amiro-os / include / amiro / magneto / hmc5883l.hpp @ f1d13b04
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| 1 | 58fe0e0b | Thomas Schöpping | #ifndef HMC5883L_H_
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| 2 | #define HMC5883L_H_
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| 3 | |||
| 4 | #include <amiro/bus/i2c/I2CParams.hpp> |
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| 5 | |||
| 6 | namespace amiro {
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| 7 | |||
| 8 | class I2CDriver; |
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| 9 | |||
| 10 | /**
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| 11 | * HMC5883L Magnetometer
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| 12 | * \todo Interrupt Support, self-test
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| 13 | */
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| 14 | class HMC5883L : public chibios_rt::BaseStaticThread<256> { |
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| 15 | |||
| 16 | public:
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| 17 | |||
| 18 | struct registers {
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| 19 | uint8_t ctrlA; |
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| 20 | uint8_t ctrlB; |
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| 21 | uint8_t mode; |
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| 22 | uint8_t xMsb; |
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| 23 | uint8_t xLsb; |
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| 24 | uint8_t zMsb; |
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| 25 | uint8_t zLsb; |
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| 26 | uint8_t yMsb; |
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| 27 | uint8_t yLsb; |
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| 28 | uint8_t status; |
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| 29 | uint8_t idA; |
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| 30 | uint8_t idB; |
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| 31 | uint8_t idC; |
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| 32 | }__attribute__((packed)); |
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| 33 | |||
| 34 | struct HMC5883LConfig {
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| 35 | uint8_t ctrlA; |
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| 36 | uint8_t ctrlB; |
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| 37 | uint8_t mode; |
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| 38 | }; |
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| 39 | |||
| 40 | enum {
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| 41 | SLA = 0x1E
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| 42 | }; |
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| 43 | |||
| 44 | enum {
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| 45 | MA_AVG1 = 0x00,
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| 46 | MA_AVG2 = 0x20,
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| 47 | MA_AVG4 = 0x40,
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| 48 | MA_AVG8 = 0x60,
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| 49 | }; |
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| 50 | |||
| 51 | enum {
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| 52 | DO_0_5_HZ = 0x00,
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| 53 | DO_1_HZ = 0x04,
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| 54 | DO_2_HZ = 0x08,
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| 55 | DO_5_HZ = 0x0C,
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| 56 | DO_10_HZ = 0x10,
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| 57 | DO_20_HZ = 0x14,
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| 58 | DO_50_HZ = 0x18,
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| 59 | }; |
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| 60 | |||
| 61 | enum {
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| 62 | MS_NORMAL = 0x00,
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| 63 | MS_BIASPOS = 0x01,
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| 64 | MS_BIASNEG = 0x02,
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| 65 | }; |
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| 66 | |||
| 67 | enum {
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| 68 | GN_0_GA = 0x00,
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| 69 | GN_1_GA = 0x20,
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| 70 | GN_2_GA = 0x40,
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| 71 | GN_3_GA = 0x60,
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| 72 | GN_4_GA = 0x80,
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| 73 | GN_5_GA = 0xA0,
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| 74 | GN_6_GA = 0xC0,
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| 75 | GN_7_GA = 0xE0,
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| 76 | }; |
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| 77 | |||
| 78 | enum {
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| 79 | MD_CONTCV = 0x00,
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| 80 | MD_SINGCV = 0x01,
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| 81 | MD_IDLE = 0x02,
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| 82 | MD_SLEEP = 0x03,
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| 83 | }; |
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| 84 | |||
| 85 | enum {
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| 86 | HS_DISABLE = 0x00,
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| 87 | HS_ENABLE = 0x80,
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| 88 | }; |
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| 89 | |||
| 90 | enum {
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| 91 | SR_REN = 0x04,
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| 92 | SR_LOCK = 0x02,
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| 93 | SR_RDY = 0x01,
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| 94 | }; |
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| 95 | |||
| 96 | enum {
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| 97 | ID_IRA = 'H',
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| 98 | ID_IRB = '4',
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| 99 | ID_IRC = '3',
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| 100 | }; |
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| 101 | |||
| 102 | enum {
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| 103 | MAGNETO_AVG = 10
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| 104 | }; |
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| 105 | |||
| 106 | /**
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| 107 | * Return types of getCheck()
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| 108 | */
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| 109 | enum {
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| 110 | CHECK_OK = 0x00u,
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| 111 | CHECK_FAIL = 0x01u,
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| 112 | }; |
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| 113 | |||
| 114 | public:
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| 115 | HMC5883L(I2CDriver *driver, const HMC5883LConfig *config);
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| 116 | virtual ~HMC5883L();
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| 117 | |||
| 118 | msg_t configure(HMC5883LConfig* config); |
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| 119 | |||
| 120 | chibios_rt::EvtSource* getEventSource(); |
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| 121 | |||
| 122 | /**
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| 123 | * Check the presence of the magnetometer by reading
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| 124 | * the identifier register and comparing it to the standard
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| 125 | * value
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| 126 | */
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| 127 | uint8_t getCheck(); |
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| 128 | |||
| 129 | /**
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| 130 | * Top view of the AMiRo with charger in the back (F:Front, B:Back).
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| 131 | * Z is pointing into the ground (Apply right-hand-rule):
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| 132 | * ___________
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| 133 | * / F \
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| 134 | * / X \
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| 135 | * | | |
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| 136 | * | Z---Y |
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| 137 | * | |
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| 138 | * \ /
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| 139 | * \____B______/
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| 140 | */
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| 141 | enum {
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| 142 | AXIS_X = 0x00u,
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| 143 | AXIS_Y = 0x02u,
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| 144 | AXIS_Z = 0x01u,
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| 145 | }; |
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| 146 | |||
| 147 | /**
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| 148 | * Return the magnetization in LSB for the given axis.
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| 149 | *
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| 150 | * @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]
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| 151 | *
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| 152 | * @return Measured magnetization in in LSB for the given axis
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| 153 | */
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| 154 | int16_t getMagnetization(const uint8_t axis);
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| 155 | |||
| 156 | /**
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| 157 | * Return the magnetization in µGauss for the given axis.
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| 158 | *
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| 159 | * @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]
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| 160 | *
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| 161 | * @return Measured magnetization in µGauss for the given axis
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| 162 | */
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| 163 | int32_t getMagnetizationGauss(const uint8_t axis);
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| 164 | |||
| 165 | protected:
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| 166 | virtual msg_t main(void); |
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| 167 | |||
| 168 | private:
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| 169 | |||
| 170 | /**
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| 171 | * Update the sensor values by reading accessing
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| 172 | * the sensor over I2C
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| 173 | */
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| 174 | inline void updateSensorData(); |
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| 175 | |||
| 176 | /**
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| 177 | * Writes the config to the HMC5883L
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| 178 | *
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| 179 | * @return I2C write return message
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| 180 | */
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| 181 | msg_t writeConf(); |
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| 182 | |||
| 183 | /**
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| 184 | * Stores the three orientations x,z,y in LSB
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| 185 | */
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| 186 | int16_t data[3];
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| 187 | |||
| 188 | I2CDriver *driver; |
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| 189 | const HMC5883LConfig *config;
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| 190 | chibios_rt::EvtSource eventSource; |
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| 191 | I2CTxParams txParams; |
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| 192 | }; |
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| 193 | |||
| 194 | } |
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| 195 | |||
| 196 | #endif /* HMC5883L_H_ */ |