/
mag_hmc58xx.c
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mag_hmc58xx.c
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/*
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/**
* @file modules/sensors/mag_hmc58xx.c
*
* Module wrapper for Honeywell HMC5843 and HMC5883 magnetometers.
*/
#include "modules/sensors/mag_hmc58xx.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "generated/airframe.h"
#include "modules/core/abi.h"
#ifndef HMC58XX_CHAN_X
#define HMC58XX_CHAN_X 0
#endif
#ifndef HMC58XX_CHAN_Y
#define HMC58XX_CHAN_Y 1
#endif
#ifndef HMC58XX_CHAN_Z
#define HMC58XX_CHAN_Z 2
#endif
#ifndef HMC58XX_CHAN_X_SIGN
#define HMC58XX_CHAN_X_SIGN +
#endif
#ifndef HMC58XX_CHAN_Y_SIGN
#define HMC58XX_CHAN_Y_SIGN +
#endif
#ifndef HMC58XX_CHAN_Z_SIGN
#define HMC58XX_CHAN_Z_SIGN +
#endif
#if MODULE_HMC58XX_UPDATE_AHRS
#if defined HMC58XX_MAG_TO_IMU_PHI && defined HMC58XX_MAG_TO_IMU_THETA && defined HMC58XX_MAG_TO_IMU_PSI
#define USE_MAG_TO_IMU 1
static struct Int32RMat mag_to_imu; ///< rotation from mag to imu frame
#else
#define USE_MAG_TO_IMU 0
#endif
#endif
struct Hmc58xx mag_hmc58xx;
void mag_hmc58xx_module_init(void)
{
hmc58xx_init(&mag_hmc58xx, &(MAG_HMC58XX_I2C_DEV), HMC58XX_ADDR);
#if MODULE_HMC58XX_UPDATE_AHRS && USE_MAG_TO_IMU
struct Int32Eulers mag_to_imu_eulers = {
ANGLE_BFP_OF_REAL(HMC58XX_MAG_TO_IMU_PHI),
ANGLE_BFP_OF_REAL(HMC58XX_MAG_TO_IMU_THETA),
ANGLE_BFP_OF_REAL(HMC58XX_MAG_TO_IMU_PSI)
};
int32_rmat_of_eulers(&mag_to_imu, &mag_to_imu_eulers);
#endif
}
void mag_hmc58xx_module_periodic(void)
{
hmc58xx_periodic(&mag_hmc58xx);
}
void mag_hmc58xx_module_event(void)
{
hmc58xx_event(&mag_hmc58xx);
if (mag_hmc58xx.data_available) {
#if MODULE_HMC58XX_UPDATE_AHRS
// current timestamp
uint32_t now_ts = get_sys_time_usec();
// set channel order
struct Int32Vect3 mag = {
HMC58XX_CHAN_X_SIGN(int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_X]),
HMC58XX_CHAN_Y_SIGN(int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_Y]),
HMC58XX_CHAN_Z_SIGN(int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_Z])
};
// only rotate if needed
#if USE_MAG_TO_IMU
struct Int32Vect3 imu_mag;
// rotate data from mag frame to imu frame
int32_rmat_vmult(&imu_mag, &mag_to_imu, &mag);
// unscaled vector
VECT3_COPY(mag, imu_mag);
#endif
AbiSendMsgIMU_MAG_RAW(MAG_HMC58XX_SENDER_ID, now_ts, &mag);
#endif
#if MODULE_HMC58XX_SYNC_SEND
mag_hmc58xx_report();
#endif
#if MODULE_HMC58XX_UPDATE_AHRS || MODULE_HMC58XX_SYNC_SEND
mag_hmc58xx.data_available = false;
#endif
}
}
void mag_hmc58xx_report(void)
{
uint8_t id = MAG_HMC58XX_SENDER_ID;
struct Int32Vect3 mag = {
HMC58XX_CHAN_X_SIGN(int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_X]),
HMC58XX_CHAN_Y_SIGN(int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_Y]),
HMC58XX_CHAN_Z_SIGN(int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_Z])
};
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, &id, &mag.x, &mag.y, &mag.z);
}