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Use Naze hardware revision when initialising hmc5883. The driver is not

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not naze specific anymore.
This commit is contained in:
Dominic Clifton 2014-10-15 22:42:07 +01:00
parent 6162f609ea
commit cf643b98c8
3 changed files with 42 additions and 16 deletions
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22
src/main/drivers/compass_hmc5883l.c
View file

@ -122,29 +122,25 @@ bool hmc5883lDetect(void)
return true; return true;
} }
void hmc5883lInit(void) void hmc5883lInit(hmc5883Config_t *hmc5883Config)
{ {
int16_t magADC[3]; int16_t magADC[3];
int i; int i;
int32_t xyz_total[3] = { 0, 0, 0 }; // 32 bit totals so they won't overflow. int32_t xyz_total[3] = { 0, 0, 0 }; // 32 bit totals so they won't overflow.
bool bret = true; // Error indicator bool bret = true; // Error indicator
#ifdef NAZE
gpio_config_t gpio; gpio_config_t gpio;
if (hse_value == 8000000) {
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); if (hmc5883Config) {
// PB12 - MAG_DRDY output on rev4 hardware if (hmc5883Config->gpioAPB2Peripherals) {
gpio.pin = Pin_12; RCC_APB2PeriphClockCmd(hmc5883Config->gpioAPB2Peripherals, ENABLE);
}
gpio.pin = hmc5883Config->gpioPin;
gpio.speed = Speed_2MHz; gpio.speed = Speed_2MHz;
gpio.mode = Mode_IN_FLOATING; gpio.mode = Mode_IN_FLOATING;
gpioInit(GPIOB, &gpio); gpioInit(hmc5883Config->gpioPort, &gpio);
} else if (hse_value == 12000000) {
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
// PC14 - MAG_DRDY output on rev5 hardware
gpio.pin = Pin_14;
gpioInit(GPIOC, &gpio);
} }
#endif
delay(50); delay(50);
i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to pos bias i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to pos bias

10
src/main/drivers/compass_hmc5883l.h
View file

@ -17,6 +17,12 @@
#pragma once #pragma once
bool hmc5883lDetect(); typedef struct hmc5883Config_s {
void hmc5883lInit(void); uint32_t gpioAPB2Peripherals;
uint16_t gpioPin;
GPIO_TypeDef *gpioPort;
} hmc5883Config_t;
bool hmc5883lDetect(void);
void hmc5883lInit(hmc5883Config_t *hmc5883Config);
void hmc5883lRead(int16_t *magData); void hmc5883lRead(int16_t *magData);

26
src/main/sensors/compass.c
View file

@ -34,6 +34,10 @@
#include "sensors/sensors.h" #include "sensors/sensors.h"
#include "sensors/compass.h" #include "sensors/compass.h"
#ifdef NAZE
#include "hardware_revision.h"
#endif
extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead. extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
int16_t magADC[XYZ_AXIS_COUNT]; int16_t magADC[XYZ_AXIS_COUNT];
@ -45,7 +49,27 @@ void compassInit(void)
{ {
// initialize and calibration. turn on led during mag calibration (calibration routine blinks it) // initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
LED1_ON; LED1_ON;
hmc5883lInit();
hmc5883Config_t *hmc5883Config = 0;
#ifdef NAZE
hmc5883Config_t nazeHmc5883Config;
if (hardwareRevision < NAZE32_REV5) {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB;
nazeHmc5883Config.gpioPin = Pin_12;
nazeHmc5883Config.gpioPort = GPIOB;
} else {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC;
nazeHmc5883Config.gpioPin = Pin_14;
nazeHmc5883Config.gpioPort = GPIOC;
}
hmc5883Config = &nazeHmc5883Config;
#endif
hmc5883lInit(hmc5883Config);
LED1_OFF; LED1_OFF;
magInit = 1; magInit = 1;
} }