amiro-lld / drivers / HMC5883L / v1 / alld_HMC5883L.h @ 9466e34d
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 | /** @} */
|