amiro-os / include / amiro / magneto / hmc5883l.hpp @ 0f37fb41
History | View | Annotate | Download (3.324 KB)
| 1 | 58fe0e0b | Thomas Schöpping | #ifndef HMC5883L_H_
|
|---|---|---|---|
| 2 | #define HMC5883L_H_
|
||
| 3 | |||
| 4 | #include <amiro/bus/i2c/I2CParams.hpp> |
||
| 5 | |||
| 6 | namespace amiro {
|
||
| 7 | |||
| 8 | class I2CDriver; |
||
| 9 | |||
| 10 | /**
|
||
| 11 | * HMC5883L Magnetometer
|
||
| 12 | * \todo Interrupt Support, self-test
|
||
| 13 | */
|
||
| 14 | class HMC5883L : public chibios_rt::BaseStaticThread<256> { |
||
| 15 | |||
| 16 | public:
|
||
| 17 | |||
| 18 | struct registers {
|
||
| 19 | uint8_t ctrlA; |
||
| 20 | uint8_t ctrlB; |
||
| 21 | uint8_t mode; |
||
| 22 | uint8_t xMsb; |
||
| 23 | uint8_t xLsb; |
||
| 24 | uint8_t zMsb; |
||
| 25 | uint8_t zLsb; |
||
| 26 | uint8_t yMsb; |
||
| 27 | uint8_t yLsb; |
||
| 28 | uint8_t status; |
||
| 29 | uint8_t idA; |
||
| 30 | uint8_t idB; |
||
| 31 | uint8_t idC; |
||
| 32 | }__attribute__((packed)); |
||
| 33 | |||
| 34 | struct HMC5883LConfig {
|
||
| 35 | uint8_t ctrlA; |
||
| 36 | uint8_t ctrlB; |
||
| 37 | uint8_t mode; |
||
| 38 | }; |
||
| 39 | |||
| 40 | enum {
|
||
| 41 | SLA = 0x1E
|
||
| 42 | }; |
||
| 43 | |||
| 44 | enum {
|
||
| 45 | MA_AVG1 = 0x00,
|
||
| 46 | MA_AVG2 = 0x20,
|
||
| 47 | MA_AVG4 = 0x40,
|
||
| 48 | MA_AVG8 = 0x60,
|
||
| 49 | }; |
||
| 50 | |||
| 51 | enum {
|
||
| 52 | DO_0_5_HZ = 0x00,
|
||
| 53 | DO_1_HZ = 0x04,
|
||
| 54 | DO_2_HZ = 0x08,
|
||
| 55 | DO_5_HZ = 0x0C,
|
||
| 56 | DO_10_HZ = 0x10,
|
||
| 57 | DO_20_HZ = 0x14,
|
||
| 58 | DO_50_HZ = 0x18,
|
||
| 59 | }; |
||
| 60 | |||
| 61 | enum {
|
||
| 62 | MS_NORMAL = 0x00,
|
||
| 63 | MS_BIASPOS = 0x01,
|
||
| 64 | MS_BIASNEG = 0x02,
|
||
| 65 | }; |
||
| 66 | |||
| 67 | enum {
|
||
| 68 | GN_0_GA = 0x00,
|
||
| 69 | GN_1_GA = 0x20,
|
||
| 70 | GN_2_GA = 0x40,
|
||
| 71 | GN_3_GA = 0x60,
|
||
| 72 | GN_4_GA = 0x80,
|
||
| 73 | GN_5_GA = 0xA0,
|
||
| 74 | GN_6_GA = 0xC0,
|
||
| 75 | GN_7_GA = 0xE0,
|
||
| 76 | }; |
||
| 77 | |||
| 78 | enum {
|
||
| 79 | MD_CONTCV = 0x00,
|
||
| 80 | MD_SINGCV = 0x01,
|
||
| 81 | MD_IDLE = 0x02,
|
||
| 82 | MD_SLEEP = 0x03,
|
||
| 83 | }; |
||
| 84 | |||
| 85 | enum {
|
||
| 86 | HS_DISABLE = 0x00,
|
||
| 87 | HS_ENABLE = 0x80,
|
||
| 88 | }; |
||
| 89 | |||
| 90 | enum {
|
||
| 91 | SR_REN = 0x04,
|
||
| 92 | SR_LOCK = 0x02,
|
||
| 93 | SR_RDY = 0x01,
|
||
| 94 | }; |
||
| 95 | |||
| 96 | enum {
|
||
| 97 | ID_IRA = 'H',
|
||
| 98 | ID_IRB = '4',
|
||
| 99 | ID_IRC = '3',
|
||
| 100 | }; |
||
| 101 | |||
| 102 | enum {
|
||
| 103 | MAGNETO_AVG = 10
|
||
| 104 | }; |
||
| 105 | |||
| 106 | /**
|
||
| 107 | * Return types of getCheck()
|
||
| 108 | */
|
||
| 109 | enum {
|
||
| 110 | CHECK_OK = 0x00u,
|
||
| 111 | CHECK_FAIL = 0x01u,
|
||
| 112 | }; |
||
| 113 | |||
| 114 | public:
|
||
| 115 | HMC5883L(I2CDriver *driver, const HMC5883LConfig *config);
|
||
| 116 | virtual ~HMC5883L();
|
||
| 117 | |||
| 118 | msg_t configure(HMC5883LConfig* config); |
||
| 119 | |||
| 120 | chibios_rt::EvtSource* getEventSource(); |
||
| 121 | |||
| 122 | /**
|
||
| 123 | * Check the presence of the magnetometer by reading
|
||
| 124 | * the identifier register and comparing it to the standard
|
||
| 125 | * value
|
||
| 126 | */
|
||
| 127 | uint8_t getCheck(); |
||
| 128 | |||
| 129 | /**
|
||
| 130 | * Top view of the AMiRo with charger in the back (F:Front, B:Back).
|
||
| 131 | * Z is pointing into the ground (Apply right-hand-rule):
|
||
| 132 | * ___________
|
||
| 133 | * / F \
|
||
| 134 | * / X \
|
||
| 135 | * | | |
|
||
| 136 | * | Z---Y |
|
||
| 137 | * | |
|
||
| 138 | * \ /
|
||
| 139 | * \____B______/
|
||
| 140 | */
|
||
| 141 | enum {
|
||
| 142 | AXIS_X = 0x00u,
|
||
| 143 | AXIS_Y = 0x02u,
|
||
| 144 | AXIS_Z = 0x01u,
|
||
| 145 | }; |
||
| 146 | |||
| 147 | /**
|
||
| 148 | * Return the magnetization in LSB for the given axis.
|
||
| 149 | *
|
||
| 150 | * @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]
|
||
| 151 | *
|
||
| 152 | * @return Measured magnetization in in LSB for the given axis
|
||
| 153 | */
|
||
| 154 | int16_t getMagnetization(const uint8_t axis);
|
||
| 155 | |||
| 156 | /**
|
||
| 157 | * Return the magnetization in µGauss for the given axis.
|
||
| 158 | *
|
||
| 159 | * @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]
|
||
| 160 | *
|
||
| 161 | * @return Measured magnetization in µGauss for the given axis
|
||
| 162 | */
|
||
| 163 | int32_t getMagnetizationGauss(const uint8_t axis);
|
||
| 164 | |||
| 165 | protected:
|
||
| 166 | virtual msg_t main(void); |
||
| 167 | |||
| 168 | private:
|
||
| 169 | |||
| 170 | /**
|
||
| 171 | * Update the sensor values by reading accessing
|
||
| 172 | * the sensor over I2C
|
||
| 173 | */
|
||
| 174 | inline void updateSensorData(); |
||
| 175 | |||
| 176 | /**
|
||
| 177 | * Writes the config to the HMC5883L
|
||
| 178 | *
|
||
| 179 | * @return I2C write return message
|
||
| 180 | */
|
||
| 181 | msg_t writeConf(); |
||
| 182 | |||
| 183 | /**
|
||
| 184 | * Stores the three orientations x,z,y in LSB
|
||
| 185 | */
|
||
| 186 | int16_t data[3];
|
||
| 187 | |||
| 188 | I2CDriver *driver; |
||
| 189 | const HMC5883LConfig *config;
|
||
| 190 | chibios_rt::EvtSource eventSource; |
||
| 191 | I2CTxParams txParams; |
||
| 192 | }; |
||
| 193 | |||
| 194 | } |
||
| 195 | |||
| 196 | #endif /* HMC5883L_H_ */ |