HMC58xx magnetometer.

Module for standalone operation/logging of a HMC58xx magnetometer. An arbitrary rotation between the sensor frame and the IMU frame can be compensated with a MAG_TO_IMU rotation (defined by three euler angles). The three angles must be defined to enable this correction. Otherwise it is assumed that the axis are aligned.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="mag_hmc58xx">
  b'<define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE|FALSE" />\n    '
  b'<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE|FALSE" />\n    '
  b'<define name="HMC58XX_CHAN_X_SIGN" value="+|-" />\n    '
  b'<define name="HMC58XX_CHAN_Y_SIGN" value="+|-" />\n    '
  b'<define name="HMC58XX_CHAN_Z_SIGN" value="+|-" />\n    '
  b'<define name="HMC58XX_CHAN_X" value="0|1|2" />\n    '
  b'<define name="HMC58XX_CHAN_Y" value="0|1|2" />\n    '
  b'<define name="HMC58XX_CHAN_Z" value="0|1|2" />\n    '
  b'<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1" />\n    '
  b'<configure name="MAG_HMC58XX_SA" value="00|01|10|11" />\n    '
  b'<configure name="MAG_HMC58XX_TC" value="0|1" />\n  '
</module>

Module configuration options

Configure Options

name: MAG_HMC58XX_I2C_DEV value: i2c1
Description: I2C device to use (e.g. i2c1)
name: MAG_HMC58XX_SA value: 00|01|10|11
Description: Number of samples averaged (default HMC5843 and HMC5983: 00, HMC5883: 11)
name: MAG_HMC58XX_TC value: 0|1
Description: Automatic compensation of sensitivity over temperature (default 0)

Define Options

name: MODULE_HMC58XX_SYNC_SEND value: TRUE|FALSE
Description: Send IMU_RAW message with each new measurement (default: FALSE)
name: MODULE_HMC58XX_UPDATE_AHRS value: TRUE|FALSE
Description: Copy measurements to imu and send as ABI message (default: FALSE)
name: HMC58XX_CHAN_X_SIGN value: +|-
Description: Reverse polarity of x axis (default: +)
name: HMC58XX_CHAN_Y_SIGN value: +|-
Description: Reverse polarity of y axis (default: +)
name: HMC58XX_CHAN_Z_SIGN value: +|-
Description: Reverse polarity of z axis (default: +)
name: HMC58XX_CHAN_X value: 0|1|2
Description: Channel id of x axis (default: 0)
name: HMC58XX_CHAN_Y value: 0|1|2
Description: Channel id of y axis (default: 1)
name: HMC58XX_CHAN_Z value: 0|1|2
Description: Channel id of z axis (default: 2)

Airframe file section

section name: MAG_HMC prefix: HMC58XX_
- name MAG_TO_IMU_PHI value: 0.0
  Description: Rotation between sensor frame and IMU frame (phi angle)
- name MAG_TO_IMU_THETA value: 0.0
  Description: Rotation between sensor frame and IMU frame (theta angle)
- name MAG_TO_IMU_PSI value: 0.0
  Description: Rotation between sensor frame and IMU frame (psi angle)

Module functions

Init Functions

These initialization functions are called once on startup.

mag_hmc58xx_module_init()

Event Functions

These event functions are called in each cycle of the module event loop.

mag_hmc58xx_module_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

mag_hmc58xx_module_periodic()
- Frequency in Hz: 60
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
mag_hmc58xx_report()
- Frequency in Hz: 10
- Autorun: FALSE
  Periodic function is started by user command.

Files

Header Files

The following headers are automatically included in modules.h

mag_hmc58xx.h

Source Files

Raw mag_hmc58xx.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="mag_hmc58xx" dir="sensors" task="sensors">
  <doc>
    <description>
      HMC58xx magnetometer.
      Module for standalone operation/logging of a HMC58xx magnetometer.
      An arbitrary rotation between the sensor frame and the IMU frame can be compensated with a MAG_TO_IMU rotation (defined by three euler angles). The three angles must be defined to enable this correction. Otherwise it is assumed that the axis are aligned.
    </description>
    <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1" description="I2C device to use (e.g. i2c1)"/>
    <define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
    <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
    <define name="HMC58XX_CHAN_X_SIGN" value="+|-" description="Reverse polarity of x axis (default: +)"/>
    <define name="HMC58XX_CHAN_Y_SIGN" value="+|-" description="Reverse polarity of y axis (default: +)"/>
    <define name="HMC58XX_CHAN_Z_SIGN" value="+|-" description="Reverse polarity of z axis (default: +)"/>
    <define name="HMC58XX_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
    <define name="HMC58XX_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
    <define name="HMC58XX_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
    <section name="MAG_HMC" prefix="HMC58XX_">
      <define name="MAG_TO_IMU_PHI" value="0.0" description="Rotation between sensor frame and IMU frame (phi angle)"/>
      <define name="MAG_TO_IMU_THETA" value="0.0" description="Rotation between sensor frame and IMU frame (theta angle)"/>
      <define name="MAG_TO_IMU_PSI" value="0.0" description="Rotation between sensor frame and IMU frame (psi angle)"/>
    </section>
    <configure name="MAG_HMC58XX_SA" value="00|01|10|11" description="Number of samples averaged (default HMC5843 and HMC5983: 00, HMC5883: 11)"/>
    <configure name="MAG_HMC58XX_TC" value="0|1" description="Automatic compensation of sensitivity over temperature (default 0)"/>
  </doc>
  <dep>
    <depends>i2c,@imu</depends>
    <provides>mag</provides>
  </dep>
  <header>
    <file name="mag_hmc58xx.h"/>
  </header>
  <init fun="mag_hmc58xx_module_init()"/>
  <periodic fun="mag_hmc58xx_module_periodic()" freq="60"/>
  <periodic fun="mag_hmc58xx_report()" freq="10" autorun="FALSE"/>
  <event fun="mag_hmc58xx_module_event()"/>
  <makefile target="ap">
    <file name="mag_hmc58xx.c"/>
    <file name="hmc58xx.c" dir="peripherals"/>
    <raw>
      ifeq ($(MAG_HMC58XX_I2C_DEV),)
        $(error mag_hmc58xx module error: please configure MAG_HMC58XX_I2C_DEV)
      endif
    </raw>
    <configure name="MAG_HMC58XX_I2C_DEV" default="TRUE" case="upper|lower"/>
    <define name="USE_$(MAG_HMC58XX_I2C_DEV_UPPER)"/>
    <define name="MAG_HMC58XX_I2C_DEV" value="$(MAG_HMC58XX_I2C_DEV_LOWER)"/>
    <configure name="MAG_HMC58XX_SA" default="0"/>
    <configure name="MAG_HMC58XX_TC" default="0"/>
    <define name="HMC58XX_DEFAULT_SA" value="$(MAG_HMC58XX_SA)"/>
    <define name="HMC58XX_DEFAULT_TC" value="$(MAG_HMC58XX_SA)"/>
    <test>
      <define name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
      <define name="USE_I2C1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>