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This commit is contained in:
Martin Budden 2016-06-27 19:26:02 +01:00
parent 3b19b01c78
commit 97fe5afd6c
57 changed files with 575 additions and 575 deletions
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20
src/main/drivers/compass_hmc5883l.c
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@ -204,7 +204,7 @@ bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse)
hmc5883Config = hmc5883ConfigToUse;
ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, 0x0A, 1, &sig);
ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, 0x0A, 1, &sig);
if (!ack || sig != 'H')
return false;
@ -241,15 +241,15 @@ void hmc5883lInit(void)
}
delay(50);
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
// Note that the very first measurement after a gain change maintains the same gain as the previous setting.
// The new gain setting is effective from the second measurement and on.
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
delay(100);
hmc5883lRead(magADC);
for (i = 0; i < 10; i++) { // Collect 10 samples
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
delay(50);
hmc5883lRead(magADC); // Get the raw values in case the scales have already been changed.
@ -267,9 +267,9 @@ void hmc5883lInit(void)
}
// Apply the negative bias. (Same gain)
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
for (i = 0; i < 10; i++) {
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
delay(50);
hmc5883lRead(magADC); // Get the raw values in case the scales have already been changed.
@ -291,9 +291,9 @@ void hmc5883lInit(void)
magGain[Z] = fabsf(660.0f * HMC58X3_Z_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[Z]);
// leave test mode
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x70); // Configuration Register A -- 0 11 100 00 num samples: 8 ; output rate: 15Hz ; normal measurement mode
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x20); // Configuration Register B -- 001 00000 configuration gain 1.3Ga
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 0x00); // Mode register -- 000000 00 continuous Conversion Mode
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x70); // Configuration Register A -- 0 11 100 00 num samples: 8 ; output rate: 15Hz ; normal measurement mode
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x20); // Configuration Register B -- 001 00000 configuration gain 1.3Ga
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 0x00); // Mode register -- 000000 00 continuous Conversion Mode
delay(100);
if (!bret) { // Something went wrong so get a best guess
@ -309,7 +309,7 @@ bool hmc5883lRead(int16_t *magData)
{
uint8_t buf[6];
bool ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
bool ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
if (!ack) {
return false;
}