fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 05:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Minor fixes to HMC driver, mag calibration done

Browse Source
This commit is contained in:
Lorenz Meier
2012-08-05 22:51:31 +02:00
parent 139cd09176
commit 96b348af9f
5 changed files with 301 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files
nuttx/configs/px4fmu/include/drv_hmc5883l.h
+11 -11
View File
@@ -35,15 +35,6 @@
* Driver for the ST HMC5883L gyroscope
*/
/* IMPORTANT NOTES:
*
* SPI max. clock frequency: 10 Mhz
* CS has to be high before transfer,
* go low right before transfer and
* go high again right after transfer
*
*/
#include <sys/ioctl.h>
#define _HMC5883LBASE 0x6100
@@ -76,6 +67,13 @@
#define HMC5883L_RANGE_2_50GA (3 << 5)
#define HMC5883L_RANGE_4_00GA (4 << 5)
/*
* Set the sensor measurement mode.
*/
#define HMC5883L_MODE_NORMAL (0 << 0)
#define HMC5883L_MODE_POSITIVE_BIAS (1 << 0)
#define HMC5883L_MODE_NEGATIVE_BIAS (1 << 1)
/*
* Sets the address of a shared HMC5883L_buffer
* structure that is maintained by the driver.
@@ -83,7 +81,7 @@
* If zero is passed as the address, disables
* the buffer updating.
*/
#define HMC5883L_SETBUFFER HMC5883LC(3)
#define HMC5883L_SETBUFFER HMC5883LC(3)
struct hmc5883l_buffer {
uint32_t size; /* number of entries in the samples[] array */
@@ -95,6 +93,8 @@ struct hmc5883l_buffer {
} samples[];
};
#define HMC5883L_RESET HMC5883LC(4)
#define HMC5883L_RESET HMC5883LC(4)
#define HMC5883L_CALIBRATION_ON HMC5883LC(5)
#define HMC5883L_CALIBRATION_OFF HMC5883LC(6)
extern int hmc5883l_attach(struct i2c_dev_s *i2c);
nuttx/configs/px4fmu/src/drv_hmc5833l.c
+44 -17
View File
@@ -29,7 +29,8 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
/*
/**
* @file drv_hmc5883l.c
* Driver for the Honeywell/ST HMC5883L MEMS magnetometer
*/
@@ -108,6 +109,7 @@ struct hmc5883l_dev_s
uint8_t rate;
struct hmc5883l_buffer *buffer;
};
static bool hmc5883l_calibration_enabled = false;
static int hmc5883l_write_reg(uint8_t address, uint8_t data);
static int hmc5883l_read_reg(uint8_t address);
@@ -169,6 +171,24 @@ hmc5883l_set_rate(uint8_t rate)
return !(hmc5883l_read_reg(ADDR_CONF_A) == write_rate);
}
static int
hmc5883l_set_mode(uint8_t mode)
{
// I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
// /* mask out illegal bit positions */
// uint8_t write_mode = mode & 0x03;
// /* immediately return if user supplied invalid value */
// if (write_mode != mode) return EINVAL;
// /* set mode */
// write_mode |= hmc5883l_read_reg(ADDR_CONF_A);
// /* set remaining bits to a sane value */
// write_mode |= HMC5883L_AVERAGING_8;
// /* write to device */
// hmc5883l_write_reg(ADDR_CONF_A, write_mode);
// /* return 0 if register value is now written value, 1 if unchanged */
// return !(hmc5883l_read_reg(ADDR_CONF_A) == write_mode);
}
static bool
read_values(int16_t *data)
{
@@ -204,7 +224,8 @@ read_values(int16_t *data)
int hmc_status = hmc5883l_read_reg(ADDR_STATUS);
if (hmc_status < 0)
{
if (hmc_status == ETIMEDOUT) hmc5883l_reset();
//if (hmc_status == ETIMEDOUT)
hmc5883l_reset();
ret = hmc_status;
}
else
@@ -215,12 +236,12 @@ read_values(int16_t *data)
}
else
{
if (ret == ETIMEDOUT) hmc5883l_reset();
if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
}
}
else
{
if (ret == ETIMEDOUT) hmc5883l_reset();
if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
}
if (ret != OK)
@@ -236,9 +257,11 @@ read_values(int16_t *data)
data[0] = ((hmc_report.x & 0x00FF) << 8) | ((hmc_report.x & 0xFF00) >> 8);
data[1] = ((hmc_report.y & 0x00FF) << 8) | ((hmc_report.y & 0xFF00) >> 8);
data[2] = ((hmc_report.z & 0x00FF) << 8) | ((hmc_report.z & 0xFF00) >> 8);
// XXX TODO
// write mode, range and lp-frequency enum values into data[3]-[6]
if ((hmc_report.status & STATUS_REG_DATA_READY) > 0)
{
ret = 6;
ret = 14;
} else {
ret = -EAGAIN;
}
@@ -252,7 +275,7 @@ static ssize_t
hmc5883l_read(struct file *filp, char *buffer, size_t buflen)
{
/* if the buffer is large enough, and data are available, return success */
if (buflen >= 6) {
if (buflen >= 14) {
return read_values((int16_t *)buffer);
}
@@ -267,20 +290,30 @@ hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg)
int result = ERROR;
switch (cmd) {
case HMC5883L_SETRATE:
case HMC5883L_SETRATE:
result = hmc5883l_set_rate(arg);
break;
case HMC5883L_SETRANGE:
result = hmc5883l_set_range(arg);
break;
case HMC5883L_SETRANGE:
result = hmc5883l_set_range(arg);
break;
case HMC5883L_CALIBRATION_ON:
hmc5883l_calibration_enabled = true;
result = OK;
break;
case HMC5883L_CALIBRATION_OFF:
hmc5883l_calibration_enabled = false;
result = OK;
break;
//
// case HMC5883L_SETBUFFER:
// hmc5883l_dev.buffer = (struct hmc5883l_buffer *)arg;
// result = 0;
// break;
case HMC5883L_RESET:
case HMC5883L_RESET:
result = hmc5883l_reset();
break;
}
@@ -297,12 +330,6 @@ int hmc5883l_reset()
up_i2cuninitialize(hmc5883l_dev.i2c);
hmc5883l_dev.i2c = up_i2cinitialize(2);
I2C_SETFREQUENCY(hmc5883l_dev.i2c, 400000);
// up_i2creset(hmc5883l_dev.i2c);
//I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
//hmc5883l_set_range(HMC5883L_RANGE_0_88GA);
//hmc5883l_set_rate(HMC5883L_RATE_75HZ);
/* set device into single mode, start measurement */
//ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
return ret;
}