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amiro-lld / include / alld_hmc5883l.h @ 8c47f14b

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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
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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 Lesser 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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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file    alld_hmc5883l.h
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 * @brief   Compass macros and structures.
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 *
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 * @addtogroup lld_compass
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 * @{
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 */
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#ifndef AMIROLLD_HMC5883L_H
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#define AMIROLLD_HMC5883L_H
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#include <amiro-lld.h>
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#if defined(AMIROLLD_CFG_USE_HMC5883L) || defined(__DOXYGEN__)
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/**
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 * @brief The HMC5883L driver struct
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 */
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typedef struct {
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  apalI2CDriver_t* i2cd;        /**< @brief The I2C Driver */
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} HMC5883LDriver;
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/**
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 * @brief Constant I2C address.
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 */
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#define HMC5883L_LLD_I2C_ADDR           0x1Eu
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/**
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 * @brief Maximum I2C frequency.
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 */
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#define HMC5883L_LLD_I2C_MAXFREQUENCY   400000
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/**
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 * @brief A falling edge indicates an interrupt.
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 */
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#define HMC5883L_LLD_INT_EDGE           APAL_GPIO_EDGE_FALLING
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/**
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 * @brief Register enum.
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 */
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typedef enum {
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  HMC5883L_LLD_REGISTER_CONFIG_A         = 0x00u,
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  HMC5883L_LLD_REGISTER_CONFIG_B         = 0x01u,
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  HMC5883L_LLD_REGISTER_MODE             = 0x02u,
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  HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB   = 0x03u,
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  HMC5883L_LLD_REGISTER_DATA_OUT_X_LSB   = 0x04u,
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  HMC5883L_LLD_REGISTER_DATA_OUT_Z_MSB   = 0x05u,
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  HMC5883L_LLD_REGISTER_DATA_OUT_Z_LSB   = 0x06u,
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  HMC5883L_LLD_REGISTER_DATA_OUT_Y_MSB   = 0x07u,
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  HMC5883L_LLD_REGISTER_DATA_OUT_Y_LSB   = 0x08u,
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  HMC5883L_LLD_REGISTER_STATUS           = 0x09u,
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  HMC5883L_LLD_REGISTER_IDENTIFICATION_A = 0x0Au,
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  HMC5883L_LLD_REGISTER_IDENTIFICATION_B = 0x0Bu,
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  HMC5883L_LLD_REGISTER_IDENTIFICATION_C = 0x0Cu,
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} hmc5883l_lld_register_t;
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/**
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 * @brief Averaging options.
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 */
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typedef enum {
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  HMC5883L_LLD_AVG1 = 0x00,
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  HMC5883L_LLD_AVG2 = 0x20,
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  HMC5883L_LLD_AVG4 = 0x40,
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  HMC5883L_LLD_AVG8 = 0x60,
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} hmc5883l_lld_averaging_t;
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/**
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 * @brief Data output rate.
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 */
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typedef enum {
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  HMC5883L_LLD_0_75_HZ = 0x00,
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  HMC5883L_LLD_1_5_HZ  = 0x04,
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  HMC5883L_LLD_3_HZ    = 0x08,
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  HMC5883L_LLD_7_5_HZ  = 0x0C,
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  HMC5883L_LLD_15_HZ   = 0x10,
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  HMC5883L_LLD_30_HZ   = 0x14,
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  HMC5883L_LLD_75_HZ   = 0x18,
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} hmc5883l_lld_data_output_rate_t;
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/**
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 * @brief Measurement bias.
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 */
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typedef enum {
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  HMC5883L_LLD_MB_NORMAL        = 0x00,
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  HMC5883L_LLD_MB_POSITIVE_BIAS = 0x01,
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  HMC5883L_LLD_MB_NEGATIVE_BIAS = 0x02,
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} hmc5883l_lld_measurement_bias_t;
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/**
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 * @brief Gain settings.
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 */
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typedef enum {
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  HMC5883L_LLD_GN_0_GA = 0x00,
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  HMC5883L_LLD_GN_1_GA = 0x20,
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  HMC5883L_LLD_GN_2_GA = 0x40,
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  HMC5883L_LLD_GN_3_GA = 0x60,
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  HMC5883L_LLD_GN_4_GA = 0x80,
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  HMC5883L_LLD_GN_5_GA = 0xA0,
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  HMC5883L_LLD_GN_6_GA = 0xC0,
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  HMC5883L_LLD_GN_7_GA = 0xE0,
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} hmc5883l_lld_gain_t;
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/**
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 * @brief Highspeed enable settings.
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 */
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typedef enum {
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  HMC5883L_LLD_HS_DISABLE = 0x00,
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  HMC5883L_LLD_HS_ENABLE  = 0x80,
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} hmc5883l_lld_highspeed_t;
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/**
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 * @brief Measurement modes.
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 */
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typedef enum {
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  HMC5883L_LLD_MM_CONTINUOUS = 0x00,
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  HMC5883L_LLD_MM_SINGLE     = 0x01,
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  HMC5883L_LLD_MM_IDLE       = 0x02,
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} hmc5883l_lld_measurement_mode_t;
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/**
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 * @brief Read or write access.
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 */
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typedef enum {
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  HMC5883L_LLD_READ  = 0x3Du,
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  HMC5883L_LLD_WRITE = 0x3Cu,
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} hmc5883l_lld_access_mode_t;
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/**
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 * @brief Status lock or ready.
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 */
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typedef enum {
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  HMC5883L_LLD_LOCK = 0x0u,
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  HMC5883L_LLD_RDY  = 0x1u,
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} hmc5883l_lld_status_t;
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/**
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 * @brief Identification values.
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 */
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typedef enum {
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  HMC5883L_LLD_IDENTIFICATION_A = 0x48,
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  HMC5883L_LLD_IDENTIFICATION_B = 0x34,
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  HMC5883L_LLD_IDENTIFICATION_C = 0x33,
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} hmc5883l_lld_identification_t;
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/**
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 * @brief HMC5883L configuration struct.
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 */
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typedef struct {
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  hmc5883l_lld_averaging_t avg;
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  hmc5883l_lld_data_output_rate_t outrate;
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  hmc5883l_lld_measurement_bias_t mbias;
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  hmc5883l_lld_gain_t gain;
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  hmc5883l_lld_highspeed_t highspeed;
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  hmc5883l_lld_measurement_mode_t mode;
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} hmc5883l_lld_config_t;
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#ifdef __cplusplus
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extern "C" {
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#endif
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  apalExitStatus_t hmc5883l_lld_check(const HMC5883LDriver* const hmcd, uint8_t* const rxbuffer, const uint8_t size, const apalTime_t timeout);
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  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);
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  apalExitStatus_t hmc5883l_lld_set_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t data, const apalTime_t timeout);
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  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);
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  apalExitStatus_t hmc5883l_lld_read_data(const HMC5883LDriver* const hmcd, uint16_t* const data, const apalTime_t timeout);
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  apalExitStatus_t hmc5883l_lld_write_config(const HMC5883LDriver* const hmcd, const hmc5883l_lld_config_t conf, const apalTime_t timeout);
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  apalExitStatus_t hmc5883l_lld_read_config(const HMC5883LDriver* const hmcd, hmc5883l_lld_config_t* const conf, const apalTime_t timeout);
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  apalExitStatus_t hmc5883l_lld_read_status(const HMC5883LDriver* const hmcd, uint8_t* const status, const apalTime_t timeout);
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  apalExitStatus_t hmc5883l_lld_read_lock(const HMC5883LDriver* const hmcd, uint8_t* const lock, const apalTime_t timeout);
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  apalExitStatus_t hmc5883l_lld_read_rdy(const HMC5883LDriver* const hmcd, uint8_t* const rdy, const apalTime_t timeout);
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#ifdef __cplusplus
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}
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#endif
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#endif /* defined(AMIROLLD_CFG_USE_HMC5883L) */
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#endif /* AMIROLLD_HMC5883L_H */
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/** @} */