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Merge pull request #2121 from jfischer-phytec-iot/pr@mag3110
Driver for Freescale MAG3110 Magnetometer
This commit is contained in:
Peter Kietzmann
commit
52dbaa51fb
@ -34,3 +34,6 @@ endif
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ifneq (,$(filter mma8652,$(USEMODULE)))
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USEMODULE_INCLUDES += $(RIOTBASE)/drivers/mma8652/include
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endif
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ifneq (,$(filter mag3110,$(USEMODULE)))
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USEMODULE_INCLUDES += $(RIOTBASE)/drivers/mag3110/include
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endif
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193
drivers/include/mag3110.h
Normal file
193
drivers/include/mag3110.h
Normal file
@ -0,0 +1,193 @@
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/*
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* Copyright (C) 2014 PHYTEC Messtechnik GmbH
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @defgroup drivers_mag3110 MAG3110 3-Axis Digital Magnetometer
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* @ingroup drivers
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* @brief Driver for the Freescale MAG3110 magnetometer.
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* After initialization and set activ the magnetometer
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* will make measurements at periodic times.
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* The output rate and over sample ratio
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* can be determined by magnetometer initialization.
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* The measured values of magnetic field strength and
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* die temperature have uncalibrated offsets.
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* To get correct measuremend values, the individual
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* offsets must be measured and set accordingly.
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*
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* @{
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*
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* @file
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* @brief Interface definition for the MAG3110 magnetometer driver.
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*
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* @author Johann Fischer <j.fischer@phytec.de>
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*/
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#ifndef MAG3110_H
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#define MAG3110_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "periph/i2c.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#ifndef MAG3110_I2C_ADDRESS
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#define MAG3110_I2C_ADDRESS 0x0E /**< Magnetometer Default Address */
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#endif
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#define MAG3110_DROS_8000_16 0 /**< Output Rate 80 Hz, Over Sample Ratio 16 */
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#define MAG3110_DROS_4000_32 1 /**< Output Rate 40 Hz, Over Sample Ratio 32 */
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#define MAG3110_DROS_2000_64 2 /**< Output Rate 20 Hz, Over Sample Ratio 64 */
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#define MAG3110_DROS_1000_128 3 /**< Output Rate 10 Hz, Over Sample Ratio 128 */
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#define MAG3110_DROS_4000_16 4 /**< Output Rate 40 Hz, Over Sample Ratio 16 */
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#define MAG3110_DROS_2000_32 5 /**< Output Rate 20 Hz, Over Sample Ratio 32 */
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#define MAG3110_DROS_1000_64 6 /**< Output Rate 10 Hz, Over Sample Ratio 64 */
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#define MAG3110_DROS_0500_128 7 /**< Output Rate 5 Hz, Over Sample Ratio 128 */
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#define MAG3110_DROS_2000_16 8 /**< Output Rate 20 Hz, Over Sample Ratio 16 */
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#define MAG3110_DROS_1000_32 9 /**< Output Rate 10 Hz, Over Sample Ratio 32 */
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#define MAG3110_DROS_0500_64 10 /**< Output Rate 5 Hz, Over Sample Ratio 64 */
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#define MAG3110_DROS_0250_128 11 /**< Output Rate 2.5 Hz, Over Sample Ratio 128 */
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#define MAG3110_DROS_1000_16 12 /**< Output Rate 10 Hz, Over Sample Ratio 16 */
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#define MAG3110_DROS_0500_32 13 /**< Output Rate 5 Hz, Over Sample Ratio 32 */
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#define MAG3110_DROS_0250_64 14 /**< Output Rate 2.5 Hz, Over Sample Ratio 64 */
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#define MAG3110_DROS_0125_128 15 /**< Output Rate 1.25 Hz, Over Sample Ratio 128 */
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#define MAG3110_DROS_0500_16 16 /**< Output Rate 5 Hz, Over Sample Ratio 16 */
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#define MAG3110_DROS_0250_32 17 /**< Output Rate 2.5 Hz, Over Sample Ratio 32 */
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#define MAG3110_DROS_0125_64 18 /**< Output Rate 1.25 Hz, Over Sample Ratio 64 */
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#define MAG3110_DROS_0063_128 19 /**< Output Rate 0.63 Hz, Over Sample Ratio 128 */
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#define MAG3110_DROS_0250_16 20 /**< Output Rate 2.5 Hz, Over Sample Ratio 16 */
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#define MAG3110_DROS_0125_32 21 /**< Output Rate 1.25 Hz, Over Sample Ratio 32 */
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#define MAG3110_DROS_0063_64 22 /**< Output Rate 0.63 Hz, Over Sample Ratio 64 */
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#define MAG3110_DROS_0031_128 23 /**< Output Rate 0.31 Hz, Over Sample Ratio 128 */
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#define MAG3110_DROS_0125_16 24 /**< Output Rate 1.25 Hz, Over Sample Ratio 16 */
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#define MAG3110_DROS_0063_32 25 /**< Output Rate 0.63 Hz, Over Sample Ratio 32 */
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#define MAG3110_DROS_0031_64 26 /**< Output Rate 0.31 Hz, Over Sample Ratio 64 */
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#define MAG3110_DROS_0016_128 27 /**< Output Rate 0.16 Hz, Over Sample Ratio 128 */
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#define MAG3110_DROS_0063_16 28 /**< Output Rate 0.63 Hz, Over Sample Ratio 16 */
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#define MAG3110_DROS_0031_32 29 /**< Output Rate 0.31 Hz, Over Sample Ratio 32 */
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#define MAG3110_DROS_0016_64 30 /**< Output Rate 0.16 Hz, Over Sample Ratio 64 */
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#define MAG3110_DROS_0008_128 31 /**< Output Rate 0.08 Hz, Over Sample Ratio 128 */
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#define MAG3110_DROS_DEFAULT MAG3110_DROS_0125_128 /**< Default Setting for testing */
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/**
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* @brief Device descriptor for MAG3110 magnetometer.
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*/
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typedef struct {
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i2c_t i2c; /**< I2C device, the magnetometer is connected to */
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uint8_t addr; /**< the magnetometer's slave address on the I2C bus */
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bool initialized; /**< magnetometer status, true if magnetometer is initialized */
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} mag3110_t;
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/**
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* @brief MAG3110 magnetometer test.
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* This function looks for Device ID of the MAG3110 magnetometer.
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*
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* @param[in] dev device descriptor of magnetometer
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int mag3110_test(mag3110_t *dev);
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/**
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* @brief Initialise the MAG3110 magnetometer driver.
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*
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* @param[out] dev device descriptor of magnetometer to initialize
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* @param[in] i2c I2C bus the magnetometer is connected to
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* @param[in] address magnetometer's I2C slave address
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* @param[in] dros data rate and over sampling selection
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*
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* @return 0 on success
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* @return -1 if dros parameter is wrong
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* @return -2 if initialization of I2C bus failed
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* @return -3 if magnetometer test failed
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* @return -4 if magnetometer configuration failed
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*/
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int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros);
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/**
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* @brief Set user offset correction.
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* Offset correction register will be erased after accelerometer reset.
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*
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* @param[out] dev device descriptor of magnetometer
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* @param[in] x offset offset correction value for x-axis
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* @param[in] y offset offset correction value for y-axis
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* @param[in] z offset offset correction value for z-axis
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z);
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/**
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* @brief Set active mode, this enables periodic measurements.
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*
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* @param[out] dev device descriptor of magnetometer
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int mag3110_set_active(mag3110_t *dev);
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/**
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* @brief Set standby mode.
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*
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* @param[in] dev device descriptor of magnetometer
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int mag3110_set_standby(mag3110_t *dev);
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/**
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* @brief Check for new set of measurement data.
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*
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* @param[in] dev device descriptor of magnetometer
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*
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* @return >0 if x-, y- and z-axis new sample is ready
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* @return 0 if measurement is in progress
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* @return -1 on error
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*/
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int mag3110_is_ready(mag3110_t *dev);
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/**
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* @brief Read magnetometer's data.
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* To get the actual values for the magnetic field in \f$\mu T\f$,
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* one have to divide the returned values from the magnetometer by 10.
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*
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* @param[in] dev device descriptor of magnetometer
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* @param[out] x x-axis magnetic field strength
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* @param[out] y y-axis magnetic field strength
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* @param[out] z z-axis magnetic field strength
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* @param[out] status magnetometer status register
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status);
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/**
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* @brief Read die temperature.
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*
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* @param[in] dev device descriptor of magnetometer
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* @param[out] dtemp die temperature
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int mag3110_read_dtemp(mag3110_t *dev, int8_t *dtemp);
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#ifdef __cplusplus
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}
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#endif
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#endif
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/** @} */
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1
drivers/mag3110/Makefile
Normal file
1
drivers/mag3110/Makefile
Normal file
@ -0,0 +1 @@
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include $(RIOTBASE)/Makefile.base
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80
drivers/mag3110/include/mag3110_reg.h
Normal file
80
drivers/mag3110/include/mag3110_reg.h
Normal file
@ -0,0 +1,80 @@
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/*
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* Copyright (C) 2014 PHYTEC Messtechnik GmbH
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*
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*/
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/**
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* @ingroup drivers_mag3110
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* @{
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*
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* @file
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* @brief Register definition for the MAG3110 magnetometer driver.
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*
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* @author Johann Fischer <j.fischer@phytec.de>
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*
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*/
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#ifndef __MAG3110_REG_H__
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#define __MAG3110_REG_H__
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#define MAG3110_DR_STATUS 0x00 /**< Data ready status per axis */
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#define MAG3110_OUT_X_MSB 0x01 /**< Bits [15:8] of X measurement */
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#define MAG3110_OUT_X_LSB 0x02 /**< Bits [7:0] of X measurement */
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#define MAG3110_OUT_Y_MSB 0x03 /**< Bits [15:8] of Y measurement */
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#define MAG3110_OUT_Y_LSB 0x04 /**< Bits [7:0] of Y measurement */
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#define MAG3110_OUT_Z_MSB 0x05 /**< Bits [15:8] of Z measurement */
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#define MAG3110_OUT_Z_LSB 0x06 /**< Bits [7:0] of Z measurement */
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#define MAG3110_WHO_AM_I 0x07 /**< Device Identification Register */
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#define MAG3110_SYSMOD 0x08 /**< FIFO Status Register */
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#define MAG3110_OFF_X_MSB 0x09 /**< Bits [15:8] of user X offset */
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#define MAG3110_OFF_X_LSB 0x0A /**< Bits [7:0] of user X offset */
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#define MAG3110_OFF_Y_MSB 0x0B /**< Bits [15:8] of user Y offset */
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#define MAG3110_OFF_Y_LSB 0x0C /**< Bits [7:0] of user Y offset */
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#define MAG3110_OFF_Z_MSB 0x0D /**< Bits [15:8] of user Z offset */
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#define MAG3110_OFF_Z_LSB 0x0E /**< Bits [7:0] of user Z offset */
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#define MAG3110_DIE_TEMP 0x0F /**< Temperature, signed 8 bits */
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#define MAG3110_CTRL_REG1 0x10 /**< Operation modes */
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#define MAG3110_CTRL_REG2 0x11 /**< Operation modes */
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#define MAG3110_DR_STATUS_ZYXOW (1 << 7)
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#define MAG3110_DR_STATUS_ZOW (1 << 6)
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#define MAG3110_DR_STATUS_YOW (1 << 5)
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#define MAG3110_DR_STATUS_XOW (1 << 4)
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#define MAG3110_DR_STATUS_ZYXDR (1 << 3)
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#define MAG3110_DR_STATUS_ZDR (1 << 2)
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#define MAG3110_DR_STATUS_YDR (1 << 1)
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#define MAG3110_DR_STATUS_XDR (1 << 0)
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#define MAG3110_ID 0xC4 /**< Device ID */
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#define MAG3110_SYSMOD_STANDBY 0
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#define MAG3110_SYSMOD_ACTIVE_RAW 1
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#define MAG3110_SYSMOD_ACTIVE 2
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#define MAG3110_CTRL_REG1_DROS_SHIFT 3
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#define MAG3110_CTRL_REG1_DROS_MASK 0xF8
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#define MAG3110_CTRL_REG1_DROS(x) (((uint8_t)(((uint8_t)(x))<<MAG3110_CTRL_REG1_DROS_SHIFT))\
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&MAG3110_CTRL_REG1_DROS_MASK)
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#define MAG3110_CTRL_REG1_FR (1 << 2)
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#define MAG3110_CTRL_REG1_TM (1 << 1)
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#define MAG3110_CTRL_REG1_AC (1 << 0)
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#define MAG3110_CTRL_REG2_AUTO_MRST_EN (1 << 7)
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#define MAG3110_CTRL_REG2_RAW (1 << 5)
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#define MAG3110_CTRL_REG2_MAG_RST (1 << 4)
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#ifdef __cplusplus
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}
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#endif
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#endif
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/** @} */
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190
drivers/mag3110/mag3110.c
Normal file
190
drivers/mag3110/mag3110.c
Normal file
@ -0,0 +1,190 @@
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/*
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* Copyright (C) 2014 PHYTEC Messtechnik GmbH
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*
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* This file is subject to the terms and conditions of the GNU Lesser
|
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* General Public License v2.1. See the file LICENSE in the top level
|
||||
* directory for more details.
|
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*
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*/
|
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/**
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* @ingroup drivers_mag3110
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* @{
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*
|
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* @file
|
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* @brief Driver for the Freescale MAG3110 magnetometer.
|
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*
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* @author Johann Fischer <j.fischer@phytec.de>
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*
|
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* @}
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include "periph/i2c.h"
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#include "mag3110.h"
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#include "mag3110_reg.h"
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#define ENABLE_DEBUG (0)
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#include "debug.h"
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#define I2C_SPEED I2C_SPEED_FAST
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int mag3110_test(mag3110_t *dev)
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{
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char reg;
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if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_WHO_AM_I, ®, 1) != 1) {
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return -1;
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}
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if (reg != MAG3110_ID) {
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return -1;
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}
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return 0;
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}
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int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros)
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{
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char reg;
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/* write device descriptor */
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dev->i2c = i2c;
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dev->addr = address;
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dev->initialized = false;
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if (dros > MAG3110_DROS_0008_128) {
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return -1;
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}
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/* initialize the I2C bus */
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if (i2c_init_master(i2c, I2C_SPEED) < 0) {
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return -2;
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}
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if (mag3110_test(dev)) {
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return -3;
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}
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/* enable automatic magnetic sensor reset */
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reg = MAG3110_CTRL_REG2_AUTO_MRST_EN;
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if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG2, ®, 1) != 1) {
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return -4;
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}
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reg = MAG3110_CTRL_REG1_DROS(dros);
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if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
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return -4;
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}
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||||
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dev->initialized = true;
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return 0;
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}
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int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z)
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{
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char buf[6];
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buf[0] = (char)(x >> 8);
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buf[1] = (char)x;
|
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buf[2] = (char)(y >> 8);
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buf[3] = (char)y;
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buf[4] = (char)(z >> 8);
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buf[5] = (char)z;
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if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_OFF_X_MSB, buf, 6) != 6) {
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return -1;
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}
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||||
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return 0;
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}
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int mag3110_set_active(mag3110_t *dev)
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{
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char reg;
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if (dev->initialized == false) {
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return -1;
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}
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if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
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return -1;
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}
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reg |= MAG3110_CTRL_REG1_AC;
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if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
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return -1;
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}
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return 0;
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}
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int mag3110_set_standby(mag3110_t *dev)
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{
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char reg;
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if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
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return -1;
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}
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reg &= ~MAG3110_CTRL_REG1_AC;
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||||
if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, ®, 1) != 1) {
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return -1;
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}
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return 0;
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||||
}
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||||
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int mag3110_is_ready(mag3110_t *dev)
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||||
{
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char reg;
|
||||
|
||||
if (dev->initialized == false) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, ®, 1) != 1) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return (int)(reg & MAG3110_DR_STATUS_ZYXDR);
|
||||
}
|
||||
|
||||
int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status)
|
||||
{
|
||||
char buf[7];
|
||||
|
||||
if (dev->initialized == false) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, buf, 7) != 7) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
*status = buf[0];
|
||||
*x = ((int16_t)buf[1] << 8) | buf[2];
|
||||
*y = ((int16_t)buf[3] << 8) | buf[4];
|
||||
*z = ((int16_t)buf[5] << 8) | buf[6];
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int mag3110_read_dtemp(mag3110_t *dev, int8_t *dtemp)
|
||||
{
|
||||
if (dev->initialized == false) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DIE_TEMP, (char *)dtemp, 1) != 1) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
36
tests/driver_mag3110/Makefile
Normal file
36
tests/driver_mag3110/Makefile
Normal file
@ -0,0 +1,36 @@
|
||||
APPLICATION = driver_mag3110
|
||||
include ../Makefile.tests_common
|
||||
|
||||
FEATURES_REQUIRED = periph_i2c
|
||||
|
||||
USEMODULE += mag3110
|
||||
USEMODULE += vtimer
|
||||
|
||||
ifneq (,$(TEST_MAG3110_I2C))
|
||||
CFLAGS += -DTEST_MAG3110_I2C=$(TEST_MAG3110_I2C)
|
||||
else
|
||||
CFLAGS += -DTEST_MAG3110_I2C=I2C_0
|
||||
endif
|
||||
ifneq (,$(TEST_MAG3110_ADDR))
|
||||
CFLAGS += -DTEST_MAG3110_ADDR=$(TEST_MAG3110_ADDR)
|
||||
else
|
||||
CFLAGS += -DTEST_MAG3110_ADDR=0x0E
|
||||
endif
|
||||
|
||||
ifneq (,$(TEST_MAG3110_USER_OFFSET_X))
|
||||
CFLAGS += -DTEST_MAG3110_USER_OFFSET_X=$(TEST_MAG3110_USER_OFFSET_X)
|
||||
else
|
||||
CFLAGS += -DTEST_MAG3110_USER_OFFSET_X=-2000
|
||||
endif
|
||||
ifneq (,$(TEST_MAG3110_USER_OFFSET_Y))
|
||||
CFLAGS += -DTEST_MAG3110_USER_OFFSET_Y=$(TEST_MAG3110_USER_OFFSET_Y)
|
||||
else
|
||||
CFLAGS += -DTEST_MAG3110_USER_OFFSET_Y=180
|
||||
endif
|
||||
ifneq (,$(TEST_MAG3110_USER_OFFSET_Z))
|
||||
CFLAGS += -DTEST_MAG3110_USER_OFFSET_Z=$(TEST_MAG3110_USER_OFFSET_Z)
|
||||
else
|
||||
CFLAGS += -DTEST_MAG3110_USER_OFFSET_Z=210
|
||||
endif
|
||||
|
||||
include $(RIOTBASE)/Makefile.include
|
||||
10
tests/driver_mag3110/README.md
Normal file
10
tests/driver_mag3110/README.md
Normal file
@ -0,0 +1,10 @@
|
||||
# About
|
||||
This is a manual test application for the MAG3110 magnetometer driver.
|
||||
|
||||
# Usage
|
||||
This test application will initialize the MAG3110 with the following parameters:
|
||||
- output rate set to 1.25 Hz
|
||||
- over sample ratio set to 128
|
||||
|
||||
After initialization, the sensor reads the x-, y-, z-axis values every 1 s
|
||||
and prints them to STDOUT.
|
||||
75
tests/driver_mag3110/main.c
Normal file
75
tests/driver_mag3110/main.c
Normal file
@ -0,0 +1,75 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Freie Universität Berlin
|
||||
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
|
||||
*
|
||||
* This file is subject to the terms and conditions of the GNU Lesser
|
||||
* General Public License v2.1. See the file LICENSE in the top level
|
||||
* directory for more details.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @ingroup tests
|
||||
* @{
|
||||
*
|
||||
* @file
|
||||
* @brief Test application for the MPL3115A2 magnetometer driver.
|
||||
*
|
||||
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
|
||||
* @author Johann Fischer <j.fischer@phytec.de>
|
||||
*
|
||||
* @}
|
||||
*/
|
||||
|
||||
#ifndef TEST_MAG3110_I2C
|
||||
#error "TEST_MAG3110_I2C not defined"
|
||||
#endif
|
||||
#ifndef TEST_MAG3110_ADDR
|
||||
#error "TEST_MAG3110_ADDR not defined"
|
||||
#endif
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "vtimer.h"
|
||||
#include "mag3110.h"
|
||||
|
||||
#define SLEEP (1000 * 1000U)
|
||||
|
||||
int main(void)
|
||||
{
|
||||
mag3110_t dev;
|
||||
int8_t temp;
|
||||
int16_t x, y, z;
|
||||
uint8_t status;
|
||||
|
||||
puts("MAG3110 magnetometer driver test application\n");
|
||||
printf("Initializing MAG3110 magnetometer at I2C_%i... ", TEST_MAG3110_I2C);
|
||||
if (mag3110_init(&dev, TEST_MAG3110_I2C, TEST_MAG3110_ADDR, MAG3110_DROS_DEFAULT) == 0) {
|
||||
puts("[OK]\n");
|
||||
}
|
||||
else {
|
||||
puts("[Failed]");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (mag3110_set_user_offset(&dev, TEST_MAG3110_USER_OFFSET_X,
|
||||
TEST_MAG3110_USER_OFFSET_Y,
|
||||
TEST_MAG3110_USER_OFFSET_Z )) {
|
||||
puts("Set user offset correction failed.");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (mag3110_set_active(&dev)) {
|
||||
puts("Measurement start failed.");
|
||||
return -1;
|
||||
}
|
||||
|
||||
while (1) {
|
||||
vtimer_usleep(SLEEP);
|
||||
mag3110_read(&dev, &x, &y, &z, &status);
|
||||
printf("Field strength: X: %d Y: %d Z: %d S: %2x\n", x, y, z, status);
|
||||
mag3110_read_dtemp(&dev, &temp);
|
||||
printf("Die Temperature T: %d\n", temp);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user