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https://github.com/ArduPilot/ardupilot
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AP_Compass: add support for AK09916 via invensensev2 aux bus
This commit is contained in:
Siddharth Purohit
Andrew Tridgell
parent
528c0b4d7c
commit
cff8bf14b7
@ -622,13 +622,11 @@ void Compass::_probe_external_i2c_compasses(void)
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// AK09916 on ICM20948
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FOREACH_I2C_EXTERNAL(i) {
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ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
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GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
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true, ROTATION_PITCH_180_YAW_90));
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}
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FOREACH_I2C_INTERNAL(i) {
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ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
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GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
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all_external, ROTATION_PITCH_180_YAW_90));
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}
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@ -791,6 +789,7 @@ void Compass::_detect_backends(void)
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// we run the AK8963 only on the 2nd MPU9250, which leaves the
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// first MPU9250 to run without disturbance at high rate
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ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_YAW_270));
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ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe_ICM20948(0, ROTATION_ROLL_180_YAW_270));
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break;
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case AP_BoardConfig::PX4_BOARD_FMUV5:
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@ -17,10 +17,12 @@
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*/
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#include "AP_Compass_AK09916.h"
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#include <assert.h>
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#include <AP_HAL/AP_HAL.h>
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#include <utility>
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#include <AP_Math/AP_Math.h>
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#include <stdio.h>
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#include <AP_InertialSensor/AP_InertialSensor_Invensense.h>
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#define REG_COMPANY_ID 0x00
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#define REG_DEVICE_ID 0x01
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@ -41,13 +43,30 @@
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#define REG_ICM_PWR_MGMT_1 0x06
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#define REG_ICM_INT_PIN_CFG 0x0f
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#define ICM_WHOAMI_VAL 0xEA
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#define AK09916_Device_ID 0x09
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#define AK09916_MILLIGAUSS_SCALE 10.0f
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extern const AP_HAL::HAL &hal;
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/*
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probe for AK09916 directly on I2C
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*/
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struct PACKED sample_regs {
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int16_t val[3];
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uint8_t st2;
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};
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AP_Compass_AK09916::AP_Compass_AK09916(AP_AK09916_BusDriver *bus,
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bool force_external,
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enum Rotation rotation)
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: _bus(bus)
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, _force_external(force_external)
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, _rotation(rotation)
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{
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}
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AP_Compass_AK09916::~AP_Compass_AK09916()
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{
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delete _bus;
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}
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AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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bool force_external,
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enum Rotation rotation)
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@ -55,9 +74,12 @@ AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice>
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if (!dev) {
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return nullptr;
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}
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AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(std::move(dev), nullptr,
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force_external,
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rotation, AK09916_I2C);
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AP_AK09916_BusDriver *bus = new AP_AK09916_BusDriver_HALDevice(std::move(dev));
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if (!bus) {
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return nullptr;
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}
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AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(bus, force_external, rotation);
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if (!sensor || !sensor->init()) {
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delete sensor;
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return nullptr;
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@ -66,21 +88,33 @@ AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice>
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return sensor;
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}
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/*
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probe for AK09916 connected via an ICM20948
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*/
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AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
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bool force_external,
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enum Rotation rotation)
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{
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if (!dev || !dev_icm) {
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if (!dev) {
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return nullptr;
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}
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AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(std::move(dev), std::move(dev_icm),
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force_external,
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rotation, AK09916_ICM20948_I2C);
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AP_InertialSensor &ins = AP::ins();
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/* Allow MPU9250 to shortcut auxiliary bus and host bus */
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ins.detect_backends();
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return probe(std::move(dev), force_external, rotation);
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}
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AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(uint8_t inv2_instance,
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enum Rotation rotation)
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{
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AP_InertialSensor &ins = AP::ins();
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AP_AK09916_BusDriver *bus =
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new AP_AK09916_BusDriver_Auxiliary(ins, HAL_INS_INV2_SPI, inv2_instance, HAL_COMPASS_AK09916_I2C_ADDR);
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if (!bus) {
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return nullptr;
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}
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AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(bus, false, rotation);
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if (!sensor || !sensor->init()) {
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delete sensor;
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return nullptr;
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@ -89,152 +123,246 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2
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return sensor;
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}
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AP_Compass_AK09916::AP_Compass_AK09916(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
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AP_HAL::OwnPtr<AP_HAL::Device> _dev_icm,
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bool _force_external,
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enum Rotation _rotation,
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enum bus_type _bus_type)
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: bus_type(_bus_type)
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, dev(std::move(_dev))
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, dev_icm(std::move(_dev_icm))
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, force_external(_force_external)
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, rotation(_rotation)
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{
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}
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bool AP_Compass_AK09916::init()
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{
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if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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AP_HAL::Semaphore *bus_sem = _bus->get_semaphore();
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if (!bus_sem || !_bus->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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hal.console->printf("AK09916: Unable to get bus semaphore\n");
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return false;
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}
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if (bus_type == AK09916_ICM20948_I2C && dev_icm) {
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uint8_t rval;
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if (!dev_icm->read_registers(REG_ICM_WHOAMI, &rval, 1) ||
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rval != ICM_WHOAMI_VAL) {
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// not an ICM_WHOAMI
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goto fail;
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}
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uint8_t retries = 5;
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do {
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// reset then bring sensor out of sleep mode
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if (!dev_icm->write_register(REG_ICM_PWR_MGMT_1, 0x80)) {
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goto fail;
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}
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hal.scheduler->delay(10);
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if (!dev_icm->write_register(REG_ICM_PWR_MGMT_1, 0x00)) {
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goto fail;
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}
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hal.scheduler->delay(10);
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// see if ICM20948 is sleeping
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if (!dev_icm->read_registers(REG_ICM_PWR_MGMT_1, &rval, 1)) {
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goto fail;
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}
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if ((rval & 0x40) == 0) {
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break;
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}
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} while (retries--);
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if (rval & 0x40) {
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// it didn't come out of sleep
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if (!_bus->configure()) {
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hal.console->printf("AK09916: Could not configure the bus\n");
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goto fail;
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}
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// initially force i2c bypass off
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dev_icm->write_register(REG_ICM_INT_PIN_CFG, 0x00);
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hal.scheduler->delay(1);
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// now check if a AK09916 shows up on the bus. If it does then
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// we have both a real AK09916 and a ICM20948 with an embedded
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// AK09916. In that case we will fail the driver load and use
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// the main AK09916 driver
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uint16_t whoami;
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if (dev->read_registers(REG_COMPANY_ID, (uint8_t *)&whoami, 2)) {
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// a device is replying on the AK09916 I2C address, don't
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// load the ICM20948
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hal.console->printf("ICM20948: AK09916 bus conflict\n");
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if (!_check_id()) {
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hal.console->printf("AK09916: Wrong id\n");
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goto fail;
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}
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// now force bypass on
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dev_icm->write_register(REG_ICM_INT_PIN_CFG, 0x02);
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hal.scheduler->delay(1);
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}
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uint16_t whoami;
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if (!dev->read_registers(REG_COMPANY_ID, (uint8_t *)&whoami, 2) ||
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whoami != 0x0948) {
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// not a AK09916
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if (!_setup_mode()) {
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hal.console->printf("AK09916: Could not setup mode\n");
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goto fail;
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}
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dev->setup_checked_registers(2);
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if (!_bus->start_measurements()) {
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hal.console->printf("AK09916: Could not start measurements\n");
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goto fail;
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}
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dev->write_register(REG_CNTL2, 0x08, true); // continuous 100Hz
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dev->write_register(REG_CNTL3, 0x00, true);
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dev->get_semaphore()->give();
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_initialized = true;
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/* register the compass instance in the frontend */
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compass_instance = register_compass();
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_compass_instance = register_compass();
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printf("Found a AK09916 on 0x%x as compass %u\n", dev->get_bus_id(), compass_instance);
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set_rotation(compass_instance, rotation);
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if (force_external) {
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set_external(compass_instance, true);
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if (_force_external) {
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set_external(_compass_instance, true);
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}
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dev->set_device_type(bus_type == AK09916_ICM20948_I2C?DEVTYPE_ICM20948:DEVTYPE_AK09916);
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set_dev_id(compass_instance, dev->get_bus_id());
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set_rotation(_compass_instance, _rotation);
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// call timer() at 100Hz
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dev->register_periodic_callback(10000,
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FUNCTOR_BIND_MEMBER(&AP_Compass_AK09916::timer, void));
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_bus->set_device_type(DEVTYPE_AK09916);
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set_dev_id(_compass_instance, _bus->get_bus_id());
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bus_sem->give();
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_bus->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_AK09916::_update, void));
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return true;
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fail:
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dev->get_semaphore()->give();
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bus_sem->give();
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return false;
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}
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void AP_Compass_AK09916::timer()
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{
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struct PACKED {
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int16_t magx;
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int16_t magy;
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int16_t magz;
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uint8_t tmps;
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uint8_t status2;
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} data;
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const float to_utesla = 4912.0f / 32752.0f;
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const float utesla_to_milliGauss = 10;
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const float range_scale = to_utesla * utesla_to_milliGauss;
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Vector3f field;
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// check data ready
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uint8_t st1;
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if (!dev->read_registers(REG_ST1, &st1, 1) || !(st1 & 1)) {
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goto check_registers;
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}
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if (!dev->read_registers(REG_HXL, (uint8_t *)&data, sizeof(data))) {
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goto check_registers;
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}
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field(data.magx * range_scale, data.magy * range_scale, data.magz * range_scale);
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accumulate_sample(field, compass_instance);
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check_registers:
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dev->check_next_register();
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}
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void AP_Compass_AK09916::read()
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{
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drain_accumulated_samples(compass_instance);
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if (!_initialized) {
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return;
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}
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drain_accumulated_samples(_compass_instance);
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}
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void AP_Compass_AK09916::_make_adc_sensitivity_adjustment(Vector3f& field) const
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{
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static const float ADC_16BIT_RESOLUTION = 0.15f;
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field *= ADC_16BIT_RESOLUTION;
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}
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void AP_Compass_AK09916::_update()
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{
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struct sample_regs regs;
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Vector3f raw_field;
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if (!_bus->block_read(REG_HXL, (uint8_t *) ®s, sizeof(regs))) {
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return;
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}
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/* Check for overflow. See AK09916's datasheet*/
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if ((regs.st2 & 0x08)) {
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return;
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}
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raw_field = Vector3f(regs.val[0], regs.val[1], regs.val[2]);
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if (is_zero(raw_field.x) && is_zero(raw_field.y) && is_zero(raw_field.z)) {
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return;
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}
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_make_adc_sensitivity_adjustment(raw_field);
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raw_field *= AK09916_MILLIGAUSS_SCALE;
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accumulate_sample(raw_field, _compass_instance, 10);
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}
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bool AP_Compass_AK09916::_check_id()
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{
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for (int i = 0; i < 5; i++) {
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uint8_t deviceid = 0;
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/* Read AK09916's id */
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if (_bus->register_read(REG_DEVICE_ID, &deviceid) &&
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deviceid == AK09916_Device_ID) {
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return true;
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}
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}
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return false;
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}
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bool AP_Compass_AK09916::_setup_mode() {
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return _bus->register_write(REG_CNTL2, 0x04); //Continuous Mode 2
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}
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bool AP_Compass_AK09916::_reset()
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{
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return _bus->register_write(REG_CNTL3, 0x01); //Soft Reset
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}
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/* AP_HAL::I2CDevice implementation of the AK09916 */
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AP_AK09916_BusDriver_HALDevice::AP_AK09916_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
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: _dev(std::move(dev))
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{
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}
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bool AP_AK09916_BusDriver_HALDevice::block_read(uint8_t reg, uint8_t *buf, uint32_t size)
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{
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return _dev->read_registers(reg, buf, size);
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}
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bool AP_AK09916_BusDriver_HALDevice::register_read(uint8_t reg, uint8_t *val)
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{
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return _dev->read_registers(reg, val, 1);
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}
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bool AP_AK09916_BusDriver_HALDevice::register_write(uint8_t reg, uint8_t val)
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{
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return _dev->write_register(reg, val);
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}
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AP_HAL::Semaphore *AP_AK09916_BusDriver_HALDevice::get_semaphore()
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{
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return _dev->get_semaphore();
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}
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AP_HAL::Device::PeriodicHandle AP_AK09916_BusDriver_HALDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
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{
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return _dev->register_periodic_callback(period_usec, cb);
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}
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/* AK09916 on an auxiliary bus of IMU driver */
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AP_AK09916_BusDriver_Auxiliary::AP_AK09916_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
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uint8_t backend_instance, uint8_t addr)
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{
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/*
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* Only initialize members. Fails are handled by configure or while
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* getting the semaphore
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*/
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_bus = ins.get_auxiliary_bus(backend_id, backend_instance);
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if (!_bus) {
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return;
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}
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_slave = _bus->request_next_slave(addr);
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}
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AP_AK09916_BusDriver_Auxiliary::~AP_AK09916_BusDriver_Auxiliary()
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{
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/* After started it's owned by AuxiliaryBus */
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if (!_started) {
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delete _slave;
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}
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}
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bool AP_AK09916_BusDriver_Auxiliary::block_read(uint8_t reg, uint8_t *buf, uint32_t size)
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{
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if (_started) {
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/*
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* We can only read a block when reading the block of sample values -
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* calling with any other value is a mistake
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*/
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assert(reg == REG_HXL);
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int n = _slave->read(buf);
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return n == static_cast<int>(size);
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}
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int r = _slave->passthrough_read(reg, buf, size);
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return r > 0 && static_cast<uint32_t>(r) == size;
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}
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bool AP_AK09916_BusDriver_Auxiliary::register_read(uint8_t reg, uint8_t *val)
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{
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return _slave->passthrough_read(reg, val, 1) == 1;
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}
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|
||||
bool AP_AK09916_BusDriver_Auxiliary::register_write(uint8_t reg, uint8_t val)
|
||||
{
|
||||
return _slave->passthrough_write(reg, val) == 1;
|
||||
}
|
||||
|
||||
AP_HAL::Semaphore *AP_AK09916_BusDriver_Auxiliary::get_semaphore()
|
||||
{
|
||||
return _bus ? _bus->get_semaphore() : nullptr;
|
||||
}
|
||||
|
||||
bool AP_AK09916_BusDriver_Auxiliary::configure()
|
||||
{
|
||||
if (!_bus || !_slave) {
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool AP_AK09916_BusDriver_Auxiliary::start_measurements()
|
||||
{
|
||||
if (_bus->register_periodic_read(_slave, REG_HXL, sizeof(sample_regs)) < 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
_started = true;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
AP_HAL::Device::PeriodicHandle AP_AK09916_BusDriver_Auxiliary::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
|
||||
{
|
||||
return _bus->register_periodic_callback(period_usec, cb);
|
||||
}
|
||||
|
||||
// set device type within a device class
|
||||
void AP_AK09916_BusDriver_Auxiliary::set_device_type(uint8_t devtype)
|
||||
{
|
||||
_bus->set_device_type(devtype);
|
||||
}
|
||||
|
||||
// return 24 bit bus identifier
|
||||
uint32_t AP_AK09916_BusDriver_Auxiliary::get_bus_id(void) const
|
||||
{
|
||||
return _bus->get_bus_id();
|
||||
}
|
||||
|
||||
@ -26,50 +26,133 @@
|
||||
# define HAL_COMPASS_AK09916_I2C_ADDR 0x0C
|
||||
#endif
|
||||
|
||||
// the AK09916 can be connected via an ICM20948
|
||||
#ifndef HAL_COMPASS_ICM20948_I2C_ADDR
|
||||
# define HAL_COMPASS_ICM20948_I2C_ADDR 0x69
|
||||
#endif
|
||||
class AuxiliaryBus;
|
||||
class AuxiliaryBusSlave;
|
||||
class AP_InertialSensor;
|
||||
class AP_AK09916_BusDriver;
|
||||
|
||||
class AP_Compass_AK09916 : public AP_Compass_Backend
|
||||
{
|
||||
public:
|
||||
/* Probe for AK09916 standalone on I2C bus */
|
||||
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
|
||||
bool force_external = false,
|
||||
bool force_external,
|
||||
enum Rotation rotation = ROTATION_NONE);
|
||||
|
||||
// separate probe function for when behind a ICM20948 IMU
|
||||
/* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
|
||||
static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
|
||||
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
|
||||
bool force_external = false,
|
||||
bool force_external,
|
||||
enum Rotation rotation = ROTATION_NONE);
|
||||
|
||||
void read() override;
|
||||
/* Probe for AK09916 on auxiliary bus of ICM20948, connected through SPI */
|
||||
static AP_Compass_Backend *probe_ICM20948(uint8_t mpu9250_instance,
|
||||
enum Rotation rotation = ROTATION_NONE);
|
||||
|
||||
static constexpr const char *name = "AK09916";
|
||||
|
||||
virtual ~AP_Compass_AK09916();
|
||||
|
||||
void read() override;
|
||||
|
||||
private:
|
||||
enum bus_type {
|
||||
AK09916_I2C=0,
|
||||
AK09916_ICM20948_I2C,
|
||||
} bus_type;
|
||||
AP_Compass_AK09916(AP_AK09916_BusDriver *bus, bool force_external,
|
||||
enum Rotation rotation = ROTATION_NONE);
|
||||
|
||||
AP_Compass_AK09916(AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
||||
AP_HAL::OwnPtr<AP_HAL::Device> dev_icm,
|
||||
bool force_external,
|
||||
enum Rotation rotation,
|
||||
enum bus_type bus_type);
|
||||
|
||||
AP_HAL::OwnPtr<AP_HAL::Device> dev;
|
||||
AP_HAL::OwnPtr<AP_HAL::Device> dev_icm;
|
||||
|
||||
/**
|
||||
* Device periodic callback to read data from the sensor.
|
||||
*/
|
||||
bool init();
|
||||
void timer();
|
||||
void _make_factory_sensitivity_adjustment(Vector3f &field) const;
|
||||
void _make_adc_sensitivity_adjustment(Vector3f &field) const;
|
||||
|
||||
uint8_t compass_instance;
|
||||
bool force_external;
|
||||
enum Rotation rotation;
|
||||
bool _reset();
|
||||
bool _setup_mode();
|
||||
bool _check_id();
|
||||
bool _calibrate();
|
||||
|
||||
void _update();
|
||||
|
||||
AP_AK09916_BusDriver *_bus;
|
||||
|
||||
float _magnetometer_ASA[3] {0, 0, 0};
|
||||
bool _force_external;
|
||||
uint8_t _compass_instance;
|
||||
bool _initialized;
|
||||
enum Rotation _rotation;
|
||||
};
|
||||
|
||||
|
||||
class AP_AK09916_BusDriver
|
||||
{
|
||||
public:
|
||||
virtual ~AP_AK09916_BusDriver() { }
|
||||
|
||||
virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) = 0;
|
||||
virtual bool register_read(uint8_t reg, uint8_t *val) = 0;
|
||||
virtual bool register_write(uint8_t reg, uint8_t val) = 0;
|
||||
|
||||
virtual AP_HAL::Semaphore *get_semaphore() = 0;
|
||||
|
||||
virtual bool configure() { return true; }
|
||||
virtual bool start_measurements() { return true; }
|
||||
virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;
|
||||
|
||||
// set device type within a device class
|
||||
virtual void set_device_type(uint8_t devtype) = 0;
|
||||
|
||||
// return 24 bit bus identifier
|
||||
virtual uint32_t get_bus_id(void) const = 0;
|
||||
};
|
||||
|
||||
class AP_AK09916_BusDriver_HALDevice: public AP_AK09916_BusDriver
|
||||
{
|
||||
public:
|
||||
AP_AK09916_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
|
||||
|
||||
virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
|
||||
virtual bool register_read(uint8_t reg, uint8_t *val) override;
|
||||
virtual bool register_write(uint8_t reg, uint8_t val) override;
|
||||
|
||||
virtual AP_HAL::Semaphore *get_semaphore() override;
|
||||
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
|
||||
|
||||
// set device type within a device class
|
||||
void set_device_type(uint8_t devtype) override {
|
||||
_dev->set_device_type(devtype);
|
||||
}
|
||||
|
||||
// return 24 bit bus identifier
|
||||
uint32_t get_bus_id(void) const override {
|
||||
return _dev->get_bus_id();
|
||||
}
|
||||
|
||||
private:
|
||||
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
|
||||
};
|
||||
|
||||
class AP_AK09916_BusDriver_Auxiliary : public AP_AK09916_BusDriver
|
||||
{
|
||||
public:
|
||||
AP_AK09916_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
|
||||
uint8_t backend_instance, uint8_t addr);
|
||||
~AP_AK09916_BusDriver_Auxiliary();
|
||||
|
||||
bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
|
||||
bool register_read(uint8_t reg, uint8_t *val) override;
|
||||
bool register_write(uint8_t reg, uint8_t val) override;
|
||||
|
||||
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
|
||||
|
||||
AP_HAL::Semaphore *get_semaphore() override;
|
||||
|
||||
bool configure() override;
|
||||
bool start_measurements() override;
|
||||
|
||||
// set device type within a device class
|
||||
void set_device_type(uint8_t devtype) override;
|
||||
|
||||
// return 24 bit bus identifier
|
||||
uint32_t get_bus_id(void) const override;
|
||||
|
||||
private:
|
||||
AuxiliaryBus *_bus;
|
||||
AuxiliaryBusSlave *_slave;
|
||||
bool _started;
|
||||
};
|
||||
|
||||
Loading…
Reference in New Issue
Block a user