HMC5883L driver + example
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4
examples/hmc5883l/Makefile
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4
examples/hmc5883l/Makefile
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PROGRAM = hmc5883l
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EXTRA_COMPONENTS = extras/i2c extras/hmc5883l
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#ESPBAUD = 460800
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include ../../common.mk
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41
examples/hmc5883l/main.c
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examples/hmc5883l/main.c
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/*
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* Example of using HMC5883L driver
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*
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* Part of esp-open-rtos
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* Copyright (C) 2016 Ruslan V. Uss <unclerus@gmail.com>
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* BSD Licensed as described in the file LICENSE
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*/
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#include <esp/uart.h>
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#include <espressif/esp_common.h>
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#include <stdio.h>
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#include <i2c/i2c.h>
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#include <hmc5883l/hmc5883l.h>
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#define SCL_PIN 5
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#define SDA_PIN 4
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void user_init(void)
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{
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uart_set_baud(0, 115200);
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printf("SDK version:%s\n\n", sdk_system_get_sdk_version());
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i2c_init(SCL_PIN, SDA_PIN);
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while (!hmc5883l_init())
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printf("Device not found\n");
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hmc5883l_set_operating_mode(HMC5883L_MODE_CONTINUOUS);
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hmc5883l_set_samples_averaged(HMC5883L_SAMPLES_8);
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hmc5883l_set_data_rate(HMC5883L_DATA_RATE_07_50);
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hmc5883l_set_gain(HMC5883L_GAIN_1090);
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while (true)
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{
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hmc5883l_data_t data;
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hmc5883l_get_data(&data);
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printf("Magnetic data: X:%.2f mG, Y:%.2f mG, Z:%.2f mG\n", data.x, data.y, data.z);
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for (uint32_t i = 0; i < 1000; i++)
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sdk_os_delay_us(250);
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}
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}
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9
extras/hmc5883l/component.mk
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extras/hmc5883l/component.mk
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# Component makefile for extras/hmc5883l
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# expected anyone using this driver includes it as 'hmc5883l/hmc5883l.h'
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INC_DIRS += $(hmc5883l_ROOT)..
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# args for passing into compile rule generation
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hmc5883l_SRC_DIR = $(hmc5883l_ROOT)
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$(eval $(call component_compile_rules,hmc5883l))
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189
extras/hmc5883l/hmc5883l.c
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extras/hmc5883l/hmc5883l.c
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/*
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* Driver for 3-axis digital compass HMC5883L
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*
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* Part of esp-open-rtos
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* Copyright (C) 2016 Ruslan V. Uss <unclerus@gmail.com>
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* BSD Licensed as described in the file LICENSE
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*/
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#include "hmc5883l.h"
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#include <i2c/i2c.h>
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#include <espressif/esp_common.h>
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#define ADDR 0x1e
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#define REG_CR_A 0x00
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#define REG_CR_B 0x01
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#define REG_MODE 0x02
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#define REG_DX_H 0x03
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#define REG_DX_L 0x04
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#define REG_DZ_H 0x05
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#define REG_DZ_L 0x06
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#define REG_DY_H 0x07
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#define REG_DY_L 0x08
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#define REG_STAT 0x09
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#define REG_ID_A 0x0a
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#define REG_ID_B 0x0b
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#define REG_ID_C 0x0c
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#define BIT_MA 5
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#define BIT_DO 2
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#define BIT_GN 5
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#define MASK_MD 0x03
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#define MASK_MA 0x60
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#define MASK_DO 0x1c
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#define MASK_MS 0x03
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#define MASK_DR 0x01
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#define MASK_DL 0x02
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#define MEASUREMENT_TIMEOUT 6000
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static const float gain_values [] = {
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[HMC5883L_GAIN_1370] = 0.73,
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[HMC5883L_GAIN_1090] = 0.92,
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[HMC5883L_GAIN_820] = 1.22,
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[HMC5883L_GAIN_660] = 1.52,
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[HMC5883L_GAIN_440] = 2.27,
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[HMC5883L_GAIN_390] = 2.56,
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[HMC5883L_GAIN_330] = 3.03,
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[HMC5883L_GAIN_230] = 4.35
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};
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static float current_gain;
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static hmc5883l_operating_mode_t current_mode;
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static inline void write_register(uint8_t reg, uint8_t val)
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{
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uint8_t buf[2] = { reg, val };
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i2c_slave_write(ADDR, buf, 2);
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}
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static inline uint8_t read_register(uint8_t reg)
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{
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uint8_t res;
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i2c_slave_read(ADDR, reg, &res, 1);
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return res;
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}
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static inline void update_register(uint8_t reg, uint8_t mask, uint8_t val)
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{
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write_register(reg, (read_register(reg) & mask) | val);
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}
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bool hmc5883l_init()
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{
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if (hmc5883l_get_id() != HMC5883L_ID)
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return false;
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current_gain = gain_values[hmc5883l_get_gain()];
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current_mode = hmc5883l_get_operating_mode();
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return true;
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}
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uint32_t hmc5883l_get_id()
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{
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uint32_t res = 0;
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i2c_slave_read(ADDR, REG_ID_A, (uint8_t *)&res, 3);
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return res;
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}
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hmc5883l_operating_mode_t hmc5883l_get_operating_mode()
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{
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uint8_t res = read_register(REG_MODE) & MASK_MD;
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return res == 0 ? HMC5883L_MODE_CONTINUOUS : HMC5883L_MODE_SINGLE;
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}
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void hmc5883l_set_operating_mode(hmc5883l_operating_mode_t mode)
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{
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write_register(REG_MODE, mode);
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current_mode = mode;
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}
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hmc5883l_samples_averaged_t hmc5883l_get_samples_averaged()
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{
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return (read_register(REG_CR_A) & MASK_MA) >> BIT_MA;
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}
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void hmc5883l_set_samples_averaged(hmc5883l_samples_averaged_t samples)
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{
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update_register(REG_CR_A, MASK_MA, samples << BIT_MA);
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}
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hmc5883l_data_rate_t hmc5883l_get_data_rate()
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{
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return (read_register(REG_CR_A) & MASK_DO) >> BIT_DO;
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}
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void hmc5883l_set_data_rate(hmc5883l_data_rate_t rate)
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{
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update_register(REG_CR_A, MASK_DO, rate << BIT_DO);
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}
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hmc5883l_bias_t hmc5883l_get_bias()
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{
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return read_register(REG_CR_A) & MASK_MS;
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}
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void hmc5883l_set_bias(hmc5883l_bias_t bias)
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{
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update_register(REG_CR_A, MASK_MS, bias);
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}
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hmc5883l_gain_t hmc5883l_get_gain()
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{
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return read_register(REG_CR_B) >> BIT_GN;
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}
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void hmc5883l_set_gain(hmc5883l_gain_t gain)
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{
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write_register(REG_CR_B, gain << BIT_GN);
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current_gain = gain_values[gain];
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}
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bool hmc5883l_data_is_locked()
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{
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return read_register(REG_STAT) & MASK_DL;
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}
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bool hmc5883l_data_is_ready()
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{
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return read_register(REG_STAT) & MASK_DR;
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}
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bool hmc5883l_get_raw_data(hmc5883l_raw_data_t *data)
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{
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if (current_mode == HMC5883L_MODE_SINGLE)
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{
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// overwrite mode register for measurement
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hmc5883l_set_operating_mode(current_mode);
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// wait for data
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uint32_t timeout = sdk_system_get_time() + MEASUREMENT_TIMEOUT;
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while (!hmc5883l_data_is_ready())
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{
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if (sdk_system_get_time() >= timeout)
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return false;
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}
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}
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uint8_t buf[6];
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i2c_slave_read(ADDR, REG_DX_H, buf, 6);
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data->x = ((int16_t)buf[REG_DX_H - REG_DX_H] << 8) | buf[REG_DX_L - REG_DX_H];
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data->y = ((int16_t)buf[REG_DY_H - REG_DX_H] << 8) | buf[REG_DY_L - REG_DX_H];
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data->z = ((int16_t)buf[REG_DZ_H - REG_DX_H] << 8) | buf[REG_DZ_L - REG_DX_H];
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return true;
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}
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void hmc5883l_raw_to_mg(const hmc5883l_raw_data_t *raw, hmc5883l_data_t *mg)
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{
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mg->x = raw->x * current_gain;
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mg->y = raw->y * current_gain;
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mg->z = raw->z * current_gain;
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}
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bool hmc5883l_get_data(hmc5883l_data_t *data)
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{
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hmc5883l_raw_data_t raw;
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if (!hmc5883l_get_raw_data(&raw))
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return false;
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hmc5883l_raw_to_mg(&raw, data);
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return true;
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}
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218
extras/hmc5883l/hmc5883l.h
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extras/hmc5883l/hmc5883l.h
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/*
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* Driver for 3-axis digital compass HMC5883L
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*
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* Part of esp-open-rtos
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* Copyright (C) 2016 Ruslan V. Uss <unclerus@gmail.com>
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* BSD Licensed as described in the file LICENSE
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*/
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#ifndef EXTRAS_HMC5883L_H_
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#define EXTRAS_HMC5883L_H_
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#include <stdint.h>
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#include <stdbool.h>
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#define HMC5883L_ID 0x00333448 // "H43"
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/**
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* Device operating mode
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*/
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typedef enum
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{
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HMC5883L_MODE_CONTINUOUS = 0, //!< Continuous mode
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HMC5883L_MODE_SINGLE //!< Single measurement mode, default
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} hmc5883l_operating_mode_t;
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/**
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* Number of samples averaged per measurement
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*/
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typedef enum
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{
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HMC5883L_SAMPLES_1 = 0, //!< 1 sample, default
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HMC5883L_SAMPLES_2, //!< 2 samples
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HMC5883L_SAMPLES_4, //!< 4 samples
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HMC5883L_SAMPLES_8 //!< 8 samples
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} hmc5883l_samples_averaged_t;
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/**
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* Data output rate in continuous measurement mode
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*/
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typedef enum
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{
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HMC5883L_DATA_RATE_00_75 = 0, //!< 0.75 Hz
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HMC5883L_DATA_RATE_01_50, //!< 1.5 Hz
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HMC5883L_DATA_RATE_03_00, //!< 3 Hz
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HMC5883L_DATA_RATE_07_50, //!< 7.5 Hz
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HMC5883L_DATA_RATE_15_00, //!< 15 Hz, default
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HMC5883L_DATA_RATE_30_00, //!< 30 Hz
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HMC5883L_DATA_RATE_75_00 //!< 75 Hz
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} hmc5883l_data_rate_t;
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/**
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* Measurement mode of the device (bias)
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*/
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typedef enum
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{
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HMC5883L_BIAS_NORMAL = 0, //!< Default flow, no bias
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HMC5883L_BIAS_POSITIVE, //!< Positive bias configuration all axes, used for self test (see datasheet)
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HMC5883L_BIAS_NEGATIVE //!< Negative bias configuration all axes, used for self test (see datasheet)
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} hmc5883l_bias_t;
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/**
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* Device gain
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*/
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typedef enum
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{
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HMC5883L_GAIN_1370 = 0, //!< 0.73 mG/LSb, range -0.88..+0.88 G
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HMC5883L_GAIN_1090, //!< 0.92 mG/LSb, range -1.3..+1.3 G, default
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HMC5883L_GAIN_820, //!< 1.22 mG/LSb, range -1.9..+1.9 G
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HMC5883L_GAIN_660, //!< 1.52 mG/LSb, range -2.5..+2.5 G
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HMC5883L_GAIN_440, //!< 2.27 mG/LSb, range -4.0..+4.0 G
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HMC5883L_GAIN_390, //!< 2.56 mG/LSb, range -4.7..+4.7 G
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HMC5883L_GAIN_330, //!< 3.03 mG/LSb, range -5.6..+5.6 G
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HMC5883L_GAIN_230 //!< 4.35 mG/LSb, range -8.1..+8.1 G
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} hmc5883l_gain_t;
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/**
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* Raw measurement result
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*/
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typedef struct
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{
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int16_t x;
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int16_t y;
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int16_t z;
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} hmc5883l_raw_data_t;
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/**
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* Measurement result, milligauss
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*/
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typedef struct
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{
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float x;
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float y;
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float z;
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} hmc5883l_data_t;
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/**
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* \brief Init device
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* \return false if error occured
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*/
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bool hmc5883l_init();
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/**
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* \brief Get device ID
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* Always returns 0x00333448 if IC functioning properly.
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* \return Device ID
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*/
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uint32_t hmc5883l_get_id();
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/**
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* \brief Get operating mode
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* \return Measurement mode
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*/
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hmc5883l_operating_mode_t hmc5883l_get_operating_mode();
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/**
|
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* \brief Set operating mode
|
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* \param mode Measurement mode
|
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|
*/
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||||||
|
void hmc5883l_set_operating_mode(hmc5883l_operating_mode_t mode);
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|
/**
|
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|
* \brief Get number of samples averaged per measurement output
|
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|
* \return Number of samples
|
||||||
|
*/
|
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|
hmc5883l_samples_averaged_t hmc5883l_get_samples_averaged();
|
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|
/**
|
||||||
|
* \brief Set number of samples averaged per measurement output
|
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|
* \param samples Number of samples
|
||||||
|
*/
|
||||||
|
void hmc5883l_set_samples_averaged(hmc5883l_samples_averaged_t samples);
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||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get data output rate in continuous measurement mode
|
||||||
|
* \return Data output rate
|
||||||
|
*/
|
||||||
|
hmc5883l_data_rate_t hmc5883l_get_data_rate();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Set data output rate in continuous measurement mode
|
||||||
|
* \param rate Data output rate
|
||||||
|
*/
|
||||||
|
void hmc5883l_set_data_rate(hmc5883l_data_rate_t rate);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get measurement mode (bias of the axes)
|
||||||
|
* See datasheet for self test description
|
||||||
|
* \return Bias
|
||||||
|
*/
|
||||||
|
hmc5883l_bias_t hmc5883l_get_bias();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Set measurement mode (bias of the axes)
|
||||||
|
* See datasheet for self test description
|
||||||
|
* \param bias Bias
|
||||||
|
*/
|
||||||
|
void hmc5883l_set_bias(hmc5883l_bias_t bias);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get device gain
|
||||||
|
* \return Current gain
|
||||||
|
*/
|
||||||
|
hmc5883l_gain_t hmc5883l_get_gain();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Set device gain
|
||||||
|
* \param gain Gain
|
||||||
|
*/
|
||||||
|
void hmc5883l_set_gain(hmc5883l_gain_t gain);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get data state
|
||||||
|
* \return true when data is written to all six data registers
|
||||||
|
*/
|
||||||
|
bool hmc5883l_data_is_ready();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get lock state.
|
||||||
|
* If data is locked, any new data will not be placed in data registers until
|
||||||
|
* one of these conditions are met:
|
||||||
|
* 1. data have been read,
|
||||||
|
* 2. operating mode is changed,
|
||||||
|
* 3. the measurement configuration (bias) is changed,
|
||||||
|
* 4. power is reset.
|
||||||
|
* \return true when data registers is locked
|
||||||
|
*/
|
||||||
|
bool hmc5883l_data_is_locked();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get raw magnetic data
|
||||||
|
* \param data Pointer to the struct to write raw data
|
||||||
|
* \return false if error occured in single measurement mode, always true in continuous mode
|
||||||
|
*/
|
||||||
|
bool hmc5883l_get_raw_data(hmc5883l_raw_data_t *data);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Convert raw magnetic data to milligausses
|
||||||
|
* \param raw Pointer to source raw data struct
|
||||||
|
* \param mg Pointer to target struct to write converted data
|
||||||
|
*/
|
||||||
|
void hmc5883l_raw_to_mg(const hmc5883l_raw_data_t *raw, hmc5883l_data_t *mg);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get magnetic data in milligausses
|
||||||
|
* \param data Pointer to the struct to write data
|
||||||
|
* \return false if error occured in single measurement mode, always true in continuous mode
|
||||||
|
*/
|
||||||
|
bool hmc5883l_get_data(hmc5883l_data_t *data);
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* EXTRAS_HMC5883L_H_ */
|
Loading…
Reference in a new issue