diff options
Diffstat (limited to 'include/mmc5983ma.hpp')
| -rw-r--r-- | include/mmc5983ma.hpp | 168 |
1 files changed, 168 insertions, 0 deletions
diff --git a/include/mmc5983ma.hpp b/include/mmc5983ma.hpp new file mode 100644 index 0000000..825db8d --- /dev/null +++ b/include/mmc5983ma.hpp @@ -0,0 +1,168 @@ +#pragma once + +#include "hardware/gpio.h" +#include "hardware/i2c.h" +#include "serial.hpp" + +#if ( DEBUG == 1 ) +#include <stdio.h> +#include <inttypes.h> +#include "pico/stdio.h" +#endif + +#if ( USE_FREERTOS == 1) +#include "FreeRTOS.h" +#include "FreeRTOSConfig.h" +#include "portmacro.h" +#include "projdefs.h" +#include "serial.hpp" +#include "task.h" +#include "semphr.h" +#endif + +#define MMC5983MA_I2C_ADDR 0x30 + +#define R_MMC5983MA_XOUT0 0x00 +#define R_MMC5983MA_XOUT1 0x01 +#define R_MMC5983MA_YOUT0 0x02 +#define R_MMC5983MA_YOUT1 0x03 +#define R_MMC5983MA_ZOUT0 0x04 +#define R_MMC5983MA_ZOUT1 0x05 +#define R_MMC5983MA_XYZOUT2 0x06 +#define R_MMC5983MA_TEMPERATURE_OUT 0x07 +#define S_MMC5983MA_SCALE_FACTOR_16BIT 4096 +#define S_MMC5983MA_SCALE_FACTOR_18BIT 16384 + +#define R_MMC5983MA_DEV_STATUS 0x08 +typedef union { + struct { + bool MEAS_M_DONE :1; + bool MEAS_T_DONE :1; + uint8_t RESERVED0 :2; + bool OTP_READ_DONE :1; + uint8_t RESERVED1 :3; + } fields; + uint8_t data; +} MMC5983MA_DEV_STATUS; + +#define R_MMC5983MA_INTERNAL_CTL0 0x09 +typedef union { + struct { + bool TAKE_MAG_MEAS :1; + bool TAKE_TEMP_MEAS :1; + bool MEAS_INT_ENABLE :1; + bool SET_CMD :1; + bool RESET_CMD :1; + bool AUTO_SR_ENABLE :1; + bool OTP_READ :1; + uint8_t RESERVED :1; + } fields; + uint8_t data; +} MMC5983MA_INTERNAL_CTL0; + +#define R_MMC5983MA_INTERNAL_CTL1 0x0A +typedef union { + struct { + uint8_t BANDWIDTH: 2; + bool X_INHIBIT: 1; + bool Y_INHIBIT: 1; + bool Z_INHIBIT: 1; + uint8_t RESERVED :2; + bool RESTART :1; + } fields; + uint8_t data; +} MMC5983MA_INTERNAL_CTL1; +#define B_MMC5983MA_BANDWIDTH_100HZ 0b00 +#define B_MMC5983MA_BANDWIDTH_200HZ 0b01 +#define B_MMC5983MA_BANDWIDTH_400HZ 0b10 +#define B_MMC5983MA_BANDWIDTH_800HZ 0b11 + +#define R_MMC5983MA_INTERNAL_CTL2 0x0B +typedef union { + struct { + bool CONTINUOUS_MODE_FREQ :3; + bool CONTINUOUS_MODE_ENABLE :1; + uint8_t PERIODIC_SET_RATE :3; + bool PERIODIC_SET_ENABLE :1; + } fields; + uint8_t data; +} MMC5983MA_INTERNAL_CTL2; +#define B_MMC5983_CONTINUOUS_MODE_OFF 0b000 +#define B_MMC5983_CONTINUOUS_MODE_FREQ_1HZ 0b001 +#define B_MMC5983_CONTINUOUS_MODE_FREQ_10HZ 0b010 +#define B_MMC5983_CONTINUOUS_MODE_FREQ_20HZ 0b011 +#define B_MMC5983_CONTINUOUS_MODE_FREQ_50HZ 0b100 +#define B_MMC5983_CONTINUOUS_MODE_FREQ_100HZ 0b101 +#define B_MMC5983_CONTINUOUS_MODE_FREQ_200HZ 0b110 +#define B_MMC5983_CONTINUOUS_MODE_FREQ_1000HZ 0b111 + +#define B_MMC5983_PERIODIC_SET_RATE_MEAS_TIMES_1 0b000 +#define B_MMC5983_PERIODIC_SET_RATE_MEAS_TIMES_25 0b001 +#define B_MMC5983_PERIODIC_SET_RATE_MEAS_TIMES_75 0b010 +#define B_MMC5983_PERIODIC_SET_RATE_MEAS_TIMES_100 0b011 +#define B_MMC5983_PERIODIC_SET_RATE_MEAS_TIMES_250 0b100 +#define B_MMC5983_PERIODIC_SET_RATE_MEAS_TIMES_500 0b101 +#define B_MMC5983_PERIODIC_SET_RATE_MEAS_TIMES_1000 0b110 +#define B_MMC5983_PERIODIC_SET_RATE_MEAS_TIMES_2000 0b111 + +#define R_MMC5983MA_INTERNAL_CTL3 0x0C +typedef union { + struct { + uint8_t RESERVED0 :1; + bool ST_ENABLE_POS_NEG :1; + bool ST_ENABLE_NEG_POS :1; + uint8_t RESERVED1 :3; + bool SPI_3_WIRE_ENABLE :1; + uint8_t RESERVED2 :1; + } fields; + uint8_t data; +} MMC5983MA_INTERNAL_CTL3; + +#define R_MMC5983MA_PRODUCT_ID 0x2F +#define B_MMC5983MA_PRODUCT_ID 0x30 + +#define MMC5983_SAMPLE_RATE_HZ 200 + +class MMC5983MA { + public: + MMC5983MA(i2c_inst_t* i2c) : i2c {i2c} {}; + + void initialize(); + + void calibrate(); + + void sample(); + + void apply_offset(); + + int16_t get_ax() { return ax; } + int16_t get_ay() { return ay; } + int16_t get_az() { return az; } + + static float scale_mag(int16_t unscaled) { return ((float) unscaled) / S_MMC5983MA_SCALE_FACTOR_16BIT; } + +#if (USE_FREERTOS == 1) + static void update_mmc5983ma_task(void* pvParameters); + + TaskHandle_t update_task_handle = NULL; +#endif + + private: + static int16_t sat_sub(int16_t a, int16_t b); + + const uint8_t addr = MMC5983MA_I2C_ADDR; + + i2c_inst_t* i2c; + + uint8_t buffer[16]; + + MMC5983MA_DEV_STATUS dev_status; + MMC5983MA_INTERNAL_CTL0 internal_ctl0; + MMC5983MA_INTERNAL_CTL1 internal_ctl1; + MMC5983MA_INTERNAL_CTL2 internal_ctl2; + MMC5983MA_INTERNAL_CTL3 internal_ctl3; + + int16_t offset_x = 0, offset_y = 0, offset_z = 0; + int16_t raw_x = 0, raw_y = 0, raw_z = 0; + int16_t ax = 0, ay = 0, az = 0; +}; |