mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
138 lines
5.4 KiB
C
138 lines
5.4 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_HMC5x83 HMC5x83 Functions
|
|
* @brief Deals with the hardware interface to the magnetometers
|
|
* @{
|
|
*
|
|
* @file pios_hmc5x83.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* @brief HMC5x83 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_HMC5x83_H
|
|
#define PIOS_HMC5x83_H
|
|
#include <stdint.h>
|
|
/* HMC5x83 Addresses */
|
|
#define PIOS_HMC5x83_I2C_ADDR 0x1E
|
|
#define PIOS_HMC5x83_I2C_READ_ADDR 0x3D
|
|
#define PIOS_HMC5x83_I2C_WRITE_ADDR 0x3C
|
|
|
|
#define PIOS_HMC5x83_SPI_READ_FLAG 0x80
|
|
#define PIOS_HMC5x83_SPI_AUTOINCR_FLAG 0x40
|
|
#define PIOS_HMC5x83_CONFIG_REG_A (uint8_t)0x00
|
|
#define PIOS_HMC5x83_CONFIG_REG_B (uint8_t)0x01
|
|
#define PIOS_HMC5x83_MODE_REG (uint8_t)0x02
|
|
#define PIOS_HMC5x83_DATAOUT_XMSB_REG 0x03
|
|
#define PIOS_HMC5x83_DATAOUT_XLSB_REG 0x04
|
|
#define PIOS_HMC5x83_DATAOUT_ZMSB_REG 0x05
|
|
#define PIOS_HMC5x83_DATAOUT_ZLSB_REG 0x06
|
|
#define PIOS_HMC5x83_DATAOUT_YMSB_REG 0x07
|
|
#define PIOS_HMC5x83_DATAOUT_YLSB_REG 0x08
|
|
#define PIOS_HMC5x83_DATAOUT_STATUS_REG 0x09
|
|
#define PIOS_HMC5x83_DATAOUT_IDA_REG 0x0A
|
|
#define PIOS_HMC5x83_DATAOUT_IDB_REG 0x0B
|
|
#define PIOS_HMC5x83_DATAOUT_IDC_REG 0x0C
|
|
|
|
/* Output Data Rate */
|
|
#define PIOS_HMC5x83_ODR_0_75 0x00
|
|
#define PIOS_HMC5x83_ODR_1_5 0x04
|
|
#define PIOS_HMC5x83_ODR_3 0x08
|
|
#define PIOS_HMC5x83_ODR_7_5 0x0C
|
|
#define PIOS_HMC5x83_ODR_15 0x10
|
|
#define PIOS_HMC5x83_ODR_30 0x14
|
|
#define PIOS_HMC5x83_ODR_75 0x18
|
|
|
|
/* Measure configuration */
|
|
#define PIOS_HMC5x83_MEASCONF_NORMAL 0x00
|
|
#define PIOS_HMC5x83_MEASCONF_BIAS_POS 0x01
|
|
#define PIOS_HMC5x83_MEASCONF_BIAS_NEG 0x02
|
|
|
|
/* Gain settings */
|
|
#define PIOS_HMC5x83_GAIN_0_88 0x00
|
|
#define PIOS_HMC5x83_GAIN_1_3 0x20
|
|
#define PIOS_HMC5x83_GAIN_1_9 0x40
|
|
#define PIOS_HMC5x83_GAIN_2_5 0x60
|
|
#define PIOS_HMC5x83_GAIN_4_0 0x80
|
|
#define PIOS_HMC5x83_GAIN_4_7 0xA0
|
|
#define PIOS_HMC5x83_GAIN_5_6 0xC0
|
|
#define PIOS_HMC5x83_GAIN_8_1 0xE0
|
|
|
|
#define PIOS_HMC5x83_CTRLA_TEMP 0x40
|
|
|
|
/* Modes */
|
|
#define PIOS_HMC5x83_MODE_CONTINUOUS 0x00
|
|
#define PIOS_HMC5x83_MODE_SINGLE 0x01
|
|
#define PIOS_HMC5x83_MODE_IDLE 0x02
|
|
#define PIOS_HMC5x83_MODE_SLEEP 0x03
|
|
|
|
/* Sensitivity Conversion Values */
|
|
#define PIOS_HMC5x83_Sensitivity_0_88Ga 1370 // LSB/Ga
|
|
#define PIOS_HMC5x83_Sensitivity_1_3Ga 1090 // LSB/Ga
|
|
#define PIOS_HMC5x83_Sensitivity_1_9Ga 820 // LSB/Ga
|
|
#define PIOS_HMC5x83_Sensitivity_2_5Ga 660 // LSB/Ga
|
|
#define PIOS_HMC5x83_Sensitivity_4_0Ga 440 // LSB/Ga
|
|
#define PIOS_HMC5x83_Sensitivity_4_7Ga 390 // LSB/Ga
|
|
#define PIOS_HMC5x83_Sensitivity_5_6Ga 330 // LSB/Ga
|
|
#define PIOS_HMC5x83_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
|
|
|
|
typedef uintptr_t pios_hmc5x83_dev_t;
|
|
|
|
struct pios_hmc5x83_io_driver {
|
|
int32_t (*Write)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
|
|
int32_t (*Read)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
|
|
};
|
|
|
|
#ifdef PIOS_INCLUDE_SPI
|
|
extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER;
|
|
#endif
|
|
|
|
#ifdef PIOS_INCLUDE_I2C
|
|
extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
|
|
#endif
|
|
|
|
struct pios_hmc5x83_cfg {
|
|
#ifdef PIOS_HMC5X83_HAS_GPIOS
|
|
const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
|
|
#endif
|
|
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;
|
|
bool TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation
|
|
const struct pios_hmc5x83_io_driver *Driver;
|
|
};
|
|
|
|
/* Public Functions */
|
|
extern pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t device_num);
|
|
extern bool PIOS_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler);
|
|
extern int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3]);
|
|
extern uint8_t PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4]);
|
|
extern int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler);
|
|
extern bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler);
|
|
|
|
#endif /* PIOS_HMC5x83_H */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|