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#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;
};
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