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HMC5883L driver + example

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rus 2016-10-12 14:34:45 +05:00
parent 0a8c61ffb7
commit 4e7362f2d4
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4
examples/hmc5883l/Makefile Normal file
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PROGRAM = hmc5883l
EXTRA_COMPONENTS = extras/i2c extras/hmc5883l
#ESPBAUD = 460800
include ../../common.mk

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examples/hmc5883l/main.c Normal file
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/*
* Example of using HMC5883L driver
*
* Part of esp-open-rtos
* Copyright (C) 2016 Ruslan V. Uss <unclerus@gmail.com>
* BSD Licensed as described in the file LICENSE
*/
#include <esp/uart.h>
#include <espressif/esp_common.h>
#include <stdio.h>
#include <i2c/i2c.h>
#include <hmc5883l/hmc5883l.h>
#define SCL_PIN 5
#define SDA_PIN 4
void user_init(void)
{
uart_set_baud(0, 115200);
printf("SDK version:%s\n\n", sdk_system_get_sdk_version());
i2c_init(SCL_PIN, SDA_PIN);
while (!hmc5883l_init())
printf("Device not found\n");
hmc5883l_set_operating_mode(HMC5883L_MODE_CONTINUOUS);
hmc5883l_set_samples_averaged(HMC5883L_SAMPLES_8);
hmc5883l_set_data_rate(HMC5883L_DATA_RATE_07_50);
hmc5883l_set_gain(HMC5883L_GAIN_1090);
while (true)
{
hmc5883l_data_t data;
hmc5883l_get_data(&data);
printf("Magnetic data: X:%.2f mG, Y:%.2f mG, Z:%.2f mG\n", data.x, data.y, data.z);
for (uint32_t i = 0; i < 1000; i++)
sdk_os_delay_us(250);
}
}

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extras/hmc5883l/component.mk Normal file
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# Component makefile for extras/hmc5883l
# expected anyone using this driver includes it as 'hmc5883l/hmc5883l.h'
INC_DIRS += $(hmc5883l_ROOT)..
# args for passing into compile rule generation
hmc5883l_SRC_DIR = $(hmc5883l_ROOT)
$(eval $(call component_compile_rules,hmc5883l))

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extras/hmc5883l/hmc5883l.c Normal file
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/*
* Driver for 3-axis digital compass HMC5883L
*
* Part of esp-open-rtos
* Copyright (C) 2016 Ruslan V. Uss <unclerus@gmail.com>
* BSD Licensed as described in the file LICENSE
*/
#include "hmc5883l.h"
#include <i2c/i2c.h>
#include <espressif/esp_common.h>
#define ADDR 0x1e
#define REG_CR_A 0x00
#define REG_CR_B 0x01
#define REG_MODE 0x02
#define REG_DX_H 0x03
#define REG_DX_L 0x04
#define REG_DZ_H 0x05
#define REG_DZ_L 0x06
#define REG_DY_H 0x07
#define REG_DY_L 0x08
#define REG_STAT 0x09
#define REG_ID_A 0x0a
#define REG_ID_B 0x0b
#define REG_ID_C 0x0c
#define BIT_MA 5
#define BIT_DO 2
#define BIT_GN 5
#define MASK_MD 0x03
#define MASK_MA 0x60
#define MASK_DO 0x1c
#define MASK_MS 0x03
#define MASK_DR 0x01
#define MASK_DL 0x02
#define MEASUREMENT_TIMEOUT 6000
static const float gain_values [] = {
[HMC5883L_GAIN_1370] = 0.73,
[HMC5883L_GAIN_1090] = 0.92,
[HMC5883L_GAIN_820] = 1.22,
[HMC5883L_GAIN_660] = 1.52,
[HMC5883L_GAIN_440] = 2.27,
[HMC5883L_GAIN_390] = 2.56,
[HMC5883L_GAIN_330] = 3.03,
[HMC5883L_GAIN_230] = 4.35
};
static float current_gain;
static hmc5883l_operating_mode_t current_mode;
static inline void write_register(uint8_t reg, uint8_t val)
{
uint8_t buf[2] = { reg, val };
i2c_slave_write(ADDR, buf, 2);
}
static inline uint8_t read_register(uint8_t reg)
{
uint8_t res;
i2c_slave_read(ADDR, reg, &res, 1);
return res;
}
static inline void update_register(uint8_t reg, uint8_t mask, uint8_t val)
{
write_register(reg, (read_register(reg) & mask) | val);
}
bool hmc5883l_init()
{
if (hmc5883l_get_id() != HMC5883L_ID)
return false;
current_gain = gain_values[hmc5883l_get_gain()];
current_mode = hmc5883l_get_operating_mode();
return true;
}
uint32_t hmc5883l_get_id()
{
uint32_t res = 0;
i2c_slave_read(ADDR, REG_ID_A, (uint8_t *)&res, 3);
return res;
}
hmc5883l_operating_mode_t hmc5883l_get_operating_mode()
{
uint8_t res = read_register(REG_MODE) & MASK_MD;
return res == 0 ? HMC5883L_MODE_CONTINUOUS : HMC5883L_MODE_SINGLE;
}
void hmc5883l_set_operating_mode(hmc5883l_operating_mode_t mode)
{
write_register(REG_MODE, mode);
current_mode = mode;
}
hmc5883l_samples_averaged_t hmc5883l_get_samples_averaged()
{
return (read_register(REG_CR_A) & MASK_MA) >> BIT_MA;
}
void hmc5883l_set_samples_averaged(hmc5883l_samples_averaged_t samples)
{
update_register(REG_CR_A, MASK_MA, samples << BIT_MA);
}
hmc5883l_data_rate_t hmc5883l_get_data_rate()
{
return (read_register(REG_CR_A) & MASK_DO) >> BIT_DO;
}
void hmc5883l_set_data_rate(hmc5883l_data_rate_t rate)
{
update_register(REG_CR_A, MASK_DO, rate << BIT_DO);
}
hmc5883l_bias_t hmc5883l_get_bias()
{
return read_register(REG_CR_A) & MASK_MS;
}
void hmc5883l_set_bias(hmc5883l_bias_t bias)
{
update_register(REG_CR_A, MASK_MS, bias);
}
hmc5883l_gain_t hmc5883l_get_gain()
{
return read_register(REG_CR_B) >> BIT_GN;
}
void hmc5883l_set_gain(hmc5883l_gain_t gain)
{
write_register(REG_CR_B, gain << BIT_GN);
current_gain = gain_values[gain];
}
bool hmc5883l_data_is_locked()
{
return read_register(REG_STAT) & MASK_DL;
}
bool hmc5883l_data_is_ready()
{
return read_register(REG_STAT) & MASK_DR;
}
bool hmc5883l_get_raw_data(hmc5883l_raw_data_t *data)
{
if (current_mode == HMC5883L_MODE_SINGLE)
{
// overwrite mode register for measurement
hmc5883l_set_operating_mode(current_mode);
// wait for data
uint32_t timeout = sdk_system_get_time() + MEASUREMENT_TIMEOUT;
while (!hmc5883l_data_is_ready())
{
if (sdk_system_get_time() >= timeout)
return false;
}
}
uint8_t buf[6];
i2c_slave_read(ADDR, REG_DX_H, buf, 6);
data->x = ((int16_t)buf[REG_DX_H - REG_DX_H] << 8) | buf[REG_DX_L - REG_DX_H];
data->y = ((int16_t)buf[REG_DY_H - REG_DX_H] << 8) | buf[REG_DY_L - REG_DX_H];
data->z = ((int16_t)buf[REG_DZ_H - REG_DX_H] << 8) | buf[REG_DZ_L - REG_DX_H];
return true;
}
void hmc5883l_raw_to_mg(const hmc5883l_raw_data_t *raw, hmc5883l_data_t *mg)
{
mg->x = raw->x * current_gain;
mg->y = raw->y * current_gain;
mg->z = raw->z * current_gain;
}
bool hmc5883l_get_data(hmc5883l_data_t *data)
{
hmc5883l_raw_data_t raw;
if (!hmc5883l_get_raw_data(&raw))
return false;
hmc5883l_raw_to_mg(&raw, data);
return true;
}

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extras/hmc5883l/hmc5883l.h Normal file
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/*
* Driver for 3-axis digital compass HMC5883L
*
* Part of esp-open-rtos
* Copyright (C) 2016 Ruslan V. Uss <unclerus@gmail.com>
* BSD Licensed as described in the file LICENSE
*/
#ifndef EXTRAS_HMC5883L_H_
#define EXTRAS_HMC5883L_H_
#include <stdint.h>
#include <stdbool.h>
#ifdef __cplusplus
extern "C"
{
#endif
#define HMC5883L_ID 0x00333448 // "H43"
/**
* Device operating mode
*/
typedef enum
{
HMC5883L_MODE_CONTINUOUS = 0, //!< Continuous mode
HMC5883L_MODE_SINGLE //!< Single measurement mode, default
} hmc5883l_operating_mode_t;
/**
* Number of samples averaged per measurement
*/
typedef enum
{
HMC5883L_SAMPLES_1 = 0, //!< 1 sample, default
HMC5883L_SAMPLES_2, //!< 2 samples
HMC5883L_SAMPLES_4, //!< 4 samples
HMC5883L_SAMPLES_8 //!< 8 samples
} hmc5883l_samples_averaged_t;
/**
* Data output rate in continuous measurement mode
*/
typedef enum
{
HMC5883L_DATA_RATE_00_75 = 0, //!< 0.75 Hz
HMC5883L_DATA_RATE_01_50, //!< 1.5 Hz
HMC5883L_DATA_RATE_03_00, //!< 3 Hz
HMC5883L_DATA_RATE_07_50, //!< 7.5 Hz
HMC5883L_DATA_RATE_15_00, //!< 15 Hz, default
HMC5883L_DATA_RATE_30_00, //!< 30 Hz
HMC5883L_DATA_RATE_75_00 //!< 75 Hz
} hmc5883l_data_rate_t;
/**
* Measurement mode of the device (bias)
*/
typedef enum
{
HMC5883L_BIAS_NORMAL = 0, //!< Default flow, no bias
HMC5883L_BIAS_POSITIVE, //!< Positive bias configuration all axes, used for self test (see datasheet)
HMC5883L_BIAS_NEGATIVE //!< Negative bias configuration all axes, used for self test (see datasheet)
} hmc5883l_bias_t;
/**
* Device gain
*/
typedef enum
{
HMC5883L_GAIN_1370 = 0, //!< 0.73 mG/LSb, range -0.88..+0.88 G
HMC5883L_GAIN_1090, //!< 0.92 mG/LSb, range -1.3..+1.3 G, default
HMC5883L_GAIN_820, //!< 1.22 mG/LSb, range -1.9..+1.9 G
HMC5883L_GAIN_660, //!< 1.52 mG/LSb, range -2.5..+2.5 G
HMC5883L_GAIN_440, //!< 2.27 mG/LSb, range -4.0..+4.0 G
HMC5883L_GAIN_390, //!< 2.56 mG/LSb, range -4.7..+4.7 G
HMC5883L_GAIN_330, //!< 3.03 mG/LSb, range -5.6..+5.6 G
HMC5883L_GAIN_230 //!< 4.35 mG/LSb, range -8.1..+8.1 G
} hmc5883l_gain_t;
/**
* Raw measurement result
*/
typedef struct
{
int16_t x;
int16_t y;
int16_t z;
} hmc5883l_raw_data_t;
/**
* Measurement result, milligauss
*/
typedef struct
{
float x;
float y;
float z;
} hmc5883l_data_t;
/**
* \brief Init device
* \return false if error occured
*/
bool hmc5883l_init();
/**
* \brief Get device ID
* Always returns 0x00333448 if IC functioning properly.
* \return Device ID
*/
uint32_t hmc5883l_get_id();
/**
* \brief Get operating mode
* \return Measurement mode
*/
hmc5883l_operating_mode_t hmc5883l_get_operating_mode();
/**
* \brief Set operating mode
* \param mode Measurement mode
*/
void hmc5883l_set_operating_mode(hmc5883l_operating_mode_t mode);
/**
* \brief Get number of samples averaged per measurement output
* \return Number of samples
*/
hmc5883l_samples_averaged_t hmc5883l_get_samples_averaged();
/**
* \brief Set number of samples averaged per measurement output
* \param samples Number of samples
*/
void hmc5883l_set_samples_averaged(hmc5883l_samples_averaged_t samples);
/**
* \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_ */