Paparazzi UAS v7.0_unstable
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Data Structures | Macros | Enumerations | Functions
rm3100.h File Reference

PNI RM3100 3-axis magnetometer driver interface (I2C). More...

#include "std.h"
#include "mcu_periph/i2c.h"
#include "math/pprz_algebra_int.h"
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Go to the source code of this file.

Data Structures

struct  Rm3100
 
union  Rm3100.data
 

Macros

#define RM3100_ADDR0   (0b0100000 << 1)
 The lower 2 bits of the slave address are user-configurable, using pins 3 and 28.
 
#define RM3100_ADDR1   (0b0100001 << 1)
 
#define RM3100_ADDR2   (0b0100010 << 1)
 
#define RM3100_ADDR3   (0b0100011 << 1)
 
#define RM3100_RATE_600   0x92
 
#define RM3100_RATE_300   0x93
 
#define RM3100_RATE_150   0x94
 
#define RM3100_RATE_75   0x95
 
#define RM3100_RATE_37   0x96
 
#define RM3100_RATE_18   0x97
 
#define RM3100_RATE_9   0x98
 
#define RM3100_RATE_4_5   0x99
 
#define RM3100_RATE_2_3   0x9A
 
#define RM3100_RATE_1_2   0x9B
 
#define RM3100_RATE_0_6   0x9C
 
#define RM3100_RATE_0_3   0x9D
 
#define RM3100_RATE_0_15   0x9E
 
#define RM3100_RATE_0_075   0x9F
 
#define RM3100_TMRC_DEFAULT   RM3100_RATE_150
 

Enumerations

enum  Rm3100Status {
  RM3100_CONF_UNINIT , RM3100_CONF_CCR_DONE , RM3100_CONF_TMRC_DONE , RM3100_CONF_CCM_DONE ,
  RM3100_STATUS_IDLE , RM3100_STATUS_MEAS
}
 config status states More...
 

Functions

void rm3100_init (struct Rm3100 *mag, struct i2c_periph *i2c_p, uint8_t addr, uint8_t data_rate)
 
void rm3100_configure (struct Rm3100 *mag)
 
void rm3100_event (struct Rm3100 *mag)
 
void rm3100_read (struct Rm3100 *mag)
 
static void rm3100_periodic (struct Rm3100 *mag)
 convenience function: read or start configuration if not already initialized
 

Detailed Description

PNI RM3100 3-axis magnetometer driver interface (I2C).

Definition in file rm3100.h.

Data Structure Documentation

◆ Rm3100

struct Rm3100

Definition at line 72 of file rm3100.h.

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Data Fields
union Rm3100.data data
volatile bool data_available data ready flag
uint8_t data_rate sensor data rate
struct i2c_periph * i2c_p peripheral used for communcation
struct i2c_transaction i2c_trans i2c transaction
bool initialized config done flag
enum Rm3100Status status init status

◆ Rm3100.data

union Rm3100.data

Definition at line 79 of file rm3100.h.

Data Fields
int32_t value[3] data values accessible by channel index
struct Int32Vect3 vect data vector in mag coordinate system

Macro Definition Documentation

◆ RM3100_ADDR0

#define RM3100_ADDR0   (0b0100000 << 1)

The lower 2 bits of the slave address are user-configurable, using pins 3 and 28.

Definition at line 37 of file rm3100.h.

◆ RM3100_ADDR1

#define RM3100_ADDR1   (0b0100001 << 1)

Definition at line 38 of file rm3100.h.

◆ RM3100_ADDR2

#define RM3100_ADDR2   (0b0100010 << 1)

Definition at line 39 of file rm3100.h.

◆ RM3100_ADDR3

#define RM3100_ADDR3   (0b0100011 << 1)

Definition at line 40 of file rm3100.h.

◆ RM3100_RATE_0_075

#define RM3100_RATE_0_075   0x9F

Definition at line 56 of file rm3100.h.

◆ RM3100_RATE_0_15

#define RM3100_RATE_0_15   0x9E

Definition at line 55 of file rm3100.h.

◆ RM3100_RATE_0_3

#define RM3100_RATE_0_3   0x9D

Definition at line 54 of file rm3100.h.

◆ RM3100_RATE_0_6

#define RM3100_RATE_0_6   0x9C

Definition at line 53 of file rm3100.h.

◆ RM3100_RATE_150

#define RM3100_RATE_150   0x94

Definition at line 45 of file rm3100.h.

◆ RM3100_RATE_18

#define RM3100_RATE_18   0x97

Definition at line 48 of file rm3100.h.

◆ RM3100_RATE_1_2

#define RM3100_RATE_1_2   0x9B

Definition at line 52 of file rm3100.h.

◆ RM3100_RATE_2_3

#define RM3100_RATE_2_3   0x9A

Definition at line 51 of file rm3100.h.

◆ RM3100_RATE_300

#define RM3100_RATE_300   0x93

Definition at line 44 of file rm3100.h.

◆ RM3100_RATE_37

#define RM3100_RATE_37   0x96

Definition at line 47 of file rm3100.h.

◆ RM3100_RATE_4_5

#define RM3100_RATE_4_5   0x99

Definition at line 50 of file rm3100.h.

◆ RM3100_RATE_600

#define RM3100_RATE_600   0x92

Definition at line 43 of file rm3100.h.

◆ RM3100_RATE_75

#define RM3100_RATE_75   0x95

Definition at line 46 of file rm3100.h.

◆ RM3100_RATE_9

#define RM3100_RATE_9   0x98

Definition at line 49 of file rm3100.h.

◆ RM3100_TMRC_DEFAULT

#define RM3100_TMRC_DEFAULT   RM3100_RATE_150

Definition at line 59 of file rm3100.h.

Enumeration Type Documentation

◆ Rm3100Status

enum Rm3100Status

config status states

Enumerator
RM3100_CONF_UNINIT 
RM3100_CONF_CCR_DONE 
RM3100_CONF_TMRC_DONE 
RM3100_CONF_CCM_DONE 
RM3100_STATUS_IDLE 
RM3100_STATUS_MEAS 

Definition at line 62 of file rm3100.h.

Function Documentation

◆ rm3100_configure()

void rm3100_configure ( struct Rm3100 *  mag)
extern

Definition at line 87 of file rm3100.c.

References i2c_transaction::buf, Rm3100::data_rate, Rm3100::i2c_p, Rm3100::i2c_trans, i2c_transmit(), I2CTransDone, I2CTransFailed, I2CTransSuccess, Rm3100::initialized, RM3100_ADDR_CCX, RM3100_ADDR_CMM, RM3100_ADDR_TMRC, RM3100_CCX_DEFAULT_LSB, RM3100_CCX_DEFAULT_MSB, RM3100_CCY_DEFAULT_LSB, RM3100_CCY_DEFAULT_MSB, RM3100_CCZ_DEFAULT_LSB, RM3100_CCZ_DEFAULT_MSB, RM3100_CONF_CCM_DONE, RM3100_CONF_CCR_DONE, RM3100_CONF_TMRC_DONE, RM3100_CONF_UNINIT, RM3100_CONTINUOUS_MODE, RM3100_POLL_XYZ, RM3100_STATUS_IDLE, i2c_transaction::slave_addr, i2c_transaction::status, and Rm3100::status.

Referenced by rm3100_periodic().

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◆ rm3100_event()

void rm3100_event ( struct Rm3100 *  mag)
extern

Definition at line 164 of file rm3100.c.

References i2c_transaction::buf, Rm3100::data, Rm3100::data_available, foo, Rm3100::i2c_trans, I2CTransDone, I2CTransFailed, I2CTransSuccess, Rm3100::initialized, rm3100_get_raw_from_buf(), RM3100_STATUS_IDLE, RM3100_STATUS_MEAS, i2c_transaction::status, Rm3100::status, and UpdateMedianFilterVect3Int.

Referenced by mag_rm3100_module_event().

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◆ rm3100_init()

void rm3100_init ( struct Rm3100 *  mag,
struct i2c_periph *  i2c_p,
uint8_t  addr,
uint8_t  data_rate 
)
extern

Definition at line 66 of file rm3100.c.

References Rm3100::data_available, Rm3100::data_rate, foo, Rm3100::i2c_p, Rm3100::i2c_trans, I2CTransDone, Rm3100::initialized, InitMedianFilterVect3Int, RM3100_CONF_UNINIT, i2c_transaction::slave_addr, i2c_transaction::status, and Rm3100::status.

Referenced by mag_rm3100_module_init().

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◆ rm3100_periodic()

static void rm3100_periodic ( struct Rm3100 *  mag)
inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 92 of file rm3100.h.

References Rm3100::initialized, rm3100_configure(), and rm3100_read().

Referenced by mag_rm3100_module_periodic().

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◆ rm3100_read()

void rm3100_read ( struct Rm3100 *  mag)
extern

Definition at line 142 of file rm3100.c.

References i2c_transaction::buf, Rm3100::i2c_p, Rm3100::i2c_trans, i2c_transceive(), RM3100_ADDR_MX, RM3100_STATUS_IDLE, RM3100_STATUS_MEAS, i2c_transaction::slave_addr, and Rm3100::status.

Referenced by rm3100_periodic().

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