mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
450cf07a89
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1323 ebee16cc-31ac-478f-84a7-5cbb03baadba
115 lines
4.3 KiB
C
115 lines
4.3 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_HMC5843 HMC5843 Functions
|
|
* @brief Deals with the hardware interface to the magnetometers
|
|
* @{
|
|
*
|
|
* @file pios_hmc5843.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief HMC5843 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_HMC5843_H
|
|
#define PIOS_HMC5843_H
|
|
|
|
/* BMP085 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 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;
|
|
|
|
/* Global Variables */
|
|
|
|
|
|
/* Public Functions */
|
|
extern void PIOS_HMC5843_Init(void);
|
|
extern void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct);
|
|
extern void PIOS_HMC5843_ReadMag(int16_t out[3]);
|
|
extern void PIOS_HMC5843_ReadID(uint8_t out[4]);
|
|
extern bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len);
|
|
extern bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
|
|
|
|
#endif /* PIOS_HMC5843_H */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|