/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see .
*/
/*
Driver by Andrew Tridgell, Nov 2016
*/
#include "AP_Compass_AK09916.h"
#include
#include
#include
#include
#define REG_COMPANY_ID 0x00
#define REG_DEVICE_ID 0x01
#define REG_ST1 0x10
#define REG_HXL 0x11
#define REG_HXH 0x12
#define REG_HYL 0x13
#define REG_HYH 0x14
#define REG_HZL 0x15
#define REG_HZH 0x16
#define REG_TMPS 0x17
#define REG_ST2 0x18
#define REG_CNTL1 0x30
#define REG_CNTL2 0x31
#define REG_CNTL3 0x32
#define REG_ICM_WHOAMI 0x00
#define REG_ICM_PWR_MGMT_1 0x06
#define REG_ICM_INT_PIN_CFG 0x0f
#define ICM_WHOAMI_VAL 0xEA
extern const AP_HAL::HAL &hal;
/*
probe for AK09916 directly on I2C
*/
AP_Compass_Backend *AP_Compass_AK09916::probe(Compass &compass,
AP_HAL::OwnPtr dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(compass, std::move(dev), nullptr,
force_external,
rotation, AK09916_I2C);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
/*
probe for AK09916 connected via an ICM20948
*/
AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(Compass &compass,
AP_HAL::OwnPtr dev,
AP_HAL::OwnPtr dev_icm,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(compass, std::move(dev), std::move(dev_icm),
force_external,
rotation, AK09916_ICM20948_I2C);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
AP_Compass_AK09916::AP_Compass_AK09916(Compass &compass,
AP_HAL::OwnPtr _dev,
AP_HAL::OwnPtr _dev_icm,
bool _force_external,
enum Rotation _rotation,
enum bus_type _bus_type)
: AP_Compass_Backend(compass)
, bus_type(_bus_type)
, dev(std::move(_dev))
, dev_icm(std::move(_dev_icm))
, force_external(_force_external)
, rotation(_rotation)
{
}
bool AP_Compass_AK09916::init()
{
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
if (bus_type == AK09916_ICM20948_I2C && dev_icm) {
uint8_t rval;
if (!dev_icm->read_registers(REG_ICM_WHOAMI, &rval, 1) ||
rval != ICM_WHOAMI_VAL) {
// 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) == 0) {
break;
}
} 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;
if (!dev->read_registers(REG_COMPANY_ID, (uint8_t *)&whoami, 2) ||
whoami != 0x0948) {
// not a AK09916
goto fail;
}
dev->setup_checked_registers(2);
dev->write_register(REG_CNTL2, 0x08, true); // continuous 100Hz
dev->write_register(REG_CNTL3, 0x00, true);
dev->get_semaphore()->give();
/* register the compass instance in the frontend */
compass_instance = register_compass();
printf("Found a AK09916 on 0x%x as compass %u\n", dev->get_bus_id(), compass_instance);
set_rotation(compass_instance, rotation);
if (force_external) {
set_external(compass_instance, true);
}
dev->set_device_type(bus_type == AK09916_ICM20948_I2C?DEVTYPE_ICM20948:DEVTYPE_AK09916);
set_dev_id(compass_instance, dev->get_bus_id());
// call timer() at 100Hz
dev->register_periodic_callback(10000,
FUNCTOR_BIND_MEMBER(&AP_Compass_AK09916::timer, void));
return true;
fail:
dev->get_semaphore()->give();
return false;
}
void AP_Compass_AK09916::timer()
{
struct PACKED {
int16_t magx;
int16_t magy;
int16_t magz;
uint8_t tmps;
uint8_t status2;
} data;
const float to_utesla = 4912.0f / 32752.0f;
const float utesla_to_milliGauss = 10;
const float range_scale = to_utesla * utesla_to_milliGauss;
Vector3f field;
// check data ready
uint8_t st1;
if (!dev->read_registers(REG_ST1, &st1, 1) || !(st1 & 1)) {
goto check_registers;
}
if (!dev->read_registers(REG_HXL, (uint8_t *)&data, sizeof(data))) {
goto check_registers;
}
field(data.magx * range_scale, data.magy * range_scale, data.magz * range_scale);
/* rotate raw_field from sensor frame to body frame */
rotate_field(field, compass_instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, compass_instance);
/* correct raw_field for known errors */
correct_field(field, compass_instance);
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
accum += field;
accum_count++;
_sem->give();
}
check_registers:
dev->check_next_register();
}
void AP_Compass_AK09916::read()
{
if (!_sem->take_nonblocking()) {
return;
}
if (accum_count == 0) {
_sem->give();
return;
}
accum /= accum_count;
publish_filtered_field(accum, compass_instance);
accum.zero();
accum_count = 0;
_sem->give();
}