diff options
Diffstat (limited to 'nuttx/configs/px4fmu/include/drv_hmc5883l.h')
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_hmc5883l.h | 100 |
1 files changed, 100 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/include/drv_hmc5883l.h b/nuttx/configs/px4fmu/include/drv_hmc5883l.h new file mode 100644 index 000000000..8dc9b8a93 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_hmc5883l.h @@ -0,0 +1,100 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * Driver for the ST HMC5883L gyroscope + */ + +/* IMPORTANT NOTES: + * + * SPI max. clock frequency: 10 Mhz + * CS has to be high before transfer, + * go low right before transfer and + * go high again right after transfer + * + */ + +#include <sys/ioctl.h> + +#define _HMC5883LBASE 0x6100 +#define HMC5883LC(_x) _IOC(_HMC5883LBASE, _x) + +/* + * Sets the sensor internal sampling rate, and if a buffer + * has been configured, the rate at which entries will be + * added to the buffer. + */ +#define HMC5883L_SETRATE HMC5883LC(1) + +/* set rate (configuration A register */ +#define HMC5883L_RATE_0_75HZ (0 << 2) /* 0.75 Hz */ +#define HMC5883L_RATE_1_50HZ (1 << 2) /* 1.5 Hz */ +#define HMC5883L_RATE_3_00HZ (2 << 2) /* 3 Hz */ +#define HMC5883L_RATE_7_50HZ (3 << 2) /* 7.5 Hz */ +#define HMC5883L_RATE_15HZ (4 << 2) /* 15 Hz (default) */ +#define HMC5883L_RATE_30HZ (5 << 2) /* 30 Hz */ +#define HMC5883L_RATE_75HZ (6 << 2) /* 75 Hz */ + +/* + * Sets the sensor internal range. + */ +#define HMC5883L_SETRANGE HMC5883LC(2) + +#define HMC5883L_RANGE_0_88GA (0 << 5) +#define HMC5883L_RANGE_1_33GA (1 << 5) +#define HMC5883L_RANGE_1_90GA (2 << 5) +#define HMC5883L_RANGE_2_50GA (3 << 5) +#define HMC5883L_RANGE_4_00GA (4 << 5) + +/* + * Sets the address of a shared HMC5883L_buffer + * structure that is maintained by the driver. + * + * If zero is passed as the address, disables + * the buffer updating. + */ +#define HMC5883L_SETBUFFER HMC5883LC(3) + +struct hmc5883l_buffer { + uint32_t size; /* number of entries in the samples[] array */ + uint32_t next; /* the next entry that will be populated */ + struct { + int16_t x; + int16_t y; + int16_t z; + } samples[]; +}; + +#define HMC5883L_RESET HMC5883LC(4) + +extern int hmc5883l_attach(struct i2c_dev_s *i2c); |