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This file had mixed line endings. Now they're all the same. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1353 ebee16cc-31ac-478f-84a7-5cbb03baadba
266 lines
8.2 KiB
C
266 lines
8.2 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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/* Glocal Variables */
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/* Local Variables */
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/**
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* @brieft 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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// Nothing to do here
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// If we were using the DRDY (data ready) interrupt input, we would set it up here
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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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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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PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_A, CRTLA);
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// CRTL_REGB
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PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_B, CRTLB);
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// Mode register
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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_Read(PIOS_HMC5843_CONFIG_REG_B, &crtlB, 1);
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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
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/ 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
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/ 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
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/ 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
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/ 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
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/ 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
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/ 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
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/ 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
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/ 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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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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/**
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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 -4 if invalid length
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*/
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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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.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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.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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* \return -1 if error during I2C transfer
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*/
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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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.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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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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