flight/pios/inc/pios_hmc5x83.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_HMC5x83 HMC5x83 Functions
   6  * @brief Deals with the hardware interface to the magnetometers
   7  * @{
   8  *
   9  * @file       pios_hmc5x83.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  11  * @brief      HMC5x83 functions header.
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #ifndef PIOS_HMC5x83_H
  32 #define PIOS_HMC5x83_H
  33 #include <stdint.h>
  34 #include <pios_sensors.h>
  35 /* HMC5x83 Addresses */
  36 #define PIOS_HMC5x83_I2C_ADDR           0x1E
  37 #define PIOS_HMC5x83_I2C_READ_ADDR      0x3D
  38 #define PIOS_HMC5x83_I2C_WRITE_ADDR     0x3C
  39
  40 #define PIOS_HMC5x83_SPI_READ_FLAG      0x80
  41 #define PIOS_HMC5x83_SPI_AUTOINCR_FLAG  0x40
  42 #define PIOS_HMC5x83_CONFIG_REG_A       (uint8_t)0x00
  43 #define PIOS_HMC5x83_CONFIG_REG_B       (uint8_t)0x01
  44 #define PIOS_HMC5x83_MODE_REG           (uint8_t)0x02
  45 #define PIOS_HMC5x83_DATAOUT_XMSB_REG   0x03
  46 #define PIOS_HMC5x83_DATAOUT_XLSB_REG   0x04
  47 #define PIOS_HMC5x83_DATAOUT_ZMSB_REG   0x05
  48 #define PIOS_HMC5x83_DATAOUT_ZLSB_REG   0x06
  49 #define PIOS_HMC5x83_DATAOUT_YMSB_REG   0x07
  50 #define PIOS_HMC5x83_DATAOUT_YLSB_REG   0x08
  51 #define PIOS_HMC5x83_DATAOUT_STATUS_REG 0x09
  52 #define PIOS_HMC5x83_DATAOUT_IDA_REG    0x0A
  53 #define PIOS_HMC5x83_DATAOUT_IDB_REG    0x0B
  54 #define PIOS_HMC5x83_DATAOUT_IDC_REG    0x0C
  55
  56 /* Output Data Rate */
  57 #define PIOS_HMC5x83_ODR_0_75           0x00
  58 #define PIOS_HMC5x83_ODR_1_5            0x04
  59 #define PIOS_HMC5x83_ODR_3              0x08
  60 #define PIOS_HMC5x83_ODR_7_5            0x0C
  61 #define PIOS_HMC5x83_ODR_15             0x10
  62 #define PIOS_HMC5x83_ODR_30             0x14
  63 #define PIOS_HMC5x83_ODR_75             0x18
  64
  65 /* Measure configuration */
  66 #define PIOS_HMC5x83_MEASCONF_NORMAL    0x00
  67 #define PIOS_HMC5x83_MEASCONF_BIAS_POS  0x01
  68 #define PIOS_HMC5x83_MEASCONF_BIAS_NEG  0x02
  69
  70 /* Gain settings */
  71 #define PIOS_HMC5x83_GAIN_0_88          0x00
  72 #define PIOS_HMC5x83_GAIN_1_3           0x20
  73 #define PIOS_HMC5x83_GAIN_1_9           0x40
  74 #define PIOS_HMC5x83_GAIN_2_5           0x60
  75 #define PIOS_HMC5x83_GAIN_4_0           0x80
  76 #define PIOS_HMC5x83_GAIN_4_7           0xA0
  77 #define PIOS_HMC5x83_GAIN_5_6           0xC0
  78 #define PIOS_HMC5x83_GAIN_8_1           0xE0
  79
  80 #define PIOS_HMC5x83_CTRLA_TEMP         0x40
  81
  82 /* Modes */
  83 #define PIOS_HMC5x83_MODE_CONTINUOUS    0x00
  84 #define PIOS_HMC5x83_MODE_SINGLE        0x01
  85 #define PIOS_HMC5x83_MODE_IDLE          0x02
  86 #define PIOS_HMC5x83_MODE_SLEEP         0x03
  87
  88 /* Sensitivity Conversion Values */
  89 #define PIOS_HMC5x83_Sensitivity_0_88Ga 1370 // LSB/Ga
  90 #define PIOS_HMC5x83_Sensitivity_1_3Ga  1090    // LSB/Ga
  91 #define PIOS_HMC5x83_Sensitivity_1_9Ga  820     // LSB/Ga
  92 #define PIOS_HMC5x83_Sensitivity_2_5Ga  660     // LSB/Ga
  93 #define PIOS_HMC5x83_Sensitivity_4_0Ga  440     // LSB/Ga
  94 #define PIOS_HMC5x83_Sensitivity_4_7Ga  390     // LSB/Ga
  95 #define PIOS_HMC5x83_Sensitivity_5_6Ga  330     // LSB/Ga
  96 #define PIOS_HMC5x83_Sensitivity_8_1Ga  230     // LSB/Ga  --> NOT RECOMMENDED
  97
  98 /* Status Register */
  99 #define PIOS_HMC5x83_DATAOUT_STATUS_RDY 0x01
 100
 101 typedef uintptr_t pios_hmc5x83_dev_t;
 102
 103 struct pios_hmc5x83_io_driver {
 104     int32_t (*Write)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
 105     int32_t (*Read)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
 106 };
 107
 108 #ifdef PIOS_INCLUDE_SPI
 109 extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER;
 110 #endif
 111
 112 #ifdef PIOS_INCLUDE_I2C
 113 extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
 114 #endif
 115 // xyz axis orientation
 116 enum PIOS_HMC5X83_ORIENTATION {
 117     PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
 118     PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP,
 119     PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP,
 120     PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP,
 121     PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN,
 122     PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN,
 123     PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
 124     PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN,
 125 };
 126
 127
 128 struct pios_hmc5x83_cfg {
 129 #ifdef PIOS_HMC5X83_HAS_GPIOS
 130     const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
 131 #endif
 132     uint8_t M_ODR; // OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
 133     uint8_t Meas_Conf; // Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
 134     uint8_t Gain; // Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
 135     uint8_t Mode;
 136     bool    TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation
 137     enum PIOS_HMC5X83_ORIENTATION Orientation;
 138     const struct pios_hmc5x83_io_driver *Driver;
 139 };
 140
 141 /* Public Functions */
 142 extern pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t device_num);
 143 extern void PIOS_HMC5x83_Register(pios_hmc5x83_dev_t handler, PIOS_SENSORS_TYPE sensortype);
 144
 145 extern bool PIOS_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler);
 146 extern int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3]);
 147 extern uint8_t PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4]);
 148 extern int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler);
 149 extern bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler);
 150
 151 extern const PIOS_SENSORS_Driver PIOS_HMC5x83_Driver;
 152
 153 #endif /* PIOS_HMC5x83_H */
 154
 155 /**
 156  * @}
 157  * @}
 158  */