amiro-lld / drivers / HMC5883L / v1 / alld_HMC5883L.h @ 27eae8ce
History | View | Annotate | Download (7.456 KB)
1 | d6728c5b | Thomas Schöpping | /*
|
---|---|---|---|
2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
||
3 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 | d6728c5b | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
|
||
6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
|
7 | d6728c5b | Thomas Schöpping | the Free Software Foundation, either version 3 of the License, or
|
8 | (at your option) any later version.
|
||
9 | |||
10 | This program is distributed in the hope that it will be useful,
|
||
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
13 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
|
14 | d6728c5b | Thomas Schöpping | |
15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
|
16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 | */
|
||
18 | |||
19 | 5e2f673b | Marc Rothmann | /**
|
20 | 9466e34d | Thomas Schöpping | * @file alld_HMC5883L.h
|
21 | 5e2f673b | Marc Rothmann | * @brief Compass macros and structures.
|
22 | *
|
||
23 | * @addtogroup lld_compass
|
||
24 | * @{
|
||
25 | */
|
||
26 | |||
27 | 9466e34d | Thomas Schöpping | #ifndef AMIROLLD_HMC5883L_H
|
28 | #define AMIROLLD_HMC5883L_H
|
||
29 | d6728c5b | Thomas Schöpping | |
30 | #include <amiro-lld.h> |
||
31 | |||
32 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
33 | /* CONSTANTS */
|
||
34 | /******************************************************************************/
|
||
35 | d6728c5b | Thomas Schöpping | |
36 | /**
|
||
37 | * @brief Constant I2C address.
|
||
38 | */
|
||
39 | #define HMC5883L_LLD_I2C_ADDR 0x1Eu |
||
40 | |||
41 | /**
|
||
42 | * @brief Maximum I2C frequency.
|
||
43 | */
|
||
44 | #define HMC5883L_LLD_I2C_MAXFREQUENCY 400000 |
||
45 | |||
46 | /**
|
||
47 | * @brief A falling edge indicates an interrupt.
|
||
48 | */
|
||
49 | #define HMC5883L_LLD_INT_EDGE APAL_GPIO_EDGE_FALLING
|
||
50 | |||
51 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
52 | /* SETTINGS */
|
||
53 | /******************************************************************************/
|
||
54 | |||
55 | /******************************************************************************/
|
||
56 | /* CHECKS */
|
||
57 | /******************************************************************************/
|
||
58 | |||
59 | /******************************************************************************/
|
||
60 | /* DATA STRUCTURES AND TYPES */
|
||
61 | /******************************************************************************/
|
||
62 | |||
63 | /**
|
||
64 | * @brief The HMC5883L driver struct
|
||
65 | */
|
||
66 | typedef struct { |
||
67 | apalI2CDriver_t* i2cd; /**< @brief The I2C Driver */
|
||
68 | } HMC5883LDriver; |
||
69 | |||
70 | d6728c5b | Thomas Schöpping | /**
|
71 | * @brief Register enum.
|
||
72 | */
|
||
73 | typedef enum { |
||
74 | HMC5883L_LLD_REGISTER_CONFIG_A = 0x00u,
|
||
75 | HMC5883L_LLD_REGISTER_CONFIG_B = 0x01u,
|
||
76 | HMC5883L_LLD_REGISTER_MODE = 0x02u,
|
||
77 | HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB = 0x03u,
|
||
78 | HMC5883L_LLD_REGISTER_DATA_OUT_X_LSB = 0x04u,
|
||
79 | HMC5883L_LLD_REGISTER_DATA_OUT_Z_MSB = 0x05u,
|
||
80 | HMC5883L_LLD_REGISTER_DATA_OUT_Z_LSB = 0x06u,
|
||
81 | HMC5883L_LLD_REGISTER_DATA_OUT_Y_MSB = 0x07u,
|
||
82 | HMC5883L_LLD_REGISTER_DATA_OUT_Y_LSB = 0x08u,
|
||
83 | HMC5883L_LLD_REGISTER_STATUS = 0x09u,
|
||
84 | HMC5883L_LLD_REGISTER_IDENTIFICATION_A = 0x0Au,
|
||
85 | HMC5883L_LLD_REGISTER_IDENTIFICATION_B = 0x0Bu,
|
||
86 | HMC5883L_LLD_REGISTER_IDENTIFICATION_C = 0x0Cu,
|
||
87 | } hmc5883l_lld_register_t; |
||
88 | |||
89 | /**
|
||
90 | * @brief Averaging options.
|
||
91 | */
|
||
92 | typedef enum { |
||
93 | HMC5883L_LLD_AVG1 = 0x00,
|
||
94 | HMC5883L_LLD_AVG2 = 0x20,
|
||
95 | HMC5883L_LLD_AVG4 = 0x40,
|
||
96 | HMC5883L_LLD_AVG8 = 0x60,
|
||
97 | } hmc5883l_lld_averaging_t; |
||
98 | |||
99 | /**
|
||
100 | * @brief Data output rate.
|
||
101 | */
|
||
102 | typedef enum { |
||
103 | HMC5883L_LLD_0_75_HZ = 0x00,
|
||
104 | HMC5883L_LLD_1_5_HZ = 0x04,
|
||
105 | HMC5883L_LLD_3_HZ = 0x08,
|
||
106 | HMC5883L_LLD_7_5_HZ = 0x0C,
|
||
107 | HMC5883L_LLD_15_HZ = 0x10,
|
||
108 | HMC5883L_LLD_30_HZ = 0x14,
|
||
109 | HMC5883L_LLD_75_HZ = 0x18,
|
||
110 | } hmc5883l_lld_data_output_rate_t; |
||
111 | |||
112 | /**
|
||
113 | * @brief Measurement bias.
|
||
114 | */
|
||
115 | typedef enum { |
||
116 | HMC5883L_LLD_MB_NORMAL = 0x00,
|
||
117 | HMC5883L_LLD_MB_POSITIVE_BIAS = 0x01,
|
||
118 | HMC5883L_LLD_MB_NEGATIVE_BIAS = 0x02,
|
||
119 | } hmc5883l_lld_measurement_bias_t; |
||
120 | |||
121 | /**
|
||
122 | * @brief Gain settings.
|
||
123 | */
|
||
124 | typedef enum { |
||
125 | HMC5883L_LLD_GN_0_GA = 0x00,
|
||
126 | HMC5883L_LLD_GN_1_GA = 0x20,
|
||
127 | HMC5883L_LLD_GN_2_GA = 0x40,
|
||
128 | HMC5883L_LLD_GN_3_GA = 0x60,
|
||
129 | HMC5883L_LLD_GN_4_GA = 0x80,
|
||
130 | HMC5883L_LLD_GN_5_GA = 0xA0,
|
||
131 | HMC5883L_LLD_GN_6_GA = 0xC0,
|
||
132 | HMC5883L_LLD_GN_7_GA = 0xE0,
|
||
133 | } hmc5883l_lld_gain_t; |
||
134 | |||
135 | /**
|
||
136 | * @brief Highspeed enable settings.
|
||
137 | */
|
||
138 | typedef enum { |
||
139 | HMC5883L_LLD_HS_DISABLE = 0x00,
|
||
140 | HMC5883L_LLD_HS_ENABLE = 0x80,
|
||
141 | } hmc5883l_lld_highspeed_t; |
||
142 | |||
143 | /**
|
||
144 | * @brief Measurement modes.
|
||
145 | */
|
||
146 | typedef enum { |
||
147 | HMC5883L_LLD_MM_CONTINUOUS = 0x00,
|
||
148 | HMC5883L_LLD_MM_SINGLE = 0x01,
|
||
149 | HMC5883L_LLD_MM_IDLE = 0x02,
|
||
150 | } hmc5883l_lld_measurement_mode_t; |
||
151 | |||
152 | /**
|
||
153 | * @brief Read or write access.
|
||
154 | */
|
||
155 | typedef enum { |
||
156 | HMC5883L_LLD_READ = 0x3Du,
|
||
157 | HMC5883L_LLD_WRITE = 0x3Cu,
|
||
158 | } hmc5883l_lld_access_mode_t; |
||
159 | |||
160 | /**
|
||
161 | * @brief Status lock or ready.
|
||
162 | */
|
||
163 | typedef enum { |
||
164 | HMC5883L_LLD_LOCK = 0x0u,
|
||
165 | HMC5883L_LLD_RDY = 0x1u,
|
||
166 | } hmc5883l_lld_status_t; |
||
167 | |||
168 | /**
|
||
169 | * @brief Identification values.
|
||
170 | */
|
||
171 | typedef enum { |
||
172 | HMC5883L_LLD_IDENTIFICATION_A = 0x48,
|
||
173 | HMC5883L_LLD_IDENTIFICATION_B = 0x34,
|
||
174 | HMC5883L_LLD_IDENTIFICATION_C = 0x33,
|
||
175 | } hmc5883l_lld_identification_t; |
||
176 | |||
177 | /**
|
||
178 | * @brief HMC5883L configuration struct.
|
||
179 | */
|
||
180 | typedef struct { |
||
181 | hmc5883l_lld_averaging_t avg; |
||
182 | hmc5883l_lld_data_output_rate_t outrate; |
||
183 | hmc5883l_lld_measurement_bias_t mbias; |
||
184 | hmc5883l_lld_gain_t gain; |
||
185 | hmc5883l_lld_highspeed_t highspeed; |
||
186 | hmc5883l_lld_measurement_mode_t mode; |
||
187 | } hmc5883l_lld_config_t; |
||
188 | |||
189 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
190 | /* MACROS */
|
||
191 | /******************************************************************************/
|
||
192 | |||
193 | /******************************************************************************/
|
||
194 | /* EXTERN DECLARATIONS */
|
||
195 | /******************************************************************************/
|
||
196 | |||
197 | d6728c5b | Thomas Schöpping | #ifdef __cplusplus
|
198 | extern "C" { |
||
199 | #endif
|
||
200 | apalExitStatus_t hmc5883l_lld_check(const HMC5883LDriver* const hmcd, uint8_t* const rxbuffer, const uint8_t size, const apalTime_t timeout); |
||
201 | apalExitStatus_t hmc5883l_lld_write_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout); |
||
202 | apalExitStatus_t hmc5883l_lld_set_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t data, const apalTime_t timeout); |
||
203 | apalExitStatus_t hmc5883l_lld_read_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, uint8_t* const data, const uint8_t num, const apalTime_t timeout); |
||
204 | apalExitStatus_t hmc5883l_lld_read_data(const HMC5883LDriver* const hmcd, uint16_t* const data, const apalTime_t timeout); |
||
205 | apalExitStatus_t hmc5883l_lld_write_config(const HMC5883LDriver* const hmcd, const hmc5883l_lld_config_t conf, const apalTime_t timeout); |
||
206 | apalExitStatus_t hmc5883l_lld_read_config(const HMC5883LDriver* const hmcd, hmc5883l_lld_config_t* const conf, const apalTime_t timeout); |
||
207 | apalExitStatus_t hmc5883l_lld_read_status(const HMC5883LDriver* const hmcd, uint8_t* const status, const apalTime_t timeout); |
||
208 | apalExitStatus_t hmc5883l_lld_read_lock(const HMC5883LDriver* const hmcd, uint8_t* const lock, const apalTime_t timeout); |
||
209 | apalExitStatus_t hmc5883l_lld_read_rdy(const HMC5883LDriver* const hmcd, uint8_t* const rdy, const apalTime_t timeout); |
||
210 | #ifdef __cplusplus
|
||
211 | } |
||
212 | #endif
|
||
213 | |||
214 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
215 | /* INLINE FUNCTIONS */
|
||
216 | /******************************************************************************/
|
||
217 | |||
218 | 9466e34d | Thomas Schöpping | #endif /* AMIROLLD_HMC5883L_H */ |
219 | 5e2f673b | Marc Rothmann | |
220 | /** @} */
|