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fixed mag gain during testmode (thanks pm1) and added some explicit float definitions to mag test code. 

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@396 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-12 10:50:13 +00:00
parent 4c191270bf
commit edb0ef01b7
2 changed files with 3202 additions and 3141 deletions
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6263
obj/baseflight.hex
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80
src/drv_hmc5883l.c
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@ -2,6 +2,62 @@
// HMC5883L, default address 0x1E
// PB12 connected to MAG_DRDY on rev4 hardware
// PC14 connected to MAG_DRDY on rev5 hardware
/* CTRL_REGA: Control Register A
* Read Write
* Default value: 0x10
* 7:5 0 These bits must be cleared for correct operation.
* 4:2 DO2-DO0: Data Output Rate Bits
* DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz)
* ------------------------------------------------------
* 0 | 0 | 0 | 0.75
* 0 | 0 | 1 | 1.5
* 0 | 1 | 0 | 3
* 0 | 1 | 1 | 7.5
* 1 | 0 | 0 | 15 (default)
* 1 | 0 | 1 | 30
* 1 | 1 | 0 | 75
* 1 | 1 | 1 | Not Used
* 1:0 MS1-MS0: Measurement Configuration Bits
* MS1 | MS0 | MODE
* ------------------------------
* 0 | 0 | Normal
* 0 | 1 | Positive Bias
* 1 | 0 | Negative Bias
* 1 | 1 | Not Used
*
* CTRL_REGB: Control RegisterB
* Read Write
* Default value: 0x20
* 7:5 GN2-GN0: Gain Configuration Bits.
* GN2 | GN1 | GN0 | Mag Input | Gain | Output Range
* | | | Range[Ga] | [LSB/mGa] |
* ------------------------------------------------------
* 0 | 0 | 0 | ±0.88Ga | 1370 | 0xF800?0x07FF (-2048:2047)
* 0 | 0 | 1 | ±1.3Ga (def) | 1090 | 0xF800?0x07FF (-2048:2047)
* 0 | 1 | 0 | ±1.9Ga | 820 | 0xF800?0x07FF (-2048:2047)
* 0 | 1 | 1 | ±2.5Ga | 660 | 0xF800?0x07FF (-2048:2047)
* 1 | 0 | 0 | ±4.0Ga | 440 | 0xF800?0x07FF (-2048:2047)
* 1 | 0 | 1 | ±4.7Ga | 390 | 0xF800?0x07FF (-2048:2047)
* 1 | 1 | 0 | ±5.6Ga | 330 | 0xF800?0x07FF (-2048:2047)
* 1 | 1 | 1 | ±8.1Ga | 230 | 0xF800?0x07FF (-2048:2047)
* |Not recommended|
*
* 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
*
* _MODE_REG: Mode Register
* Read Write
* Default value: 0x02
* 7:2 0 These bits must be cleared for correct operation.
* 1:0 MD1-MD0: Mode Select Bits
* MS1 | MS0 | MODE
* ------------------------------
* 0 | 0 | Continuous-Conversion Mode.
* 0 | 1 | Single-Conversion Mode
* 1 | 0 | Negative Bias
* 1 | 1 | Sleep Mode
*/
#define MAG_ADDRESS 0x1E
#define MAG_DATA_REGISTER 0x03
@ -9,11 +65,11 @@
#define HMC58X3_R_CONFA 0
#define HMC58X3_R_CONFB 1
#define HMC58X3_R_MODE 2
#define HMC58X3_X_SELF_TEST_GAUSS (+1.16) // X axis level when bias current is applied.
#define HMC58X3_Y_SELF_TEST_GAUSS (+1.16) // Y axis level when bias current is applied.
#define HMC58X3_Z_SELF_TEST_GAUSS (+1.08) // Y axis level when bias current is applied.
#define SELF_TEST_LOW_LIMIT (243.0 / 390.0) // Low limit when gain is 5.
#define SELF_TEST_HIGH_LIMIT (575.0 / 390.0) // High limit when gain is 5.
#define HMC58X3_X_SELF_TEST_GAUSS (+1.16f) // X axis level when bias current is applied.
#define HMC58X3_Y_SELF_TEST_GAUSS (+1.16f) // Y axis level when bias current is applied.
#define HMC58X3_Z_SELF_TEST_GAUSS (+1.08f) // Z axis level when bias current is applied.
#define SELF_TEST_LOW_LIMIT (243.0f / 390.0f) // Low limit when gain is 5.
#define SELF_TEST_HIGH_LIMIT (575.0f / 390.0f) // High limit when gain is 5.
#define HMC_POS_BIAS 1
#define HMC_NEG_BIAS 2
@ -58,7 +114,7 @@ void hmc5883lInit(float *calibrationGain)
i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
// Note that the very first measurement after a gain change maintains the same gain as the previous setting.
// The new gain setting is effective from the second measurement and on.
i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFB, 2 << 5); // Set the Gain
i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
delay(100);
hmc5883lRead(magADC);
@ -100,9 +156,9 @@ void hmc5883lInit(float *calibrationGain)
LED1_TOGGLE;
}
magGain[0] = fabs(820.0 * HMC58X3_X_SELF_TEST_GAUSS * 2.0 * 10.0 / xyz_total[0]);
magGain[1] = fabs(820.0 * HMC58X3_Y_SELF_TEST_GAUSS * 2.0 * 10.0 / xyz_total[1]);
magGain[2] = fabs(820.0 * HMC58X3_Z_SELF_TEST_GAUSS * 2.0 * 10.0 / xyz_total[2]);
magGain[0] = fabs(660.0f * HMC58X3_X_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[0]);
magGain[1] = fabs(660.0f * HMC58X3_Y_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[1]);
magGain[2] = fabs(660.0f * HMC58X3_Z_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[2]);
// leave test mode
i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x70); // Configuration Register A -- 0 11 100 00 num samples: 8 ; output rate: 15Hz ; normal measurement mode
@ -111,9 +167,9 @@ void hmc5883lInit(float *calibrationGain)
delay(100);
if (!bret) { // Something went wrong so get a best guess
magGain[0] = 1.0;
magGain[1] = 1.0;
magGain[2] = 1.0;
magGain[0] = 1.0f;
magGain[1] = 1.0f;
magGain[2] = 1.0f;
}
// if parameter was passed, give calibration values back