mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-12 20:08:48 +01:00
426 lines
13 KiB
C
426 lines
13 KiB
C
/**
|
||
******************************************************************************
|
||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||
* @{
|
||
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
||
* @brief Deals with the hardware interface to the magnetometers
|
||
* @{
|
||
* @file pios_hmc5883.c
|
||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||
* @brief HMC5883 Magnetic Sensor Functions from AHRS
|
||
* @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
|
||
*/
|
||
|
||
#include "pios.h"
|
||
|
||
#ifdef PIOS_INCLUDE_HMC5883
|
||
|
||
/* Global Variables */
|
||
|
||
/* Local Types */
|
||
|
||
/* Local Variables */
|
||
volatile bool pios_hmc5883_data_ready;
|
||
|
||
static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg *cfg);
|
||
static int32_t PIOS_HMC5883_Read(uint8_t address, uint8_t *buffer, uint8_t len);
|
||
static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer);
|
||
|
||
static const struct pios_hmc5883_cfg *dev_cfg;
|
||
|
||
/**
|
||
* @brief Initialize the HMC5883 magnetometer sensor.
|
||
* @return none
|
||
*/
|
||
void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg *cfg)
|
||
{
|
||
dev_cfg = cfg; // store config before enabling interrupt
|
||
|
||
#ifdef PIOS_HMC5883_HAS_GPIOS
|
||
PIOS_EXTI_Init(cfg->exti_cfg);
|
||
#endif
|
||
|
||
int32_t val = PIOS_HMC5883_Config(cfg);
|
||
|
||
PIOS_Assert(val == 0);
|
||
|
||
pios_hmc5883_data_ready = false;
|
||
}
|
||
|
||
/**
|
||
* @brief Initialize the HMC5883 magnetometer sensor
|
||
* \return none
|
||
* \param[in] PIOS_HMC5883_ConfigTypeDef struct to be used to configure sensor.
|
||
*
|
||
* CTRL_REGA: Control Register A
|
||
* Read Write
|
||
* Default value: 0x10
|
||
* 7:5 0 These bits must be cleared for correct operation.
|
||
* 4:2 DO2-DO0: Data Output Rate Bits
|
||
* DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz)
|
||
* ------------------------------------------------------
|
||
* 0 | 0 | 0 | 0.75
|
||
* 0 | 0 | 1 | 1.5
|
||
* 0 | 1 | 0 | 3
|
||
* 0 | 1 | 1 | 7.5
|
||
* 1 | 0 | 0 | 15 (default)
|
||
* 1 | 0 | 1 | 30
|
||
* 1 | 1 | 0 | 75
|
||
* 1 | 1 | 1 | Not Used
|
||
* 1:0 MS1-MS0: Measurement Configuration Bits
|
||
* MS1 | MS0 | MODE
|
||
* ------------------------------
|
||
* 0 | 0 | Normal
|
||
* 0 | 1 | Positive Bias
|
||
* 1 | 0 | Negative Bias
|
||
* 1 | 1 | Not Used
|
||
*
|
||
* CTRL_REGB: Control RegisterB
|
||
* Read Write
|
||
* Default value: 0x20
|
||
* 7:5 GN2-GN0: Gain Configuration Bits.
|
||
* GN2 | GN1 | GN0 | Mag Input | Gain | Output Range
|
||
* | | | Range[Ga] | [LSB/mGa] |
|
||
* ------------------------------------------------------
|
||
* 0 | 0 | 0 | ±0.88Ga | 1370 | 0xF8000x07FF (-2048:2047)
|
||
* 0 | 0 | 1 | ±1.3Ga (def) | 1090 | 0xF8000x07FF (-2048:2047)
|
||
* 0 | 1 | 0 | ±1.9Ga | 820 | 0xF8000x07FF (-2048:2047)
|
||
* 0 | 1 | 1 | ±2.5Ga | 660 | 0xF8000x07FF (-2048:2047)
|
||
* 1 | 0 | 0 | ±4.0Ga | 440 | 0xF8000x07FF (-2048:2047)
|
||
* 1 | 0 | 1 | ±4.7Ga | 390 | 0xF8000x07FF (-2048:2047)
|
||
* 1 | 1 | 0 | ±5.6Ga | 330 | 0xF8000x07FF (-2048:2047)
|
||
* 1 | 1 | 1 | ±8.1Ga | 230 | 0xF8000x07FF (-2048:2047)
|
||
* |Not recommended|
|
||
*
|
||
* 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
|
||
*
|
||
* _MODE_REG: Mode Register
|
||
* Read Write
|
||
* Default value: 0x02
|
||
* 7:2 0 These bits must be cleared for correct operation.
|
||
* 1:0 MD1-MD0: Mode Select Bits
|
||
* MS1 | MS0 | MODE
|
||
* ------------------------------
|
||
* 0 | 0 | Continuous-Conversion Mode.
|
||
* 0 | 1 | Single-Conversion Mode
|
||
* 1 | 0 | Negative Bias
|
||
* 1 | 1 | Sleep Mode
|
||
*/
|
||
static uint8_t CTRLB = 0x00;
|
||
static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg *cfg)
|
||
{
|
||
uint8_t CTRLA = 0x00;
|
||
uint8_t MODE = 0x00;
|
||
|
||
CTRLB = 0;
|
||
|
||
CTRLA |= (uint8_t)(cfg->M_ODR | cfg->Meas_Conf);
|
||
CTRLB |= (uint8_t)(cfg->Gain);
|
||
MODE |= (uint8_t)(cfg->Mode);
|
||
|
||
// CRTL_REGA
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, CTRLA) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
// CRTL_REGB
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, CTRLB) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
// Mode register
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, MODE) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
return 0;
|
||
}
|
||
|
||
/**
|
||
* @brief Read current X, Z, Y values (in that order)
|
||
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
|
||
* \return 0 for success or -1 for failure
|
||
*/
|
||
int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
|
||
{
|
||
pios_hmc5883_data_ready = false;
|
||
uint8_t buffer[6];
|
||
int32_t temp;
|
||
int32_t sensitivity;
|
||
|
||
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
switch (CTRLB & 0xE0) {
|
||
case 0x00:
|
||
sensitivity = PIOS_HMC5883_Sensitivity_0_88Ga;
|
||
break;
|
||
case 0x20:
|
||
sensitivity = PIOS_HMC5883_Sensitivity_1_3Ga;
|
||
break;
|
||
case 0x40:
|
||
sensitivity = PIOS_HMC5883_Sensitivity_1_9Ga;
|
||
break;
|
||
case 0x60:
|
||
sensitivity = PIOS_HMC5883_Sensitivity_2_5Ga;
|
||
break;
|
||
case 0x80:
|
||
sensitivity = PIOS_HMC5883_Sensitivity_4_0Ga;
|
||
break;
|
||
case 0xA0:
|
||
sensitivity = PIOS_HMC5883_Sensitivity_4_7Ga;
|
||
break;
|
||
case 0xC0:
|
||
sensitivity = PIOS_HMC5883_Sensitivity_5_6Ga;
|
||
break;
|
||
case 0xE0:
|
||
sensitivity = PIOS_HMC5883_Sensitivity_8_1Ga;
|
||
break;
|
||
default:
|
||
PIOS_Assert(0);
|
||
}
|
||
|
||
for (int i = 0; i < 3; i++) {
|
||
temp = ((int16_t)((uint16_t)buffer[2 * i] << 8)
|
||
+ buffer[2 * i + 1]) * 1000 / sensitivity;
|
||
out[i] = temp;
|
||
}
|
||
// Data reads out as X,Z,Y
|
||
temp = out[2];
|
||
out[2] = out[1];
|
||
out[1] = temp;
|
||
|
||
// This should not be necessary but for some reason it is coming out of continuous conversion mode
|
||
PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_CONTINUOUS);
|
||
|
||
return 0;
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief Read the identification bytes from the HMC5883 sensor
|
||
* \param[out] uint8_t array of size 4 to store HMC5883 ID.
|
||
* \return 0 if successful, -1 if not
|
||
*/
|
||
uint8_t PIOS_HMC5883_ReadID(uint8_t out[4])
|
||
{
|
||
uint8_t retval = PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_IDA_REG, out, 3);
|
||
|
||
out[3] = '\0';
|
||
return retval;
|
||
}
|
||
|
||
/**
|
||
* @brief Tells whether new magnetometer readings are available
|
||
* \return true if new data is available
|
||
* \return false if new data is not available
|
||
*/
|
||
bool PIOS_HMC5883_NewDataAvailable(void)
|
||
{
|
||
return pios_hmc5883_data_ready;
|
||
}
|
||
|
||
/**
|
||
* @brief Reads one or more bytes into a buffer
|
||
* \param[in] address HMC5883 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 -2 if unable to claim i2c device
|
||
*/
|
||
static int32_t PIOS_HMC5883_Read(uint8_t address, uint8_t *buffer, uint8_t len)
|
||
{
|
||
uint8_t addr_buffer[] = {
|
||
address,
|
||
};
|
||
|
||
const struct pios_i2c_txn txn_list[] = {
|
||
{
|
||
.info = __func__,
|
||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||
.rw = PIOS_I2C_TXN_WRITE,
|
||
.len = sizeof(addr_buffer),
|
||
.buf = addr_buffer,
|
||
}
|
||
,
|
||
{
|
||
.info = __func__,
|
||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||
.rw = PIOS_I2C_TXN_READ,
|
||
.len = len,
|
||
.buf = buffer,
|
||
}
|
||
};
|
||
|
||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||
}
|
||
|
||
/**
|
||
* @brief Writes one or more bytes to the HMC5883
|
||
* \param[in] address Register address
|
||
* \param[in] buffer source buffer
|
||
* \return 0 if operation was successful
|
||
* \return -1 if error during I2C transfer
|
||
* \return -2 if unable to claim i2c device
|
||
*/
|
||
static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
|
||
{
|
||
uint8_t data[] = {
|
||
address,
|
||
buffer,
|
||
};
|
||
|
||
const struct pios_i2c_txn txn_list[] = {
|
||
{
|
||
.info = __func__,
|
||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||
.rw = PIOS_I2C_TXN_WRITE,
|
||
.len = sizeof(data),
|
||
.buf = data,
|
||
}
|
||
,
|
||
};
|
||
|
||
;
|
||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||
}
|
||
|
||
/**
|
||
* @brief Run self-test operation. Do not call this during operational use!!
|
||
* \return 0 if success, -1 if test failed
|
||
*/
|
||
int32_t PIOS_HMC5883_Test(void)
|
||
{
|
||
int32_t failed = 0;
|
||
uint8_t registers[3] = { 0, 0, 0 };
|
||
uint8_t status;
|
||
uint8_t ctrl_a_read;
|
||
uint8_t ctrl_b_read;
|
||
uint8_t mode_read;
|
||
int16_t values[3];
|
||
|
||
|
||
/* Verify that ID matches (HMC5883 ID is null-terminated ASCII string "H43") */
|
||
char id[4];
|
||
|
||
PIOS_HMC5883_ReadID((uint8_t *)id);
|
||
if ((id[0] != 'H') || (id[1] != '4') || (id[2] != '3')) { // Expect H43
|
||
return -1;
|
||
}
|
||
|
||
/* Backup existing configuration */
|
||
if (PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, registers, 3) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
/* Stop the device and read out last value */
|
||
PIOS_DELAY_WaitmS(10);
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_IDLE) != 0) {
|
||
return -1;
|
||
}
|
||
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status, 1) != 0) {
|
||
return -1;
|
||
}
|
||
if (PIOS_HMC5883_ReadMag(values) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
/*
|
||
* Put HMC5883 into self test mode
|
||
* This is done by placing measurement config into positive (0x01) or negative (0x10) bias
|
||
* and then placing the mode register into single-measurement mode. This causes the HMC5883
|
||
* to create an artificial magnetic field of ~1.1 Gauss.
|
||
*
|
||
* If gain were PIOS_HMC5883_GAIN_2_5, for example, X and Y will read around +766 LSB
|
||
* (1.16 Ga * 660 LSB/Ga) and Z would read around +713 LSB (1.08 Ga * 660 LSB/Ga)
|
||
*
|
||
* Changing measurement config back to PIOS_HMC5883_MEASCONF_NORMAL will leave self-test mode.
|
||
*/
|
||
PIOS_DELAY_WaitmS(10);
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, PIOS_HMC5883_MEASCONF_BIAS_POS | PIOS_HMC5883_ODR_15) != 0) {
|
||
return -1;
|
||
}
|
||
PIOS_DELAY_WaitmS(10);
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, PIOS_HMC5883_GAIN_8_1) != 0) {
|
||
return -1;
|
||
}
|
||
PIOS_DELAY_WaitmS(10);
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_SINGLE) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
/* Must wait for value to be updated */
|
||
PIOS_DELAY_WaitmS(200);
|
||
|
||
if (PIOS_HMC5883_ReadMag(values) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
/*
|
||
if(abs(values[0] - 766) > 20)
|
||
failed |= 1;
|
||
if(abs(values[1] - 766) > 20)
|
||
failed |= 1;
|
||
if(abs(values[2] - 713) > 20)
|
||
failed |= 1;
|
||
*/
|
||
|
||
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, &ctrl_a_read, 1);
|
||
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_B, &ctrl_b_read, 1);
|
||
PIOS_HMC5883_Read(PIOS_HMC5883_MODE_REG, &mode_read, 1);
|
||
PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status, 1);
|
||
|
||
|
||
/* Restore backup configuration */
|
||
PIOS_DELAY_WaitmS(10);
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, registers[0]) != 0) {
|
||
return -1;
|
||
}
|
||
PIOS_DELAY_WaitmS(10);
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, registers[1]) != 0) {
|
||
return -1;
|
||
}
|
||
PIOS_DELAY_WaitmS(10);
|
||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, registers[2]) != 0) {
|
||
return -1;
|
||
}
|
||
|
||
return failed;
|
||
}
|
||
|
||
/**
|
||
* @brief IRQ Handler
|
||
*/
|
||
bool PIOS_HMC5883_IRQHandler(void)
|
||
{
|
||
pios_hmc5883_data_ready = true;
|
||
|
||
return false;
|
||
}
|
||
|
||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||
|
||
/**
|
||
* @}
|
||
* @}
|
||
*/
|