mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-01 18:29:16 +01:00
ff73ab5a80
Added PIOS_I2C into AHRS code. Added PIOS_HMC5843 Module. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@617 ebee16cc-31ac-478f-84a7-5cbb03baadba
96 lines
2.8 KiB
C
96 lines
2.8 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @file pios_hmc5843.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief HMC5843 Magnetic Sensor Functions
|
|
* @see The GNU Public License (GPL) Version 3
|
|
* @defgroup PIOS_HMC5843 HMC5843 Functions
|
|
* @{
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* 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
|
|
*/
|
|
|
|
/* Project Includes */
|
|
#include "pios.h"
|
|
|
|
#if defined(PIOS_INCLUDE_HMC5843)
|
|
|
|
/* Glocal Variables */
|
|
|
|
|
|
/* Local Variables */
|
|
|
|
|
|
/**
|
|
* Initialise the HMC5843 sensor
|
|
*/
|
|
void PIOS_HMC5843_Init(void)
|
|
{
|
|
// Set in continuous mode
|
|
PIOS_HMC5843_Write(0x02, 0x00);
|
|
}
|
|
|
|
|
|
/**
|
|
* Reads one or more bytes into a buffer
|
|
* \param[in] address HMC5843 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 -4 if invalid length
|
|
*/
|
|
int32_t PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
|
|
{
|
|
/* Send I2C address and register address */
|
|
/* To avoid issues copy address into temporary buffer */
|
|
uint8_t addr_buffer[1] = {(uint8_t)address};
|
|
int32_t error = PIOS_I2C_Transfer(I2C_Write_WithoutStop, HMC5843_I2C_ADDR, addr_buffer, 1);
|
|
|
|
/* Now receive byte(s) */
|
|
if(!error) {
|
|
error = PIOS_I2C_Transfer(I2C_Read, HMC5843_I2C_ADDR, buffer, len);
|
|
}
|
|
|
|
/* Return error status */
|
|
return error < 0 ? -1 : 0;
|
|
}
|
|
|
|
|
|
/**
|
|
* Writes one or more bytes to the HMC5843
|
|
* \param[in] address Register address
|
|
* \param[in] buffer source buffer
|
|
* \return 0 if operation was successful
|
|
* \return -1 if error during I2C transfer
|
|
*/
|
|
int32_t PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
|
|
{
|
|
/* Send I2C address and data */
|
|
uint8_t WriteBuffer[2];
|
|
WriteBuffer[0] = address;
|
|
WriteBuffer[1] = buffer;
|
|
|
|
int32_t error = PIOS_I2C_Transfer(I2C_Write, HMC5843_I2C_ADDR, WriteBuffer, 2);
|
|
|
|
/* Return error status */
|
|
return error < 0 ? -1 : 0;
|
|
}
|
|
|
|
#endif
|