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559 lines
18 KiB
C
559 lines
18 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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* @file pios_hmc5x83.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief HMC5x83 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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#include "pios.h"
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#include <pios_hmc5x83.h>
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#include <pios_mem.h>
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#ifdef PIOS_INCLUDE_HMC5X83
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#define PIOS_HMC5X83_MAGIC 0x4d783833
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/* Global Variables */
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/* Local Types */
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typedef struct {
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uint32_t magic;
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const struct pios_hmc5x83_cfg *cfg;
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uint32_t port_id;
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uint8_t slave_num;
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uint8_t CTRLB;
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volatile bool data_ready;
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} pios_hmc5x83_dev_data_t;
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static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev);
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/**
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* Allocate the device setting structure
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* @return pios_hmc5x83_dev_data_t pointer to newly created structure
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*/
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pios_hmc5x83_dev_data_t *dev_alloc()
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{
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pios_hmc5x83_dev_data_t *dev = (pios_hmc5x83_dev_data_t *)pios_malloc(sizeof(pios_hmc5x83_dev_data_t));
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PIOS_DEBUG_Assert(dev);
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memset(dev, 0x00, sizeof(pios_hmc5x83_dev_data_t));
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dev->magic = PIOS_HMC5X83_MAGIC;
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return dev;
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}
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/**
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* Validate a pios_hmc5x83_dev_t handler and return the related pios_hmc5x83_dev_data_t pointer
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* @param dev device handler
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* @return the device data structure
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*/
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pios_hmc5x83_dev_data_t *dev_validate(pios_hmc5x83_dev_t dev)
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{
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pios_hmc5x83_dev_data_t *dev_data = (pios_hmc5x83_dev_data_t *)dev;
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PIOS_DEBUG_Assert(dev_data->magic == PIOS_HMC5X83_MAGIC);
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return dev_data;
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}
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/**
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* @brief Initialize the HMC5x83 magnetometer sensor.
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* @return none
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*/
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pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t slave_num)
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{
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pios_hmc5x83_dev_data_t *dev = dev_alloc();
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dev->cfg = cfg; // store config before enabling interrupt
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dev->port_id = port_id;
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dev->slave_num = slave_num;
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#ifdef PIOS_HMC5X83_HAS_GPIOS
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PIOS_EXTI_Init(cfg->exti_cfg);
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#endif
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int32_t val = PIOS_HMC5x83_Config(dev);
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PIOS_Assert(val == 0);
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dev->data_ready = false;
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return (pios_hmc5x83_dev_t)dev;
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}
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/**
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* @brief Initialize the HMC5x83 magnetometer sensor
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* \return none
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* \param[in] pios_hmc5x83_dev_data_t device config to be used.
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* \param[in] PIOS_HMC5x83_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 int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev)
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{
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uint8_t CTRLA = 0x00;
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uint8_t MODE = 0x00;
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const struct pios_hmc5x83_cfg *cfg = dev->cfg;
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dev->CTRLB = 0;
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CTRLA |= (uint8_t)(cfg->M_ODR | cfg->Meas_Conf);
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CTRLA |= cfg->TempCompensation ? PIOS_HMC5x83_CTRLA_TEMP : 0;
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dev->CTRLB |= (uint8_t)(cfg->Gain);
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MODE |= (uint8_t)(cfg->Mode);
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// CRTL_REGA
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if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_CONFIG_REG_A, CTRLA) != 0) {
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return -1;
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}
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// CRTL_REGB
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if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_CONFIG_REG_B, dev->CTRLB) != 0) {
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return -1;
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}
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// Mode register
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if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_MODE_REG, MODE) != 0) {
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return -1;
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}
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return 0;
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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[in] dev device handler
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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 0 for success or -1 for failure
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*/
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int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
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{
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pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
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dev->data_ready = false;
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uint8_t buffer[6];
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int32_t temp;
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int32_t sensitivity;
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if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_XMSB_REG, buffer, 6) != 0) {
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return -1;
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}
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switch (dev->CTRLB & 0xE0) {
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case 0x00:
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sensitivity = PIOS_HMC5x83_Sensitivity_0_88Ga;
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break;
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case 0x20:
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sensitivity = PIOS_HMC5x83_Sensitivity_1_3Ga;
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break;
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case 0x40:
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sensitivity = PIOS_HMC5x83_Sensitivity_1_9Ga;
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break;
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case 0x60:
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sensitivity = PIOS_HMC5x83_Sensitivity_2_5Ga;
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break;
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case 0x80:
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sensitivity = PIOS_HMC5x83_Sensitivity_4_0Ga;
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break;
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case 0xA0:
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sensitivity = PIOS_HMC5x83_Sensitivity_4_7Ga;
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break;
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case 0xC0:
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sensitivity = PIOS_HMC5x83_Sensitivity_5_6Ga;
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break;
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case 0xE0:
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sensitivity = PIOS_HMC5x83_Sensitivity_8_1Ga;
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break;
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default:
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PIOS_Assert(0);
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}
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for (int i = 0; i < 3; i++) {
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temp = ((int16_t)((uint16_t)buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000 / sensitivity;
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out[i] = temp;
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}
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// Data reads out as X,Z,Y
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temp = out[2];
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out[2] = out[1];
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out[1] = temp;
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// This should not be necessary but for some reason it is coming out of continuous conversion mode
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dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_CONTINUOUS);
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return 0;
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}
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/**
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* @brief Read the identification bytes from the HMC5x83 sensor
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* \param[out] uint8_t array of size 4 to store HMC5x83 ID.
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* \return 0 if successful, -1 if not
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*/
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uint8_t PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4])
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{
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pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
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uint8_t retval = dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_IDA_REG, out, 3);
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out[3] = '\0';
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return retval;
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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_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler)
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{
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pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
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return dev->data_ready;
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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 success, -1 if test failed
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*/
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int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler)
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{
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int32_t failed = 0;
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uint8_t registers[3] = { 0, 0, 0 };
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uint8_t status;
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uint8_t ctrl_a_read;
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uint8_t ctrl_b_read;
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uint8_t mode_read;
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int16_t values[3];
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pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
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/* Verify that ID matches (HMC5x83 ID is null-terminated ASCII string "H43") */
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char id[4];
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PIOS_HMC5x83_ReadID(handler, (uint8_t *)id);
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if ((id[0] != 'H') || (id[1] != '4') || (id[2] != '3')) { // Expect H43
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return -1;
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}
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/* Backup existing configuration */
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if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_A, registers, 3) != 0) {
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return -1;
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}
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/* Stop the device and read out last value */
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PIOS_DELAY_WaitmS(10);
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if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_IDLE) != 0) {
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return -1;
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}
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if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1) != 0) {
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return -1;
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}
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if (PIOS_HMC5x83_ReadMag(handler, values) != 0) {
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return -1;
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}
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/*
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* Put HMC5x83 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 HMC5x83
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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_HMC5x83_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_HMC5x83_MEASCONF_NORMAL will leave self-test mode.
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*/
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PIOS_DELAY_WaitmS(10);
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if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_A, PIOS_HMC5x83_MEASCONF_BIAS_POS | PIOS_HMC5x83_ODR_15) != 0) {
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return -1;
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}
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PIOS_DELAY_WaitmS(10);
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if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_B, PIOS_HMC5x83_GAIN_8_1) != 0) {
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return -1;
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}
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PIOS_DELAY_WaitmS(10);
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if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_SINGLE) != 0) {
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return -1;
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}
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/* Must wait for value to be updated */
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PIOS_DELAY_WaitmS(200);
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if (PIOS_HMC5x83_ReadMag(handler, values) != 0) {
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return -1;
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}
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dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_A, &ctrl_a_read, 1);
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dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_B, &ctrl_b_read, 1);
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dev->cfg->Driver->Read(handler, PIOS_HMC5x83_MODE_REG, &mode_read, 1);
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dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1);
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/* Restore backup configuration */
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PIOS_DELAY_WaitmS(10);
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if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_A, registers[0]) != 0) {
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return -1;
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}
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PIOS_DELAY_WaitmS(10);
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if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_B, registers[1]) != 0) {
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return -1;
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}
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PIOS_DELAY_WaitmS(10);
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if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, registers[2]) != 0) {
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return -1;
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}
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return failed;
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}
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/**
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* @brief IRQ Handler
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*/
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bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler)
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{
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pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
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dev->data_ready = true;
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return false;
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}
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#ifdef PIOS_INCLUDE_SPI
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int32_t PIOS_HMC5x83_SPI_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
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int32_t PIOS_HMC5x83_SPI_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
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const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER = {
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.Read = PIOS_HMC5x83_SPI_Read,
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.Write = PIOS_HMC5x83_SPI_Write,
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};
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static int32_t pios_hmc5x83_spi_claim_bus(pios_hmc5x83_dev_data_t *dev)
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{
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if (PIOS_SPI_ClaimBus(dev->port_id) < 0) {
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return -1;
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}
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PIOS_SPI_SetClockSpeed(dev->port_id, SPI_BaudRatePrescaler_16);
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PIOS_SPI_RC_PinSet(dev->port_id, dev->slave_num, 0);
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return 0;
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}
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static void pios_hmc5x83_spi_release_bus(pios_hmc5x83_dev_data_t *dev)
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{
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PIOS_SPI_RC_PinSet(dev->port_id, dev->slave_num, 1);
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PIOS_SPI_ReleaseBus(dev->port_id);
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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 HMC5x83 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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int32_t PIOS_HMC5x83_SPI_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len)
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{
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pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
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if (pios_hmc5x83_spi_claim_bus(dev) < 0) {
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return -1;
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}
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memset(buffer, 0xA5, len);
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PIOS_SPI_TransferByte(dev->port_id, address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG | PIOS_HMC5x83_SPI_READ_FLAG);
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// buffer[0] = address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG | PIOS_HMC5x83_SPI_READ_FLAG;
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/* Copy the transfer data to the buffer */
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if (PIOS_SPI_TransferBlock(dev->port_id, NULL, buffer, len, NULL) < 0) {
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pios_hmc5x83_spi_release_bus(dev);
|
||
return -3;
|
||
}
|
||
pios_hmc5x83_spi_release_bus(dev);
|
||
return 0;
|
||
}
|
||
|
||
/**
|
||
* @brief Writes one or more bytes to the HMC5x83
|
||
* \param[in] address Register address
|
||
* \param[in] buffer source buffer
|
||
* \return 0 if operation was successful
|
||
* \return -1 if error during I2C transfer
|
||
* \return -2 if unable to claim spi device
|
||
*/
|
||
int32_t PIOS_HMC5x83_SPI_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer)
|
||
{
|
||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||
|
||
if (pios_hmc5x83_spi_claim_bus(dev) < 0) {
|
||
return -1;
|
||
}
|
||
uint8_t data[] = {
|
||
address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG,
|
||
buffer,
|
||
};
|
||
|
||
if (PIOS_SPI_TransferBlock(dev->port_id, data, NULL, sizeof(data), NULL) < 0) {
|
||
pios_hmc5x83_spi_release_bus(dev);
|
||
return -2;
|
||
}
|
||
|
||
pios_hmc5x83_spi_release_bus(dev);
|
||
return 0;
|
||
}
|
||
#endif /* PIOS_INCLUDE_SPI */
|
||
#ifdef PIOS_INCLUDE_I2C
|
||
|
||
int32_t PIOS_HMC5x83_I2C_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
|
||
int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
|
||
|
||
const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER = {
|
||
.Read = PIOS_HMC5x83_I2C_Read,
|
||
.Write = PIOS_HMC5x83_I2C_Write,
|
||
};
|
||
|
||
/**
|
||
* @brief Reads one or more bytes into a buffer
|
||
* \param[in] address HMC5x83 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
|
||
*/
|
||
int32_t PIOS_HMC5x83_I2C_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len)
|
||
{
|
||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||
uint8_t addr_buffer[] = {
|
||
address,
|
||
};
|
||
|
||
const struct pios_i2c_txn txn_list[] = {
|
||
{
|
||
.info = __func__,
|
||
.addr = PIOS_HMC5x83_I2C_ADDR,
|
||
.rw = PIOS_I2C_TXN_WRITE,
|
||
.len = sizeof(addr_buffer),
|
||
.buf = addr_buffer,
|
||
}
|
||
,
|
||
{
|
||
.info = __func__,
|
||
.addr = PIOS_HMC5x83_I2C_ADDR,
|
||
.rw = PIOS_I2C_TXN_READ,
|
||
.len = len,
|
||
.buf = buffer,
|
||
}
|
||
};
|
||
|
||
return PIOS_I2C_Transfer(dev->port_id, txn_list, NELEMENTS(txn_list));
|
||
}
|
||
|
||
/**
|
||
* @brief Writes one or more bytes to the HMC5x83
|
||
* \param[in] address Register address
|
||
* \param[in] buffer source buffer
|
||
* \return 0 if operation was successful
|
||
* \return -1 if error during I2C transfer
|
||
* \return -2 if unable to claim i2c device
|
||
*/
|
||
int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer)
|
||
{
|
||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||
uint8_t data[] = {
|
||
address,
|
||
buffer,
|
||
};
|
||
|
||
const struct pios_i2c_txn txn_list[] = {
|
||
{
|
||
.info = __func__,
|
||
.addr = PIOS_HMC5x83_I2C_ADDR,
|
||
.rw = PIOS_I2C_TXN_WRITE,
|
||
.len = sizeof(data),
|
||
.buf = data,
|
||
}
|
||
,
|
||
};
|
||
|
||
;
|
||
return PIOS_I2C_Transfer(dev->port_id, txn_list, NELEMENTS(txn_list));
|
||
}
|
||
#endif /* PIOS_INCLUDE_I2C */
|
||
|
||
|
||
#endif /* PIOS_INCLUDE_HMC5x83 */
|
||
|
||
/**
|
||
* @}
|
||
* @}
|
||
*/
|