Compass: removed the old 5883L driver
we now use a single driver for both mags git-svn-id: https://arducopter.googlecode.com/svn/trunk@3083 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com
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@ -4,5 +4,4 @@
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/// @brief Catch-all header that defines all supported compass classes.
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/// @brief Catch-all header that defines all supported compass classes.
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#include "AP_Compass_HMC5843.h"
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#include "AP_Compass_HMC5843.h"
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#include "AP_Compass_HMC5883L.h"
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#include "AP_Compass_HIL.h"
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#include "AP_Compass_HIL.h"
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@ -1,173 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
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/*
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AP_Compass_HMC5883L.cpp - Arduino Library for HMC5883L I2C magnetometer
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Code by Jordi Muñoz and Jose Julio. DIYDrones.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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Sensor is conected to I2C port
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Sensor is initialized in Continuos mode (10Hz)
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*/
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// AVR LibC Includes
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#include <math.h>
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#include "WConstants.h"
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#include <Wire.h>
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#include "AP_Compass_HMC5883L.h"
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#define COMPASS_ADDRESS 0x1E
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#define ConfigRegA 0x00
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#define ConfigRegB 0x01
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#define ModeRegister 0x02
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#define DataOutputXMSB 0x03
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#define DataOutputXLSB 0x04
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#define DataOutputZMSB 0x05
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#define DataOutputZLSB 0x06
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#define DataOutputYMSB 0x07
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#define DataOutputYLSB 0x08
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#define StatusRegister 0x09
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#define IDRegisterA 0x0A
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#define IDRegisterB 0x0B
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#define IDRegisterC 0x0C
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// default gain value
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#define magGain 0x20
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// ModeRegister valid modes
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#define ContinuousConversion 0x00
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#define SingleConversion 0x01
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// ConfigRegA valid sample averaging
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#define SampleAveraging_1 0x00
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#define SampleAveraging_2 0x01
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#define SampleAveraging_4 0x02
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#define SampleAveraging_8 0x03
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// ConfigRegA valid data output rates
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#define DataOutputRate_0_75HZ 0x00
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#define DataOutputRate_1_5HZ 0x01
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#define DataOutputRate_3HZ 0x02
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#define DataOutputRate_7_5HZ 0x03
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#define DataOutputRate_15HZ 0x04
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#define DataOutputRate_30HZ 0x05
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#define DataOutputRate_75HZ 0x06
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// ConfigRegA valid measurement configuration bits
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#define NormalOperation 0x10
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#define PositiveBiasConfig 0x11
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#define NegativeBiasConfig 0x12
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// Public Methods //////////////////////////////////////////////////////////////
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bool AP_Compass_HMC5883L::init()
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{
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int numAttempts = 0;
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int success = 0;
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delay(10);
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// calibration initialisation
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calibration[0] = 1.0;
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calibration[1] = 1.0;
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calibration[2] = 1.0;
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while( success == 0 && numAttempts < 5 )
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{
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// record number of attempts at initialisation
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numAttempts++;
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// force positiveBias (compass should return 715 for all channels)
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ConfigRegA);
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Wire.send(SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | PositiveBiasConfig);
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if (0 != Wire.endTransmission())
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continue; // compass not responding on the bus
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delay(50);
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// set gains
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ConfigRegB);
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Wire.send(magGain);
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Wire.endTransmission();
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delay(10);
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// put compass into single-measurement mode
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ModeRegister);
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Wire.send(SingleConversion);
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Wire.endTransmission();
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delay(10);
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// read values from the compass
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read();
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delay(10);
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// calibrate
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if( abs(mag_x) > 500 && abs(mag_x) < 1000 && abs(mag_y) > 500 && abs(mag_y) < 1000 && abs(mag_z) > 500 && abs(mag_z) < 1000)
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{
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calibration[0] = fabs(715.0 / mag_x);
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calibration[1] = fabs(715.0 / mag_y);
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calibration[2] = fabs(715.0 / mag_z);
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// mark success
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success = 1;
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}
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// leave test mode
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ConfigRegA);
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Wire.send(SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | NormalOperation);
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Wire.endTransmission();
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delay(50);
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ModeRegister);
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Wire.send(ContinuousConversion); // Set continuous mode (default to 10Hz)
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Wire.endTransmission(); // End transmission
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delay(50);
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}
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return(success);
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}
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// Read Sensor data
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void AP_Compass_HMC5883L::read()
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{
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int i = 0;
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byte buff[6];
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Vector3f rot_mag;
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(0x03); //sends address to read from
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Wire.endTransmission(); //end transmission
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//Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.requestFrom(COMPASS_ADDRESS, 6); // request 6 bytes from device
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while(Wire.available())
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{
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buff[i] = Wire.receive(); // receive one byte
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i++;
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}
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Wire.endTransmission(); //end transmission
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if (i==6) // All bytes received?
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{
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// MSB byte first, then LSB, X,Y,Z
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mag_x = -((((int)buff[0]) << 8) | buff[1]) * calibration[0]; // X axis
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mag_y = ((((int)buff[4]) << 8) | buff[5]) * calibration[1]; // Y axis
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mag_z = -((((int)buff[2]) << 8) | buff[3]) * calibration[2]; // Z axis
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last_update = millis(); // record time of update
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// rotate and offset the magnetometer values
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// XXX this could well be done in common code...
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rot_mag = _orientation_matrix.get() * Vector3f(mag_x,mag_y,mag_z);
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rot_mag = rot_mag + _offset.get();
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mag_x = rot_mag.x;
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mag_y = rot_mag.y;
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mag_z = rot_mag.z;
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}
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}
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@ -1,36 +0,0 @@
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#ifndef AP_Compass_HMC5883L_H
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#define AP_Compass_HMC5883L_H
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#include "../AP_Common/AP_Common.h"
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#include "../AP_Math/AP_Math.h"
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#include "Compass.h"
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// orientations for DIYDrones magnetometer
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#define AP_COMPASS_HMC5883L_COMPONENTS_UP_PINS_FORWARD ROTATION_YAW_90
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#define AP_COMPASS_HMC5883L_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_135
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#define AP_COMPASS_HMC5883L_COMPONENTS_UP_PINS_RIGHT ROTATION_YAW_180
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#define AP_COMPASS_HMC5883L_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_225
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#define AP_COMPASS_HMC5883L_COMPONENTS_UP_PINS_BACK ROTATION_YAW_270
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#define AP_COMPASS_HMC5883L_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_315
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#define AP_COMPASS_HMC5883L_COMPONENTS_UP_PINS_LEFT ROTATION_NONE
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#define AP_COMPASS_HMC5883L_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_45
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#define AP_COMPASS_HMC5883L_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180_YAW_270
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#define AP_COMPASS_HMC5883L_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_315
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#define AP_COMPASS_HMC5883L_COMPONENTS_DOWN_PINS_RIGHT ROTATION_ROLL_180
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#define AP_COMPASS_HMC5883L_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_45
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#define AP_COMPASS_HMC5883L_COMPONENTS_DOWN_PINS_BACK ROTATION_ROLL_180_YAW_90
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#define AP_COMPASS_HMC5883L_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_135
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#define AP_COMPASS_HMC5883L_COMPONENTS_DOWN_PINS_LEFT ROTATION_PITCH_180
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#define AP_COMPASS_HMC5883L_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_225
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class AP_Compass_HMC5883L : public Compass
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{
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private:
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float calibration[3];
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public:
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AP_Compass_HMC5883L(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) { product_id = AP_COMPASS_TYPE_HMC5883L; }
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virtual bool init();
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virtual void read();
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};
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#endif
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