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AP_Compass: detect conflict between AK09916 and ICM20948

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this detects if we have both a AK09916 and an ICM20948 on the same i2c
bus. If that is found then the ICM20948 is disabled as it otherwise we
will have two devices on the same i2c address
This commit is contained in:
Andrew Tridgell 2018-06-08 15:32:35 +10:00
parent c4175be7aa
commit b225868711
1 changed files with 42 additions and 7 deletions
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45
libraries/AP_Compass/AP_Compass_AK09916.cpp
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@ -119,17 +119,52 @@ bool AP_Compass_AK09916::init()
// not an ICM_WHOAMI
goto fail;
}
uint8_t retries = 5;
do {
// reset then bring sensor out of sleep mode
if (!dev_icm->write_register(REG_ICM_PWR_MGMT_1, 0x80)) {
goto fail;
}
hal.scheduler->delay(10);
if (!dev_icm->write_register(REG_ICM_PWR_MGMT_1, 0x00)) {
goto fail;
}
hal.scheduler->delay(10);
// see if ICM20948 is sleeping
if (!dev_icm->read_registers(REG_ICM_PWR_MGMT_1, &rval, 1)) {
goto fail;
}
if (rval & 0x40) {
// bring out of sleep mode, use internal oscillator
dev_icm->write_register(REG_ICM_PWR_MGMT_1, 0x00);
hal.scheduler->delay(10);
if ((rval & 0x40) == 0) {
break;
}
// enable i2c bypass
} while (retries--);
if (rval & 0x40) {
// it didn't come out of sleep
goto fail;
}
// initially force i2c bypass off
dev_icm->write_register(REG_ICM_INT_PIN_CFG, 0x00);
hal.scheduler->delay(1);
// now check if a AK09916 shows up on the bus. If it does then
// we have both a real AK09916 and a ICM20948 with an embedded
// AK09916. In that case we will fail the driver load and use
// the main AK09916 driver
uint16_t whoami;
if (dev->read_registers(REG_COMPANY_ID, (uint8_t *)&whoami, 2)) {
// a device is replying on the AK09916 I2C address, don't
// load the ICM20948
hal.console->printf("ICM20948: AK09916 bus conflict\n");
goto fail;
}
// now force bypass on
dev_icm->write_register(REG_ICM_INT_PIN_CFG, 0x02);
hal.scheduler->delay(1);
}
uint16_t whoami;