Add HMC5883/5983 driver

src/main/drivers/barometer_bmp280.c

@@ -31,6 +31,8 @@
 
 #include "barometer_bmp280.h"
 
+//#define DEBUG_BMP280
+
 #ifdef BARO
 
 // BMP280, address 0x76
@@ -200,6 +202,11 @@ static void bmp280_get_up(void)
     baroBMP280Read(BMP280_PRESSURE_MSB_REG, BMP280_DATA_FRAME_SIZE, data);
     bmp280_up = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
     bmp280_ut = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
+
+#ifdef DEBUG_BMP280
+    debug[0] = bmp280_up;
+    debug[0] = bmp280_ut;
+#endif
 }
 
 // Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
@@ -245,6 +252,11 @@ STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature
     t = bmp280_compensate_T(bmp280_ut);
     p = bmp280_compensate_P(bmp280_up);
 
+#ifdef DEBUG_BMP280
+    debug[2] = t;
+    debug[3] = p;
+#endif
+
     if (pressure)
         *pressure = (int32_t)(p / 256);
     if (temperature)

src/main/drivers/barometer_ms5611.c

@@ -31,7 +31,7 @@
 
 #include "build_config.h"
 
-#define DEBUG_MS5611
+//#define DEBUG_MS5611
 
 // MS5611, Standard address 0x77
 #ifndef MS5611_ADDR
@@ -65,33 +65,11 @@ STATIC_UNIT_TESTED uint32_t ms5611_up;  // static result of pressure measurement
 STATIC_UNIT_TESTED uint16_t ms5611_c[PROM_NB];  // on-chip ROM
 static uint8_t ms5611_osr = CMD_ADC_4096;
 
-typedef bool (*baroMS5611ReadRegisterFunc)(uint8_t reg_, uint8_t len_, uint8_t *buf);
-typedef bool (*baroMS5611WriteRegisterFunc)(uint8_t reg_, uint8_t data);
-
-typedef struct baroMS5611Config_s {
-    baroMS5611ReadRegisterFunc read;
-    baroMS5611WriteRegisterFunc write;
-} baroMS5611Config_t;
-
-baroMS5611Config_t baroMS5611config;
-
-#ifdef USE_I2C
-bool baroMS5611WriteI2C(uint8_t reg, uint8_t data)
-{
-    return i2cWrite(MS5611_ADDR, reg, data);
-}
-
-bool baroMS5611ReadI2C(uint8_t reg, uint8_t length, uint8_t *data)
-{
-    return i2cRead(MS5611_ADDR, reg, length, data);
-}
-#endif
-
 #if defined(USE_SPI) && defined(MS5611_SPI_INSTANCE)
 #define DISABLE_MS5611          GPIO_SetBits(MS5611_CS_GPIO,   MS5611_CS_PIN)
 #define ENABLE_MS5611           GPIO_ResetBits(MS5611_CS_GPIO, MS5611_CS_PIN)
 
-bool baroMS5611WriteSPI(uint8_t reg, uint8_t data)
+bool baroMS5611Write(uint8_t reg, uint8_t data)
 {
     ENABLE_MS5611;
     delayMicroseconds(1);
@@ -102,7 +80,7 @@ bool baroMS5611WriteSPI(uint8_t reg, uint8_t data)
     return true;
 }
 
-bool baroMS5611ReadSPI(uint8_t reg, uint8_t length, uint8_t *data)
+bool baroMS5611Read(uint8_t reg, uint8_t length, uint8_t *data)
 {
     bool ack = false;
 
@@ -114,6 +92,16 @@ bool baroMS5611ReadSPI(uint8_t reg, uint8_t length, uint8_t *data)
 
     return ack;
 }
+#else
+bool baroMS5611Write(uint8_t reg, uint8_t data)
+{
+    return i2cWrite(MS5611_ADDR, reg, data);
+}
+
+bool baroMS5611Read(uint8_t reg, uint8_t length, uint8_t *data)
+{
+    return i2cRead(MS5611_ADDR, reg, length, data);
+}
 #endif
 
 bool ms5611Detect(baro_t *baro)
@@ -124,21 +112,8 @@ bool ms5611Detect(baro_t *baro)
 
     delay(10); // No idea how long the chip takes to power-up, but let's make it 10ms
 
-#ifdef USE_I2C
-    ack = i2cRead(MS5611_ADDR, CMD_PROM_RD, 1, &sig);
-    if (ack) {
-        baroMS5611config.read = baroMS5611ReadI2C;
-        baroMS5611config.write = baroMS5611WriteI2C;
-    }
-#endif
-#if defined(USE_SPI) && defined(MS5611_SPI_INSTANCE)
-    ack = baroMS5611ReadSPI(CMD_PROM_RD, 1, &sig);
-    if (ack) {
-        baroMS5611config.read = baroMS5611ReadSPI;
-        baroMS5611config.write = baroMS5611WriteSPI;
-    }
-#endif
-    else
+    ack = baroMS5611Read(CMD_PROM_RD, 1, &sig);
+    if (!ack)
         return false;
 
     ms5611_reset();
@@ -163,14 +138,14 @@ bool ms5611Detect(baro_t *baro)
 
 static void ms5611_reset(void)
 {
-    baroMS5611config.write(CMD_RESET, 1);
+    baroMS5611Write(CMD_RESET, 1);
     delayMicroseconds(2800);
 }
 
 static uint16_t ms5611_prom(int8_t coef_num)
 {
     uint8_t rxbuf[2] = { 0, 0 };
-    baroMS5611config.read(CMD_PROM_RD + coef_num * 2, 2, rxbuf); // send PROM READ command
+    baroMS5611Read(CMD_PROM_RD + coef_num * 2, 2, rxbuf); // send PROM READ command
     return rxbuf[0] << 8 | rxbuf[1];
 }
 
@@ -207,13 +182,13 @@ STATIC_UNIT_TESTED int8_t ms5611_crc(uint16_t *prom)
 static uint32_t ms5611_read_adc(void)
 {
     uint8_t rxbuf[3];
-    baroMS5611config.read(CMD_ADC_READ, 3, rxbuf); // read ADC
+    baroMS5611Read(CMD_ADC_READ, 1, rxbuf); // read ADC
     return (rxbuf[0] << 16) | (rxbuf[1] << 8) | rxbuf[2];
 }
 
 static void ms5611_start_ut(void)
 {
-    baroMS5611config.write(CMD_ADC_CONV + CMD_ADC_D2 + ms5611_osr, 1); // D2 (temperature) conversion start!
+    baroMS5611Write(CMD_ADC_CONV + CMD_ADC_D2 + ms5611_osr, 1); // D2 (temperature) conversion start!
 }
 
 static void ms5611_get_ut(void)
@@ -226,7 +201,7 @@ static void ms5611_get_ut(void)
 
 static void ms5611_start_up(void)
 {
-    baroMS5611config.write(CMD_ADC_CONV + CMD_ADC_D1 + ms5611_osr, 1); // D1 (pressure) conversion start!
+    baroMS5611Write(CMD_ADC_CONV + CMD_ADC_D1 + ms5611_osr, 1); // D1 (pressure) conversion start!
 }
 
 static void ms5611_get_up(void)

src/main/drivers/compass_hmc5883l.c

@@ -31,6 +31,7 @@
 #include "nvic.h"
 #include "gpio.h"
 #include "bus_i2c.h"
+#include "bus_spi.h"
 #include "light_led.h"
 
 #include "sensor.h"
@@ -197,15 +198,59 @@ static void hmc5883lConfigureDataReadyInterruptHandling(void)
 #endif
 }
 
+#if defined(USE_SPI) && defined(HMC5883_SPI_INSTANCE)
+#define DISABLE_HMC5883         GPIO_SetBits(HMC5883_CS_GPIO,   HMC5883_CS_PIN)
+#define ENABLE_HMC5883          GPIO_ResetBits(HMC5883_CS_GPIO, HMC5883_CS_PIN)
+
+bool baroHMC5883Write(uint8_t reg, uint8_t data)
+{
+//    spiSetDivisor(HMC5883_SPI_INSTANCE, 16);
+
+    ENABLE_HMC5883;
+    delayMicroseconds(1);
+    spiTransferByte(HMC5883_SPI_INSTANCE, reg);
+    spiTransferByte(HMC5883_SPI_INSTANCE, data);
+    DISABLE_HMC5883;
+
+    return true;
+}
+
+bool baroHMC5883Read(uint8_t reg, uint8_t length, uint8_t *data)
+{
+    bool ack = false;
+
+//    spiSetDivisor(HMC5883_SPI_INSTANCE, 16);
+
+    ENABLE_HMC5883;
+    delayMicroseconds(1);
+    spiTransferByte(HMC5883_SPI_INSTANCE, reg | 0x80); // read transaction
+    ack = spiTransfer(HMC5883_SPI_INSTANCE, data, NULL, length);
+    DISABLE_HMC5883;
+
+    return ack;
+}
+#else
+bool baroHMC5883Write(uint8_t reg, uint8_t data)
+{
+    return i2cWrite(MAG_ADDRESS, reg, data);
+}
+
+bool baroHMC5883Read(uint8_t reg, uint8_t length, uint8_t *data)
+{
+    return i2cRead(MAG_ADDRESS, reg, length, data);
+}
+#endif
+
+
 bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse)
 {
     bool ack = false;
-    uint8_t sig = 0;
+    uint8_t buf[3];
 
     hmc5883Config = hmc5883ConfigToUse;
 
-    ack = i2cRead(MAG_ADDRESS, 0x0A, 1, &sig);
-    if (!ack || sig != 'H')
+    ack = baroHMC5883Read(0x0A, 3, buf);
+    if (!ack || buf[0] != 'H') // || buf[1] != '4' || buf[2] != '3')
         return false;
 
     mag->init = hmc5883lInit;
@@ -246,15 +291,15 @@ void hmc5883lInit(void)
     }
 
     delay(50);
-    i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
+    baroHMC5883Write(HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
     // Note that the  very first measurement after a gain change maintains the same gain as the previous setting.
     // The new gain setting is effective from the second measurement and on.
-    i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
+    baroHMC5883Write(HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
     delay(100);
     hmc5883lRead(magADC);
 
     for (i = 0; i < 10; i++) {  // Collect 10 samples
-        i2cWrite(MAG_ADDRESS, HMC58X3_R_MODE, 1);
+        baroHMC5883Write(HMC58X3_R_MODE, 1);
         delay(50);
         hmc5883lRead(magADC);       // Get the raw values in case the scales have already been changed.
 
@@ -272,9 +317,9 @@ void hmc5883lInit(void)
     }
 
     // Apply the negative bias. (Same gain)
-    i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
+    baroHMC5883Write(HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
     for (i = 0; i < 10; i++) {
-        i2cWrite(MAG_ADDRESS, HMC58X3_R_MODE, 1);
+        baroHMC5883Write(HMC58X3_R_MODE, 1);
         delay(50);
         hmc5883lRead(magADC);               // Get the raw values in case the scales have already been changed.
 
@@ -296,9 +341,9 @@ void hmc5883lInit(void)
     magGain[Z] = fabsf(660.0f * HMC58X3_Z_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[Z]);
 
     // leave test mode
-    i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x70);   // Configuration Register A  -- 0 11 100 00  num samples: 8 ; output rate: 15Hz ; normal measurement mode
-    i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFB, 0x20);   // Configuration Register B  -- 001 00000    configuration gain 1.3Ga
-    i2cWrite(MAG_ADDRESS, HMC58X3_R_MODE, 0x00);    // Mode register             -- 000000 00    continuous Conversion Mode
+    baroHMC5883Write(HMC58X3_R_CONFA, 0x70);   // Configuration Register A  -- 0 11 100 00  num samples: 8 ; output rate: 15Hz ; normal measurement mode
+    baroHMC5883Write(HMC58X3_R_CONFB, 0x20);   // Configuration Register B  -- 001 00000    configuration gain 1.3Ga
+    baroHMC5883Write(HMC58X3_R_MODE, 0x00);    // Mode register             -- 000000 00    continuous Conversion Mode
     delay(100);
 
     if (!bret) {                // Something went wrong so get a best guess
@@ -314,7 +359,7 @@ bool hmc5883lRead(int16_t *magData)
 {
     uint8_t buf[6];
 
-    bool ack = i2cRead(MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
+    bool ack = baroHMC5883Read(MAG_DATA_REGISTER, 6, buf);
     if (!ack) {
         return false;
     }

src/main/target/ALIENFLIGHTF4/target.h

@@ -52,11 +52,16 @@
 #define USE_GYRO_SPI_MPU9250
 #define GYRO_MPU9250_ALIGN CW270_DEG
 
+#define HMC5883_CS_GPIO       GPIOA
+#define HMC5883_CS_PIN        GPIO_Pin_15
+#define HMC5883_CS_GPIO_CLK_PERIPHERAL RCC_AHB1Periph_GPIOA
+#define HMC5883_SPI_INSTANCE  SPI3
+
 #define MAG
 #define USE_MAG_HMC5883
-//#define MAG_HMC5883_ALIGN CW180_DEG
-#define USE_MAG_AK8963
-#define MAG_AK8963_ALIGN CW270_DEG
+#define MAG_HMC5883_ALIGN CW180_DEG
+//#define USE_MAG_AK8963
+//#define MAG_AK8963_ALIGN CW270_DEG
 
 #define MS5611_CS_GPIO        GPIOA
 #define MS5611_CS_PIN         GPIO_Pin_15
@@ -69,8 +74,8 @@
 //#define BMP280_SPI_INSTANCE   SPI3
 
 #define BARO
-#define USE_BARO_MS5611
-//#define USE_BARO_BMP280
+//#define USE_BARO_MS5611
+#define USE_BARO_BMP280
 
 #define INVERTER
 #define BEEPER