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Code Issues Wiki Activity

MAG: Support for Freescale MAG3110 compass chip

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This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2016-03-09 21:21:59 +02:00
parent d424879b87
commit 8f25007144
10 changed files with 165 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

12
Makefile
View file

@ -318,6 +318,7 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \
drivers/bus_spi.c \
drivers/bus_i2c_stm32f10x.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/compass_ak8975.c \
drivers/display_ug2864hsweg01.h \
drivers/flash_m25p16.c \
@ -361,6 +362,7 @@ EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \
drivers/compass_ak8975.c \
drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.c \
drivers/flash_m25p16.c \
@ -395,6 +397,7 @@ OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/compass_ak8975.c \
drivers/gpio_stm32f10x.c \
drivers/light_led_stm32f10x.c \
@ -421,6 +424,7 @@ CJMCU_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/bus_i2c_stm32f10x.c \
drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \
drivers/compass_ak8975.c \
drivers/gpio_stm32f10x.c \
@ -451,6 +455,7 @@ CC3D_SRC = \
drivers/barometer_bmp280.c \
drivers/bus_spi.c \
drivers/bus_i2c_stm32f10x.c \
drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \
drivers/compass_ak8975.c \
drivers/display_ug2864hsweg01.c \
@ -507,6 +512,7 @@ STM32F3DISCOVERY_COMMON_SRC = \
drivers/accgyro_l3gd20.c \
drivers/accgyro_l3gd20.c \
drivers/accgyro_lsm303dlhc.c \
drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \
drivers/compass_ak8975.c \
$(VCP_SRC)
@ -521,6 +527,7 @@ STM32F3DISCOVERY_SRC = \
drivers/accgyro_mpu6050.c \
drivers/accgyro_l3g4200d.c \
drivers/barometer_ms5611.c \
drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \
drivers/compass_ak8975.c \
$(HIGHEND_SRC) \
@ -539,6 +546,7 @@ COLIBRI_RACE_SRC = \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c \
drivers/compass_mag3110.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/serial_usb_vcp.c \
@ -554,6 +562,7 @@ SPARKY_SRC = \
drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_mag3110.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/serial_usb_vcp.c \
@ -571,6 +580,7 @@ RMDO_SRC = \
drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_mag3110.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.h \
@ -588,6 +598,7 @@ SPRACINGF3_SRC = \
drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_mag3110.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.h \
@ -603,6 +614,7 @@ MOTOLAB_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_ms5611.c \
drivers/compass_mag3110.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.c \

110
src/main/drivers/compass_mag3110.c Executable file
View file

@ -0,0 +1,110 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include "build_config.h"
#include "platform.h"
#include "common/axis.h"
#include "common/maths.h"
#include "system.h"
#include "gpio.h"
#include "bus_i2c.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensor.h"
#include "compass.h"
#include "compass_mag3110.h"
#ifdef USE_MAG_MAG3110
#define MAG3110_MAG_I2C_ADDRESS 0x0E
// Registers
#define MAG3110_MAG_REG_STATUS 0x00
#define MAG3110_MAG_REG_HXL 0x01
#define MAG3110_MAG_REG_HXH 0x02
#define MAG3110_MAG_REG_HYL 0x03
#define MAG3110_MAG_REG_HYH 0x04
#define MAG3110_MAG_REG_HZL 0x05
#define MAG3110_MAG_REG_HZH 0x06
#define MAG3110_MAG_REG_WHO_AM_I 0x07
#define MAG3110_MAG_REG_SYSMODE 0x08
#define MAG3110_MAG_REG_CTRL_REG1 0x10
#define MAG3110_MAG_REG_CTRL_REG2 0x11
bool mag3110detect(mag_t *mag)
{
bool ack = false;
uint8_t sig = 0;
ack = i2cRead(MAG3110_MAG_I2C_ADDRESS, MAG3110_MAG_REG_WHO_AM_I, 1, &sig);
if (!ack || sig != 0xC4)
return false;
mag->init = mag3110Init;
mag->read = mag3110Read;
return true;
}
void mag3110Init()
{
bool ack;
UNUSED(ack);
ack = i2cWrite(MAG3110_MAG_I2C_ADDRESS, MAG3110_MAG_REG_CTRL_REG1, 0x01); // active mode 80 Hz ODR with OSR = 1
delay(20);
ack = i2cWrite(MAG3110_MAG_I2C_ADDRESS, MAG3110_MAG_REG_CTRL_REG2, 0xA0); // AUTO_MRST_EN + RAW
delay(10);
}
#define BIT_STATUS_REG_DATA_READY (1 << 3)
bool mag3110Read(int16_t *magData)
{
bool ack;
UNUSED(ack);
uint8_t status;
uint8_t buf[6];
ack = i2cRead(MAG3110_MAG_I2C_ADDRESS, MAG3110_MAG_REG_STATUS, 1, &status);
if (!ack || (status & BIT_STATUS_REG_DATA_READY) == 0) {
return false;
}
ack = i2cRead(MAG3110_MAG_I2C_ADDRESS, MAG3110_MAG_REG_HXL, 6, buf);
magData[X] = (int16_t)(buf[0] << 8 | buf[1]);
magData[Y] = (int16_t)(buf[2] << 8 | buf[3]);
magData[Z] = (int16_t)(buf[4] << 8 | buf[5]);
return true;
}
#endif

22
src/main/drivers/compass_mag3110.h Executable file
View file

@ -0,0 +1,22 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
bool mag3110detect(mag_t *mag);
void mag3110Init(void);
bool mag3110Read(int16_t *magData);

3
src/main/sensors/compass.h
View file

@ -24,7 +24,8 @@ typedef enum {
MAG_HMC5883 = 2,
MAG_AK8975 = 3,
MAG_GPS = 4,
MAG_FAKE = 5
MAG_MAG3110 = 5,
MAG_FAKE = 6,
} magSensor_e;
#define MAG_MAX MAG_FAKE

13
src/main/sensors/initialisation.c
View file

@ -55,6 +55,7 @@
#include "drivers/compass.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/compass_ak8975.h"
#include "drivers/compass_mag3110.h"
#include "drivers/sonar_hcsr04.h"
@ -690,6 +691,18 @@ retry:
#endif
; // fallthrough
case MAG_MAG3110:
#ifdef USE_MAG_MAG3110
if (mag3110detect(&mag)) {
#ifdef MAG_MAG3110_ALIGN
magAlign = MAG_MAG3110_ALIGN;
#endif
magHardware = MAG_MAG3110;
break;
}
#endif
; // fallthrough
case MAG_FAKE:
#ifdef USE_FAKE_MAG
if (fakeMagDetect(&mag)) {

1
src/main/target/CC3D/target.h
View file

@ -66,6 +66,7 @@
#define MAG
#define USE_MAG_HMC5883
#define USE_MAG_AK8975
#define USE_MAG_MAG3110
#define INVERTER
#define BEEPER

1
src/main/target/NAZE/target.h
View file

@ -114,6 +114,7 @@
#define MAG
#define USE_MAG_HMC5883
#define USE_MAG_AK8975
#define USE_MAG_MAG3110
#define MAG_HMC5883_ALIGN CW180_DEG

1
src/main/target/RMDO/target.h
View file

@ -53,6 +53,7 @@
#define MAG
#define USE_MAG_AK8975
#define USE_MAG_HMC5883
#define USE_MAG_MAG3110
#define USE_FLASHFS
#define USE_FLASH_M25P16

1
src/main/target/SPARKY/target.h
View file

@ -45,6 +45,7 @@
#define MAG
#define USE_MAG_HMC5883
#define USE_MAG_AK8975
#define USE_MAG_MAG3110
#define MAG_AK8975_ALIGN CW180_DEG_FLIP

2
src/main/target/SPRACINGF3/target.h
View file

@ -55,6 +55,8 @@
#define MAG
#define USE_MAG_AK8975
#define USE_MAG_HMC5883
#define USE_MAG_MAG3110
#define MAG_HMC5883_ALIGN CW270_DEG
#define USE_FLASHFS