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https://bitbucket.org/librepilot/librepilot.git
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06443b4281
AHRS_comms still needs to be implemented. INS/GPS functionality still needs to be implemented. Double-check of the new drivers still needs to be done. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
106 lines
3.7 KiB
C
106 lines
3.7 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_HMC5883 HMC5883 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_hmc5883.h
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* @author David "Buzz" Carlson (buzz@chebuzz.com)
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief HMC5883 functions header.
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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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* 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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#ifndef PIOS_HMC5883_H
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#define PIOS_HMC5883_H
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/* HMC5883 Addresses */
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#define PIOS_HMC5883_I2C_ADDR 0x1E
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#define PIOS_HMC5883_I2C_READ_ADDR 0x3D
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#define PIOS_HMC5883_I2C_WRITE_ADDR 0x3C
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#define PIOS_HMC5883_CONFIG_REG_A (uint8_t)0x00
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#define PIOS_HMC5883_CONFIG_REG_B (uint8_t)0x01
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#define PIOS_HMC5883_MODE_REG (uint8_t)0x02
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#define PIOS_HMC5883_DATAOUT_XMSB_REG 0x03
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#define PIOS_HMC5883_DATAOUT_XLSB_REG 0x04
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#define PIOS_HMC5883_DATAOUT_ZMSB_REG 0x05
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#define PIOS_HMC5883_DATAOUT_ZLSB_REG 0x06
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#define PIOS_HMC5883_DATAOUT_YMSB_REG 0x07
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#define PIOS_HMC5883_DATAOUT_YLSB_REG 0x08
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#define PIOS_HMC5883_DATAOUT_STATUS_REG 0x09
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#define PIOS_HMC5883_DATAOUT_IDA_REG 0x0A
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#define PIOS_HMC5883_DATAOUT_IDB_REG 0x0B
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#define PIOS_HMC5883_DATAOUT_IDC_REG 0x0C
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/* Output Data Rate */
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#define PIOS_HMC5883_ODR_0_75 0x00
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#define PIOS_HMC5883_ODR_1_5 0x04
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#define PIOS_HMC5883_ODR_3 0x08
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#define PIOS_HMC5883_ODR_7_5 0x0C
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#define PIOS_HMC5883_ODR_15 0x10
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#define PIOS_HMC5883_ODR_30 0x14
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#define PIOS_HMC5883_ODR_75 0x18
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/* Measure configuration */
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#define PIOS_HMC5883_MEASCONF_NORMAL 0x00
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#define PIOS_HMC5883_MEASCONF_BIAS_POS 0x01
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#define PIOS_HMC5883_MEASCONF_BIAS_NEG 0x02
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/* Gain settings */
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#define PIOS_HMC5883_GAIN_0_88 0x00
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#define PIOS_HMC5883_GAIN_1_3 0x20
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#define PIOS_HMC5883_GAIN_1_9 0x40
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#define PIOS_HMC5883_GAIN_2_5 0x60
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#define PIOS_HMC5883_GAIN_4_0 0x80
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#define PIOS_HMC5883_GAIN_4_7 0xA0
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#define PIOS_HMC5883_GAIN_5_6 0xC0
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#define PIOS_HMC5883_GAIN_8_1 0xE0
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/* Modes */
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#define PIOS_HMC5883_MODE_CONTINUOUS 0x00
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#define PIOS_HMC5883_MODE_SINGLE 0x01
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#define PIOS_HMC5883_MODE_IDLE 0x02
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#define PIOS_HMC5883_MODE_SLEEP 0x03
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/* Sensitivity Conversion Values */
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#define PIOS_HMC5883_Sensitivity_0_88Ga 1370 // LSB/Ga
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#define PIOS_HMC5883_Sensitivity_1_3Ga 1090 // LSB/Ga
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#define PIOS_HMC5883_Sensitivity_1_9Ga 820 // LSB/Ga
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#define PIOS_HMC5883_Sensitivity_2_5Ga 660 // LSB/Ga
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#define PIOS_HMC5883_Sensitivity_4_0Ga 440 // LSB/Ga
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#define PIOS_HMC5883_Sensitivity_4_7Ga 390 // LSB/Ga
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#define PIOS_HMC5883_Sensitivity_5_6Ga 330 // LSB/Ga
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#define PIOS_HMC5883_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
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/* Public Functions */
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extern void PIOS_HMC5883_Init(void);
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extern bool PIOS_HMC5883_NewDataAvailable(void);
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extern void PIOS_HMC5883_ReadMag(int16_t out[3]);
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extern void PIOS_HMC5883_ReadID(uint8_t out[4]);
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extern int32_t PIOS_HMC5883_Test(void);
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#endif /* PIOS_HMC5883_H */
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/**
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* @}
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* @}
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*/
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