300 lines
10 KiB
C
300 lines
10 KiB
C
/**************************************************************************************************
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Filename: hal_mag.c
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Revised: $Date: 2012-11-15 01:49:26 -0800 (Thu, 15 Nov 2012) $
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Revision: $Revision: 32193 $
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Description: Driver for the Freescale MAG3110 Magnetometer
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Copyright 2012 Texas Instruments Incorporated. All rights reserved.
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IMPORTANT: Your use of this Software is limited to those specific rights
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granted under the terms of a software license agreement between the user
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who downloaded the software, his/her employer (which must be your employer)
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and Texas Instruments Incorporated (the "License"). You may not use this
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Software unless you agree to abide by the terms of the License. The License
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limits your use, and you acknowledge, that the Software may not be modified,
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copied or distributed unless embedded on a Texas Instruments microcontroller
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or used solely and exclusively in conjunction with a Texas Instruments radio
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frequency transceiver, which is integrated into your product. Other than for
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the foregoing purpose, you may not use, reproduce, copy, prepare derivative
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works of, modify, distribute, perform, display or sell this Software and/or
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its documentation for any purpose.
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YOU FURTHER ACKNOWLEDGE AND AGREE THAT THE SOFTWARE AND DOCUMENTATION ARE
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PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED,
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INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, TITLE,
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NON-INFRINGEMENT AND FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL
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TEXAS INSTRUMENTS OR ITS LICENSORS BE LIABLE OR OBLIGATED UNDER CONTRACT,
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NEGLIGENCE, STRICT LIABILITY, CONTRIBUTION, BREACH OF WARRANTY, OR OTHER
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LEGAL EQUITABLE THEORY ANY DIRECT OR INDIRECT DAMAGES OR EXPENSES
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INCLUDING BUT NOT LIMITED TO ANY INCIDENTAL, SPECIAL, INDIRECT, PUNITIVE
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OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF PROCUREMENT
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OF SUBSTITUTE GOODS, TECHNOLOGY, SERVICES, OR ANY CLAIMS BY THIRD PARTIES
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(INCLUDING BUT NOT LIMITED TO ANY DEFENSE THEREOF), OR OTHER SIMILAR COSTS.
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Should you have any questions regarding your right to use this Software,
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contact Texas Instruments Incorporated at www.TI.com.
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**************************************************************************************************/
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/* ------------------------------------------------------------------------------------------------
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* Includes
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* ------------------------------------------------------------------------------------------------
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*/
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#include "hal_mag.h"
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#include "hal_sensor.h"
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#include "hal_i2c.h"
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/* ------------------------------------------------------------------------------------------------
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* Constants
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* ------------------------------------------------------------------------------------------------
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*/
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#define MAG_REG_READ_ALL_LEN 6
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#define MAG_REG_FAST_READ_LEN 3
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// MAG3110 register addresses
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#define MAG_REG_ADDR_DR_STATUS 0x00 // Read
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#define MAG_REG_ADDR_X_MSB 0x01 // Read
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#define MAG_REG_ADDR_X_LSB 0x02 // Read
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#define MAG_REG_ADDR_Y_MSB 0x03 // Read
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#define MAG_REG_ADDR_Y_LSB 0x04 // Read
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#define MAG_REG_ADDR_Z_MSB 0x05 // Read
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#define MAG_REG_ADDR_Z_LSB 0x06 // Read
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#define MAG_REG_ADDR_WHO_AM_I 0x07 // Read
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#define MAG_REG_ADDR_SYSMOD 0x08 // Read
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#define MAG_REG_ADDR_OFF_X_MSB 0x09 // Read/Write
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#define MAG_REG_ADDR_OFF_X_LSB 0x0A // Read/Write
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#define MAG_REG_ADDR_OFF_Y_MSB 0x0B // Read/Write
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#define MAG_REG_ADDR_OFF_Y_LSB 0x0C // Read/Write
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#define MAG_REG_ADDR_OFF_Z_MSB 0x0D // Read/Write
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#define MAG_REG_ADDR_OFF_Z_LSB 0x0E // Read/Write
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#define MAG_REG_ADDR_DIE_TEMP 0x0F // Read
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#define MAG_REG_ADDR_CTRL_1 0x10 // Read/Write
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#define MAG_REG_ADDR_CTRL_2 0x11 // Read/Write
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#define MAG_REG_ADDR_READ_START MAG_REG_ADDR_X_MSB
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// CTRL1 BIT MASKS
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#define MAG_REG_CTRL_FR 0x04 // Fast Read Enable
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#define MAG_REG_CTRL_TM 0x02 // Trigger Measurement Enable
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#define MAG_REG_CTRL_EN 0x01 // Active Mode Enable
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#define MAG_REG_CTRL_DR_10HZ_OSR_1 0x60
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#define MAG_REG_CTRL_DR_10HZ_OSR_2 0x48
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#define MAG_REG_CTRL_DR_10HZ_OSR_4 0x30
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#define MAG_REG_CTRL_DR_10HZ_OSR_8 0x10
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// Test values
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#define WHO_AM_I_VALUE 0xC4
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#define CTRL1_TEST_VALUE 0xF8
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// Control register values
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#define MAG_REG_CTRL_ON MAG_REG_CTRL_DR_10HZ_OSR_1 | MAG_REG_CTRL_EN
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#define MAG_REG_CTRL2_AMN 0x80
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#define MAG_REG_CTRL_OFF 0x00
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/* ------------------------------------------------------------------------------------------------
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* Typedefs
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* ------------------------------------------------------------------------------------------------
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*/
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/* ------------------------------------------------------------------------------------------------
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* Macros
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* ------------------------------------------------------------------------------------------------
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*/
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/* ------------------------------------------------------------------------------------------------
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* Local Functions
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* ------------------------------------------------------------------------------------------------
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*/
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static void HalMagSelect(void);
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/* ------------------------------------------------------------------------------------------------
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* Local Variables
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* ------------------------------------------------------------------------------------------------
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*/
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static Magnetometer_States_t sensorState = MAG3110_OFF;
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static uint8 halMagSensorConfig = MAG_REG_CTRL_ON;
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static uint8 halMagSensorOff = MAG_REG_CTRL_OFF;
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static uint8 halMagAutoMrstEn = MAG_REG_CTRL2_AMN;
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/**************************************************************************************************
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* @fn HalMagInit
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*
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* @brief Initialise the magnetometer driver
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*
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* @return none
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**************************************************************************************************/
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void HalMagInit(void)
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{
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sensorState = MAG3110_OFF;
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}
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/**************************************************************************************************
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* @fn HalMagStatus
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*
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* @brief Read the magnetometer status
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*
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* @return none
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**************************************************************************************************/
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Magnetometer_States_t HalMagStatus( void )
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{
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if( sensorState == MAG3110_IDLE)
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{
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uint8 status = 0;
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HalMagSelect();
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HalSensorReadReg( MAG_REG_ADDR_DR_STATUS, &status, 1);
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if(status!=0)
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{
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sensorState = MAG3110_DATA_READY;
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}
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}
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return sensorState;
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}
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/**************************************************************************************************
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* @fn HalMagTurnOn
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*
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* @brief Turn on the MAG3110.
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*
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* @return none
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*/
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void HalMagTurnOn(void)
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{
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HalMagSelect();
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HalSensorWriteReg(MAG_REG_ADDR_CTRL_1, &halMagSensorConfig, sizeof(halMagSensorConfig));
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HalSensorWriteReg(MAG_REG_ADDR_CTRL_2, &halMagAutoMrstEn, sizeof(halMagAutoMrstEn));
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sensorState = MAG3110_IDLE;
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}
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/**************************************************************************************************
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* @fn HalMagTurnOff
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*
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* @brief Turn off the MAG3110.
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*
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* @return none
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*/
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void HalMagTurnOff(void)
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{
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HalMagSelect();
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HalSensorWriteReg(MAG_REG_ADDR_CTRL_1, &halMagSensorOff, sizeof(halMagSensorOff));
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sensorState = MAG3110_OFF;
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}
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/**************************************************************************************************
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* @fn HalMagRead
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*
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* @brief Read data from the magnetometer
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*
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* @param pBuf - buffer to hold the data
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*
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* @return TRUE if valid data
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*/
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bool HalMagRead(uint8 *pBuf)
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{
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uint8 tmp[MAG_REG_READ_ALL_LEN];
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bool f;
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HalMagSelect();
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f = HalSensorReadReg(MAG_REG_ADDR_READ_START,tmp,MAG_REG_READ_ALL_LEN);
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if (f)
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{
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// Swap bytes in each value-pair
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pBuf[0] = tmp[1];
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pBuf[1] = tmp[0];
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pBuf[2] = tmp[3];
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pBuf[3] = tmp[2];
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pBuf[4] = tmp[5];
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pBuf[5] = tmp[4];
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}
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sensorState = MAG3110_IDLE;
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return f;
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}
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/**************************************************************************************************
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* @fn HalMagTest
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*
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* @brief Run a sensor self-test
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*
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* @return TRUE if passed, FALSE if failed
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**************************************************************************************************/
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bool HalMagTest(void)
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{
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uint8 val;
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// Select this sensor on the I2C bus
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HalMagSelect();
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// Check who-am-i register
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ST_ASSERT(HalSensorReadReg(MAG_REG_ADDR_WHO_AM_I, &val, sizeof(val)));
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ST_ASSERT(val==WHO_AM_I_VALUE);
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// Check CTRL_REG1 in standby mode
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ST_ASSERT(HalSensorReadReg(MAG_REG_ADDR_CTRL_1, &val, sizeof(val)));
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ST_ASSERT(val==MAG_REG_CTRL_OFF);
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// Check that CTRL_REG1 can be written
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val = CTRL1_TEST_VALUE;
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ST_ASSERT(HalSensorWriteReg(MAG_REG_ADDR_CTRL_1, &val, sizeof(val)));
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ST_ASSERT(HalSensorReadReg(MAG_REG_ADDR_CTRL_1, &val, sizeof(val)));
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ST_ASSERT(val==CTRL1_TEST_VALUE);
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// Restore default value
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val = MAG_REG_CTRL_OFF;
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ST_ASSERT(HalSensorWriteReg(MAG_REG_ADDR_CTRL_1, &val, sizeof(val)));
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// Check that the sensor is in standby mode
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ST_ASSERT(HalSensorReadReg(MAG_REG_ADDR_SYSMOD, &val, sizeof(val)));
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ST_ASSERT(val==0);
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return TRUE;
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}
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/* ------------------------------------------------------------------------------------------------
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* Private functions
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* -------------------------------------------------------------------------------------------------
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*/
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/**************************************************************************************************
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* @fn HalMagSelect
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*
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* @brief Select the magnetometer on the I2C-bus
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*
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* @return
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*/
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static void HalMagSelect(void)
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{
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//Set up I2C that is used to communicate with MAG3110
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HalI2CInit(HAL_MAG3110_I2C_ADDRESS,i2cClock_267KHZ);
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}
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/* Conversion algorithm for X, Y, Z
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* ================================
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*
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float calcMagn(int16 rawX)
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{
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float v;
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//-- calculate magnetic force, unit uT, range -1000, +1000
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v = (rawX * 1.0) / (65536 / 2000);
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return v;
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}
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*/
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/*********************************************************************
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*********************************************************************/
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