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Implementation of MMC5983MA magnetometer driver and fix to pin assignments for magnetorquer outputs. #95

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merged 6 commits into from
May 8, 2024
Merged

Implementation of MMC5983MA magnetometer driver and fix to pin assignments for magnetorquer outputs. #95

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a6fe77c
Initial working version of MMC5983MA dirver with ADCS firmware
Apr 15, 2024
38b6322
Merge branch 'master-adcs-v1.2-mmc5983ma'
Apr 15, 2024
962b77a
Removed comments
Apr 16, 2024
90f800f
Fixed issue with data packing and unit conversion for MMC5983MA
Apr 28, 2024
0aa32ef
Fix to pin assignment for magnetorquer connections
Apr 28, 2024
f5589f8
Fixed mapping for analog current feedback for X and Z axis
Apr 28, 2024
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28 changes: 14 additions & 14 deletions boards/ORESAT_ADCS_V1_2/board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -90,9 +90,9 @@
#define GPIOB_IMU_INT3 10U
#define GPIOB_MT_X_PHASE 11U
#define GPIOB_IMU_INT1 12U
#define GPIOB_MT_X_PWM 13U
#define GPIOB_MT_Z_PWM 13U
#define GPIOB_MT_Y_PWM 14U
#define GPIOB_MT_Z_PWM 15U
#define GPIOB_MT_X_PWM 15U

//#define GPIOB_IMU_INT2 13U
//#define GPIOB_IMU_INT4 14U
Expand Down Expand Up @@ -402,9 +402,9 @@
PIN_MODE_INPUT(GPIOB_IMU_INT3) | \
PIN_MODE_OUTPUT(GPIOB_MT_X_PHASE) | \
PIN_MODE_INPUT(GPIOB_IMU_INT1) | \
PIN_MODE_ALTERNATE(GPIOB_MT_X_PWM) | \
PIN_MODE_ALTERNATE(GPIOB_MT_Z_PWM) | \
PIN_MODE_ALTERNATE(GPIOB_MT_Y_PWM) | \
PIN_MODE_ALTERNATE(GPIOB_MT_Z_PWM))
PIN_MODE_ALTERNATE(GPIOB_MT_X_PWM))

#define VAL_GPIOB_OTYPER (PIN_OTYPE_PUSHPULL(GPIOB_MT_Z_PHASE) | \
PIN_OTYPE_PUSHPULL(GPIOB_IMU_INT2) | \
Expand All @@ -419,9 +419,9 @@
PIN_OTYPE_PUSHPULL(GPIOB_IMU_INT3) | \
PIN_OTYPE_PUSHPULL(GPIOB_MT_X_PHASE) | \
PIN_OTYPE_PUSHPULL(GPIOB_IMU_INT1) | \
PIN_OTYPE_PUSHPULL(GPIOB_MT_X_PWM) | \
PIN_OTYPE_PUSHPULL(GPIOB_MT_Z_PWM) | \
PIN_OTYPE_PUSHPULL(GPIOB_MT_Y_PWM) | \
PIN_OTYPE_PUSHPULL(GPIOB_MT_Z_PWM))
PIN_OTYPE_PUSHPULL(GPIOB_MT_X_PWM))

#define VAL_GPIOB_OSPEEDR (PIN_OSPEED_HIGH(GPIOB_MT_Z_PHASE) | \
PIN_OSPEED_HIGH(GPIOB_IMU_INT2) | \
Expand All @@ -436,9 +436,9 @@
PIN_OSPEED_HIGH(GPIOB_IMU_INT3) | \
PIN_OSPEED_HIGH(GPIOB_MT_X_PHASE) | \
PIN_OSPEED_HIGH(GPIOB_IMU_INT1) | \
PIN_OSPEED_HIGH(GPIOB_MT_X_PWM) | \
PIN_OSPEED_HIGH(GPIOB_MT_Z_PWM) | \
PIN_OSPEED_HIGH(GPIOB_MT_Y_PWM) | \
PIN_OSPEED_HIGH(GPIOB_MT_Z_PWM))
PIN_OSPEED_HIGH(GPIOB_MT_X_PWM))
#define VAL_GPIOB_PUPDR (PIN_PUPDR_FLOATING(GPIOB_MT_Z_PHASE) | \
PIN_PUPDR_FLOATING(GPIOB_IMU_INT2) | \
PIN_PUPDR_FLOATING(GPIOB_MT_Y_PHASE) | \
Expand All @@ -452,9 +452,9 @@
PIN_PUPDR_FLOATING(GPIOB_IMU_INT3) | \
PIN_PUPDR_FLOATING(GPIOB_MT_X_PHASE) | \
PIN_PUPDR_FLOATING(GPIOB_IMU_INT1) | \
PIN_PUPDR_FLOATING(GPIOB_MT_X_PWM) | \
PIN_PUPDR_FLOATING(GPIOB_MT_Z_PWM) | \
PIN_PUPDR_FLOATING(GPIOB_MT_Y_PWM) | \
PIN_PUPDR_FLOATING(GPIOB_MT_Z_PWM))
PIN_PUPDR_FLOATING(GPIOB_MT_X_PWM))
#define VAL_GPIOB_ODR (PIN_ODR_LOW(GPIOB_MT_Z_PHASE) | \
PIN_ODR_HIGH(GPIOB_IMU_INT2) | \
PIN_ODR_LOW(GPIOB_MT_Y_PHASE) | \
Expand All @@ -468,9 +468,9 @@
PIN_ODR_HIGH(GPIOB_IMU_INT3) | \
PIN_ODR_LOW(GPIOB_MT_X_PHASE) | \
PIN_ODR_HIGH(GPIOB_IMU_INT1) | \
PIN_ODR_LOW(GPIOB_MT_X_PWM) | \
PIN_ODR_LOW(GPIOB_MT_Z_PWM) | \
PIN_ODR_LOW(GPIOB_MT_Y_PWM) | \
PIN_ODR_LOW(GPIOB_MT_Z_PWM))
PIN_ODR_LOW(GPIOB_MT_X_PWM))
#define VAL_GPIOB_AFRL (PIN_AFIO_AF(GPIOB_MT_Z_PHASE, 0U) | \
PIN_AFIO_AF(GPIOB_IMU_INT2, 0U) | \
PIN_AFIO_AF(GPIOB_MT_Y_PHASE, 0U) | \
Expand All @@ -484,9 +484,9 @@
PIN_AFIO_AF(GPIOB_IMU_INT3, 0U) | \
PIN_AFIO_AF(GPIOB_MT_X_PHASE, 0U) | \
PIN_AFIO_AF(GPIOB_IMU_INT1, 0U) | \
PIN_AFIO_AF(GPIOB_MT_X_PWM, 2U) | \
PIN_AFIO_AF(GPIOB_MT_Z_PWM, 2U) | \
PIN_AFIO_AF(GPIOB_MT_Y_PWM, 2U) | \
PIN_AFIO_AF(GPIOB_MT_Z_PWM, 2U))
PIN_AFIO_AF(GPIOB_MT_X_PWM, 2U))

/*
* GPIOC setup:
Expand Down
203 changes: 203 additions & 0 deletions common/include/mmc5983ma.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,203 @@
#ifndef COMMON_INCLUDE_MMC5983MA_H_
#define COMMON_INCLUDE_MMC5983MA_H_





#define MMC5983MA_I2C_ADDRESS_READ (0x30)
#define MMC5983MA_I2C_ADDRESS_WRITE (0x30)

#define MMC5983MA_EXPECTED_PRODUCT_CODE 0x30


#define MMC5983MA_XOUT_0 0x00
#define MMC5983MA_STATUS 0x08
#define MMC5983MA_CONTROL_0 0x09
#define MMC5983MA_CONTROL_1 0x10
#define MMC5983MA_CONTROL_2 0x11
#define MMC5983MA_CONTROL_3 0x12
#define MMC5983MA_PRODUCT_ID 0x2F




#define MMC5983MA_STATUS_MEAS_M_DONE (1<<0)

#define MMC5983MA_CONTROL_0_TM_M (1<<0)
#define MMC5983MA_CONTROL_0_SET (1<<3)
#define MMC5983MA_CONTROL_0_RESET (1<<4)

#define MMC5983MA_CONTROL_1_SW_RST_CMD (1<<7)

#define MMC5983MA_CONTROL_2_CM_FREQ_1HZ 0x01




/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/

/**
* @name Configuration options
* @{
*/
/**
* @brief MMC5983MA I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p TRUE.
*/
#if !defined(MMC5983MA_USE_I2C) || defined(__DOXYGEN__)
#define MMC5983MA_USE_I2C TRUE
#endif

/**
* @brief MMC5983MA shared I2C switch.
* @details If set to @p TRUE the device acquires I2C bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
*/
#if !defined(MMC5983MA_SHARED_I2C) || defined(__DOXYGEN__)
#define MMC5983MA_SHARED_I2C FALSE
#endif
/** @} */

/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/

#if MMC5983MA_USE_I2C && !HAL_USE_I2C
#error "MMC5983MA_USE_I2C requires HAL_USE_I2C"
#endif

#if MMC5983MA_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "MMC5983MA_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif

/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/

/**
* @name MMC5983MA data structures and types.
* @{
*/


/**
* @brief Structure representing a MMC5983MA driver.
*/
typedef struct MMC5983MADriver MMC5983MADriver;


/**
* @brief Driver state machine possible states.
*/
typedef enum {
MMC5983MA_UNINIT = 0, /**< Not initialized. */
MMC5983MA_STOP = 1, /**< Stopped. */
MMC5983MA_READY = 2, /**< Ready. */
} mmc5983ma_state_t;

/**
* @brief MMC5983MA configuration structure.
*/
typedef struct {
#if (MMC5983MA_USE_I2C) || defined(__DOXYGEN__)
/**
* @brief I2C driver associated with this MMC5983MA.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated with this MMC5983MA.
*/
const I2CConfig *i2ccfg;
/**
* @brief MMC5983MA Slave Address
*/
//i2caddr_t saddr;
#endif /* MMC5983MA_USE_I2C */
} MMC5983MAConfig;

/**
* @brief @p MMC5983MA specific methods.
*/
#define _mmc5983ma_methods_alone

/**
* @brief @p MMC5983MA specific methods with inherited ones.
*/
#define _mmc5983ma_methods \
_base_object_methods

/**
* @extends BaseObjectVMT
*
* @brief @p MMC5983MA virtual methods table.
*/
struct MMC5983MAVMT {
_mmc5983ma_methods
};


/**
* @brief @p MMC5983MADriver specific data.
*/
#define _mmc5983ma_data \
_base_object_data \
/* Driver state.*/ \
mmc5983ma_state_t state; \
/* Current configuration data.*/ \
const MMC5983MAConfig *config; \
float bridge_offset_estimate_x; \
float bridge_offset_estimate_y; \
float bridge_offset_estimate_z; \
uint32_t read_call_count;

/**
* @brief MMC5983MA Power Monitor class.
*/
struct MMC5983MADriver {
/** @brief Virtual Methods Table.*/
const struct MMC5983MAVMT *vmt;
_mmc5983ma_data
};



typedef struct {
int16_t mx;
int16_t my;
int16_t mz;
} mmc5983ma_data_t;


/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/

#ifdef __cplusplus
extern "C" {
#endif
void mmc5983maObjectInit(MMC5983MADriver *devp);
bool mmc5983maStart(MMC5983MADriver *devp, const MMC5983MAConfig *config);
void mmc5983maStop(MMC5983MADriver *devp);
int32_t mmc5983maRawToMilliGauss(const int16_t raw);
bool mmc5983maReadData(MMC5983MADriver *devp, mmc5983ma_data_t *dest);
bool mmc5983maI2CReadRegister3(I2CDriver *i2cp, const uint8_t i2c_address, const uint8_t reg_number, uint8_t *dest_value);
bool mmc5983maI2CReadRegister4(I2CDriver *i2cp, const uint8_t i2c_address, const uint8_t reg_number, uint16_t *dest_value);
float mmc5983maRawToGauss(const int16_t raw);
#ifdef __cplusplus
}
#endif









#endif /* COMMON_INCLUDE_MMC5983MA_H_ */
18 changes: 9 additions & 9 deletions common/mmc5883ma.c
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Original file line number Diff line number Diff line change
Expand Up @@ -235,7 +235,7 @@ void mmc5883maObjectInit(MMC5883MADriver *devp) {
}

bool mmc5883maSoftReset(MMC5883MADriver *devp) {
chprintf(DEBUG_SD, "Resetting MMC4883...\r\n");
chprintf(DEBUG_SD, "Resetting MMC5883...\r\n");
bool r = mmc5883maI2CWriteRegister2(devp->config->i2cp, MMC5883MA_AD_INTRNLCTRL1, MMC5883MA_INTRNLCTRL1_SW_RST_CMD);
chThdSleepMilliseconds(5);
return(r);
Expand All @@ -249,7 +249,7 @@ bool mmc5883maSoftReset(MMC5883MADriver *devp) {
*
* @api
*/
uint8_t mmc_product_id_readback;
uint8_t mmc5883ma_product_id_readback;

bool mmc5883maStart(MMC5883MADriver *devp, const MMC5883MAConfig *config) {
osalDbgCheck((devp != NULL) && (config != NULL));
Expand All @@ -273,25 +273,25 @@ bool mmc5883maStart(MMC5883MADriver *devp, const MMC5883MAConfig *config) {
bool found_mmc5883ma_flag = false;

//Probe I2C bus to see what's attached
if( ! mmc5883maI2CReadRegister3(devp->config->i2cp, MMC5883MA_I2C_ADDRESS_READ, MMC5883MA_AD_PRDCT_ID_1, &mmc_product_id_readback) ) {
if( ! mmc5883maI2CReadRegister3(devp->config->i2cp, MMC5883MA_I2C_ADDRESS_READ, MMC5883MA_AD_PRDCT_ID_1, &mmc5883ma_product_id_readback) ) {
chprintf(DEBUG_SD, "Failed to read product code from MMC5883MA chip, i2c comm failure\r\n");
} else {
if( mmc_product_id_readback == MMC5883MA_EXPECTED_PRODUCT_CODE ) {
chprintf(DEBUG_SD, "Successfully read product code from MMC5883MA (good), 0x%X\r\n", mmc_product_id_readback);
if( mmc5883ma_product_id_readback == MMC5883MA_EXPECTED_PRODUCT_CODE ) {
chprintf(DEBUG_SD, "Successfully read product code from MMC5883MA (good), 0x%X\r\n", mmc5883ma_product_id_readback);
found_mmc5883ma_flag = true;
} else {
chprintf(DEBUG_SD, "ERROR: unexpected product ID code from MMC5883MA, read 0x%X, expectex 0x%X\r\n", mmc_product_id_readback, MMC5883MA_EXPECTED_PRODUCT_CODE);
chprintf(DEBUG_SD, "ERROR: unexpected product ID code from MMC5883MA, read 0x%X, expected 0x%X\r\n", mmc5883ma_product_id_readback, MMC5883MA_EXPECTED_PRODUCT_CODE);
}
}

if( found_mmc5883ma_flag ) {
mmc5883maSoftReset(devp);

if( ! mmc5883maI2CReadRegister2(devp->config->i2cp, MMC5883MA_AD_PRDCT_ID_1, &mmc_product_id_readback) ) {
if( ! mmc5883maI2CReadRegister2(devp->config->i2cp, MMC5883MA_AD_PRDCT_ID_1, &mmc5883ma_product_id_readback) ) {
devp->state = MMC5883MA_STOP;
} else {
chprintf(DEBUG_SD, "Read MMC5883MA product code as 0x%X, expected 0x%X\r\n", mmc_product_id_readback, MMC5883MA_EXPECTED_PRODUCT_CODE);
if( mmc_product_id_readback != MMC5883MA_EXPECTED_PRODUCT_CODE ) {
chprintf(DEBUG_SD, "Read MMC5883MA product code as 0x%X, expected 0x%X\r\n", mmc5883ma_product_id_readback, MMC5883MA_EXPECTED_PRODUCT_CODE);
if( mmc5883ma_product_id_readback != MMC5883MA_EXPECTED_PRODUCT_CODE ) {
chprintf(DEBUG_SD, "ERROR: Read incorrect MMC5883MA product code!!!\r\n");
devp->state = MMC5883MA_STOP;
}
Expand Down
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