const struct pios_exti_cfg pios_exti_hmc5843_cfg __exti_config = {
.vector = PIOS_HMC5843_EndOfConversion,
.line = PIOS_HMC5843_DRDY_EXTI_LINE,
.pin = {
.gpio = PIOS_HMC5843_DRDY_GPIO_PORT,
.init = {
.GPIO_Pin = PIOS_HMC5843_DRDY_GPIO_PIN,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = PIOS_HMC5843_DRDY_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_HMC5843_DRDY_PRIO,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = PIOS_HMC5843_DRDY_EXTI_LINE,
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
/**
* @brief Initialise the HMC5843 sensor
*/
void PIOS_HMC5843_Init(void)
{
/* Enable DRDY GPIO clock */
RCC_APB2PeriphClockCmd(PIOS_HMC5843_DRDY_CLK | RCC_APB2Periph_AFIO, ENABLE);
PIOS_EXTI_Init(&pios_exti_hmc5843_cfg);
/* Configure the HMC5843 Sensor */
PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOUS;
PIOS_HMC5843_Config(&HMC5843_InitStructure);
pios_hmc5843_data_ready = false;
}
/**
* Initialise the HMC5843 sensor
*
* CTRL_REGA: Control Register A
* Read Write
* Default value: 0x10
* 7:5 0 These bits must be cleared for correct operation.
* 4:2 DO2-DO0: Data Output Rate Bits
* DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz)
* ------------------------------------------------------
* 0 | 0 | 0 | 0.5
* 0 | 0 | 1 | 1
* 0 | 1 | 0 | 2
* 0 | 1 | 1 | 5
* 1 | 0 | 0 | 10 (default)
* 1 | 0 | 1 | 20
* 1 | 1 | 0 | 50
* 1 | 1 | 1 | Not Used
* 1:0 MS1-MS0: Measurement Configuration Bits
* MS1 | MS0 | MODE
* ------------------------------
* 0 | 0 | Normal
* 0 | 1 | Positive Bias
* 1 | 0 | Negative Bias
* 1 | 1 | Not Used
*
* CTRL_REGB: Control RegisterB
* Read Write
* Default value: 0x20
* 7:5 GN2-GN0: Gain Configuration Bits.
* GN2 | GN1 | GN0 | Mag Input | Gain | Output Range
* | | | Range[Ga] | [LSB/mGa] |
* ------------------------------------------------------
* 0 | 0 | 0 | ±0.7Ga | 1620 | 0xF800–0x07FF (-2048:2047)
* 0 | 0 | 1 | ±1.0Ga (def) | 1300 | 0xF800–0x07FF (-2048:2047)
* 0 | 1 | 0 | ±1.5Ga | 970 | 0xF800–0x07FF (-2048:2047)
* 0 | 1 | 1 | ±2.0Ga | 780 | 0xF800–0x07FF (-2048:2047)
* 1 | 0 | 0 | ±3.2Ga | 530 | 0xF800–0x07FF (-2048:2047)
* 1 | 0 | 1 | ±3.8Ga | 460 | 0xF800–0x07FF (-2048:2047)
* 1 | 1 | 0 | ±4.5Ga | 390 | 0xF800–0x07FF (-2048:2047)
* 1 | 1 | 1 | ±6.5Ga | 280 | 0xF800–0x07FF (-2048:2047)
* |Not recommended|
*
* 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
*
* _MODE_REG: Mode Register
* Read Write
* Default value: 0x02
* 7:2 0 These bits must be cleared for correct operation.
* 1:0 MD1-MD0: Mode Select Bits
* MS1 | MS0 | MODE
* ------------------------------
* 0 | 0 | Continuous-Conversion Mode.
* 0 | 1 | Single-Conversion Mode
* 1 | 0 | Negative Bias
* 1 | 1 | Sleep Mode
*/
static void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct)
{
uint8_t CRTLA = 0x00;
uint8_t CRTLB = 0x00;
uint8_t MODE = 0x00;
CRTLA |= (uint8_t)(HMC5843_Config_Struct->M_ODR | HMC5843_Config_Struct->Meas_Conf);
CRTLB |= (uint8_t)(HMC5843_Config_Struct->Gain);
MODE |= (uint8_t)(HMC5843_Config_Struct->Mode);
// CRTL_REGA
while (!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_A, CRTLA)) {
;
}
// CRTL_REGB
while (!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_B, CRTLB)) {
;
}
// Mode register
while (!PIOS_HMC5843_Write(PIOS_HMC5843_MODE_REG, MODE)) {
;
}
}
/**
* Read the magnetic readings from the sensor
*/
void PIOS_HMC5843_ReadMag(int16_t out[3])
{
uint8_t buffer[6];
uint8_t crtlB;
pios_hmc5843_data_ready = false;
while (!PIOS_HMC5843_Read(PIOS_HMC5843_CONFIG_REG_B, &crtlB, 1)) {
;
}
while (!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_XMSB_REG, buffer, 6)) {
;
}
switch (crtlB & 0xE0) {
case 0x00:
for (int i = 0; i < 3; i++) {
out[i] = ((int16_t)((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5843_Sensitivity_0_7Ga;
}
break;
case 0x20:
for (int i = 0; i < 3; i++) {
out[i] = ((int16_t)((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5843_Sensitivity_1Ga;
}
break;
case 0x40:
for (int i = 0; i < 3; i++) {
out[i] = (int16_t)(((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5843_Sensitivity_1_5Ga;
}
break;
case 0x60:
for (int i = 0; i < 3; i++) {
out[i] = (int16_t)(((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5843_Sensitivity_2Ga;
}
break;
case 0x80:
for (int i = 0; i < 3; i++) {
out[i] = (int16_t)(((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5843_Sensitivity_3_2Ga;
}
break;
case 0xA0:
for (int i = 0; i < 3; i++) {
out[i] = (int16_t)(((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5843_Sensitivity_3_8Ga;
}
break;
case 0xC0:
for (int i = 0; i < 3; i++) {
out[i] = (int16_t)(((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5843_Sensitivity_4_5Ga;
}
break;
case 0xE0:
for (int i = 0; i < 3; i++) {
out[i] = (int16_t)(((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5843_Sensitivity_6_5Ga;
}
break;
}
}
/**
* Read the identification bytes from the sensor
*/
void PIOS_HMC5843_ReadID(uint8_t out[4])
{
while (!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_IDA_REG, out, 3)) {
;
}
out[3] = '\0';
}
bool PIOS_HMC5843_NewDataAvailable(void)
{
return pios_hmc5843_data_ready;
}
/**
* Reads one or more bytes into a buffer
* \param[in] address HMC5843 register address (depends on size)
* \param[out] buffer destination buffer
* \param[in] len number of bytes which should be read
* \return 0 if operation was successful
* \return -1 if error during I2C transfer
* \return -2 if unable to claim i2c device
*/
static bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
{
uint8_t addr_buffer[] = {
address,
};
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = PIOS_HMC5843_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(addr_buffer),
.buf = addr_buffer,
}
,
{
.info = __func__,
.addr = PIOS_HMC5843_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = len,
.buf = buffer,
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
}
/**
* Writes one or more bytes to the HMC5843
* \param[in] address Register address
* \param[in] buffer source buffer
* \return 0 if operation was successful
* \retval -1 if error during I2C transfer
* \retval -2 if unable to claim i2c device
*/
static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
{
uint8_t data[] = {
address,
buffer,
};
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = PIOS_HMC5843_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(data),
.buf = data,
}
,
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
}
#endif /* PIOS_INCLUDE_HMC5843 */
/**
* @}
* @}
*/