pios_hmc5883_priv.h

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/* 
 * This program 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.
 * 
 * This program 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 this program; if not, see <http://www.gnu.org/licenses/>
 */

#ifndef PIOS_HMC5883_H
#define PIOS_HMC5883_H

#include <stdint.h>
#include <stdbool.h>

/* HMC5883 Addresses */
#define PIOS_HMC5883_I2C_ADDR                   0x1E
#define PIOS_HMC5883_I2C_READ_ADDR      0x3D
#define PIOS_HMC5883_I2C_WRITE_ADDR     0x3C
#define PIOS_HMC5883_CONFIG_REG_A               (uint8_t)0x00
#define PIOS_HMC5883_CONFIG_REG_B               (uint8_t)0x01
#define PIOS_HMC5883_MODE_REG                   (uint8_t)0x02
#define PIOS_HMC5883_DATAOUT_XMSB_REG           0x03
#define PIOS_HMC5883_DATAOUT_XLSB_REG           0x04
#define PIOS_HMC5883_DATAOUT_ZMSB_REG           0x05
#define PIOS_HMC5883_DATAOUT_ZLSB_REG           0x06
#define PIOS_HMC5883_DATAOUT_YMSB_REG           0x07
#define PIOS_HMC5883_DATAOUT_YLSB_REG           0x08
#define PIOS_HMC5883_DATAOUT_STATUS_REG         0x09
#define PIOS_HMC5883_DATAOUT_IDA_REG            0x0A
#define PIOS_HMC5883_DATAOUT_IDB_REG            0x0B
#define PIOS_HMC5883_DATAOUT_IDC_REG            0x0C

/* Output Data Rate */
#define PIOS_HMC5883_ODR_0_75           0x00
#define PIOS_HMC5883_ODR_1_5            0x04
#define PIOS_HMC5883_ODR_3                      0x08
#define PIOS_HMC5883_ODR_7_5            0x0C
#define PIOS_HMC5883_ODR_15                     0x10
#define PIOS_HMC5883_ODR_30                     0x14
#define PIOS_HMC5883_ODR_75                     0x18

/* Measure configuration */
#define PIOS_HMC5883_MEASCONF_NORMAL            0x00
#define PIOS_HMC5883_MEASCONF_BIAS_POS          0x01
#define PIOS_HMC5883_MEASCONF_BIAS_NEG          0x02

/* Gain settings */
#define PIOS_HMC5883_GAIN_0_88                  0x00
#define PIOS_HMC5883_GAIN_1_3                   0x20
#define PIOS_HMC5883_GAIN_1_9                   0x40
#define PIOS_HMC5883_GAIN_2_5                   0x60
#define PIOS_HMC5883_GAIN_4_0                   0x80
#define PIOS_HMC5883_GAIN_4_7                   0xA0
#define PIOS_HMC5883_GAIN_5_6                   0xC0
#define PIOS_HMC5883_GAIN_8_1                   0xE0

/* Modes */
#define PIOS_HMC5883_MODE_CONTINUOUS    0x00
#define PIOS_HMC5883_MODE_SINGLE                0x01
#define PIOS_HMC5883_MODE_IDLE                  0x02
#define PIOS_HMC5883_MODE_SLEEP                 0x03

/* Sensitivity Conversion Values */
enum pios_hmc5883_sensitivity {
        PIOS_HMC5883_Sensitivity_0_88Ga = 1370, // LSB/Ga
        PIOS_HMC5883_Sensitivity_1_3Ga  = 1090, // LSB/Ga
        PIOS_HMC5883_Sensitivity_1_9Ga  = 820, // LSB/Ga
        PIOS_HMC5883_Sensitivity_2_5Ga  = 660, // LSB/Ga
        PIOS_HMC5883_Sensitivity_4_0Ga  = 440, // LSB/Ga
        PIOS_HMC5883_Sensitivity_4_7Ga  = 390, // LSB/Ga
        PIOS_HMC5883_Sensitivity_5_6Ga  = 330, // LSB/Ga
        PIOS_HMC5883_Sensitivity_8_1Ga  = 230, // LSB/Ga  --> NOT RECOMMENDED
};

enum pios_hmc5883_orientation {
        // clockwise rotation from board forward while looking at top side
        // 0 degree is chip mark on upper left corner
        PIOS_HMC5883_TOP_0DEG,
        PIOS_HMC5883_TOP_90DEG,
        PIOS_HMC5883_TOP_180DEG,
        PIOS_HMC5883_TOP_270DEG,
        // clockwise rotation from board forward while looking at bottom side
        // 0 degree is chip mark on upper left corner
        PIOS_HMC5883_BOTTOM_0DEG,
        PIOS_HMC5883_BOTTOM_90DEG,
        PIOS_HMC5883_BOTTOM_180DEG,
        PIOS_HMC5883_BOTTOM_270DEG
};

struct pios_hmc5883_cfg {
        const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
        uint8_t M_ODR;          /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
        uint8_t Meas_Conf;      /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
        uint8_t Gain;           /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
        uint8_t Mode;
        enum pios_hmc5883_orientation Default_Orientation;
};

struct pios_hmc5883_data {
        int16_t mag_x;
        int16_t mag_y;
        int16_t mag_z;
};

/* Public Functions */
extern int32_t PIOS_HMC5883_Init(pios_i2c_t i2c_id,
                const struct pios_hmc5883_cfg * cfg);
extern int32_t PIOS_HMC5883_Test(void);
extern int32_t PIOS_HMC5883_SetOrientation(enum pios_hmc5883_orientation orientation);
extern bool PIOS_HMC5883_IRQHandler();
#endif /* PIOS_HMC5883_H */