/**
* @brief Initialize the HMC5883 magnetometer sensor.
* @return none
*/
int32_t PIOS_HMC5883_Init(uint32_t i2c_id, const struct pios_hmc5883_cfg *cfg)
{
dev = (struct hmc5883_dev *) PIOS_HMC5883_alloc();
if (dev == NULL)
return -1;
dev->cfg = cfg;
dev->i2c_id = i2c_id;
#ifdef PIOS_HMC5883_HAS_GPIOS
PIOS_EXTI_Init(cfg->exti_cfg);
#endif
if (PIOS_HMC5883_Config(cfg) != 0)
return -2;
PIOS_SENSORS_Register(PIOS_SENSOR_MAG, dev->queue);
int result = xTaskCreate(PIOS_HMC5883_Task, (const signed char *)"pios_hmc5883",
HMC5883_TASK_STACK, NULL, HMC5883_TASK_PRIORITY,
&dev->task);
PIOS_Assert(result == pdPASS);
dev->data_ready_sema = xSemaphoreCreateMutex();
return 0;
}
/**
* @brief Initialize the HMC5883 magnetometer sensor.
* @return 0 on success
*/
int32_t PIOS_HMC5883_Init(uint32_t i2c_id, const struct pios_hmc5883_cfg *cfg)
{
dev = (struct hmc5883_dev *) PIOS_HMC5883_alloc();
if (dev == NULL)
return -1;
dev->cfg = cfg;
dev->i2c_id = i2c_id;
dev->orientation = cfg->Default_Orientation;
/* check if we are using an irq line */
if (cfg->exti_cfg != NULL) {
PIOS_EXTI_Init(cfg->exti_cfg);
dev->data_ready_sema = PIOS_Semaphore_Create();
PIOS_Assert(dev->data_ready_sema != NULL);
}
else {
dev->data_ready_sema = NULL;
}
if (PIOS_HMC5883_Config(cfg) != 0)
return -2;
PIOS_SENSORS_Register(PIOS_SENSOR_MAG, dev->queue);
dev->task = PIOS_Thread_Create(PIOS_HMC5883_Task, "pios_hmc5883", HMC5883_TASK_STACK_BYTES, NULL, HMC5883_TASK_PRIORITY);
PIOS_Assert(dev->task != NULL);
return 0;
}
/**
* @brief Initialize the HMC5883 magnetometer sensor.
* @return none
*/
void PIOS_HMC5883_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
#if defined(STM32F2XX) || defined(STM32F4XX)
/* Configure EOC pin as input floating */
GPIO_InitStructure.GPIO_Pin = PIOS_HMC5883_DRDY_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(PIOS_HMC5883_DRDY_GPIO_PORT, &GPIO_InitStructure);
/* Configure the End Of Conversion (EOC) interrupt */
SYSCFG_EXTILineConfig(PIOS_HMC5883_DRDY_PORT_SOURCE, PIOS_HMC5883_DRDY_PIN_SOURCE);
EXTI_InitStructure.EXTI_Line = PIOS_HMC5883_DRDY_EXTI_LINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
#else
/* Enable DRDY GPIO clock */
RCC_APB2PeriphClockCmd(PIOS_HMC5883_DRDY_CLK | RCC_APB2Periph_AFIO, ENABLE);
/* Configure EOC pin as input floating */
GPIO_InitStructure.GPIO_Pin = PIOS_HMC5883_DRDY_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(PIOS_HMC5883_DRDY_GPIO_PORT, &GPIO_InitStructure);
/* Configure the End Of Conversion (EOC) interrupt */
GPIO_EXTILineConfig(PIOS_HMC5883_DRDY_PORT_SOURCE, PIOS_HMC5883_DRDY_PIN_SOURCE);
EXTI_InitStructure.EXTI_Line = PIOS_HMC5883_DRDY_EXTI_LINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
#endif
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = PIOS_HMC5883_DRDY_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_HMC5883_DRDY_PRIO;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Configure the HMC5883 Sensor */
PIOS_HMC5883_ConfigTypeDef HMC5883_InitStructure;
HMC5883_InitStructure.M_ODR = PIOS_HMC5883_ODR_15;
HMC5883_InitStructure.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL;
HMC5883_InitStructure.Gain = PIOS_HMC5883_GAIN_1_9;
HMC5883_InitStructure.Mode = PIOS_HMC5883_MODE_SINGLE;
PIOS_HMC5883_Config(&HMC5883_InitStructure);
pios_hmc5883_data_ready = false;
}
