mirror of https://github.com/ArduPilot/ardupilot
481 lines
12 KiB
C++
481 lines
12 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include "AP_Compass_AK8963.h"
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#include <AP_InertialSensor/AP_InertialSensor_MPU9250.h>
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#define AK8963_I2C_ADDR 0x0c
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#define AK8963_WIA 0x00
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# define AK8963_Device_ID 0x48
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#define AK8963_HXL 0x03
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/* bit definitions for AK8963 CNTL1 */
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#define AK8963_CNTL1 0x0A
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# define AK8963_CONTINUOUS_MODE1 0x02
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# define AK8963_CONTINUOUS_MODE2 0x06
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# define AK8963_SELFTEST_MODE 0x08
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# define AK8963_POWERDOWN_MODE 0x00
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# define AK8963_FUSE_MODE 0x0f
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# define AK8963_16BIT_ADC 0x10
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# define AK8963_14BIT_ADC 0x00
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#define AK8963_CNTL2 0x0B
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# define AK8963_RESET 0x01
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#define AK8963_ASAX 0x10
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#define AK8963_DEBUG 0
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#if AK8963_DEBUG
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#include <stdio.h>
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#define error(...) do { fprintf(stderr, __VA_ARGS__); } while (0)
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#define ASSERT(x) assert(x)
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#else
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#define error(...) do { } while (0)
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#ifndef ASSERT
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#define ASSERT(x)
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#endif
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#endif
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#define AK8963_MILLIGAUSS_SCALE 10.0f
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extern const AP_HAL::HAL& hal;
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AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus) :
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AP_Compass_Backend(compass),
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_initialized(false),
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_last_update_timestamp(0),
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_last_accum_time(0),
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_bus(bus)
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{
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_reset_filter();
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}
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AP_Compass_Backend *AP_Compass_AK8963::detect_mpu9250(Compass &compass, uint8_t mpu9250_instance)
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{
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AP_InertialSensor &ins = *AP_InertialSensor::get_instance();
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AP_AK8963_SerialBus *bus = new AP_AK8963_SerialBus_MPU9250(ins, AK8963_I2C_ADDR, mpu9250_instance);
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if (!bus)
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return nullptr;
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return _detect(compass, bus);
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}
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AP_Compass_Backend *AP_Compass_AK8963::detect_i2c(Compass &compass,
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AP_HAL::I2CDriver *i2c,
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uint8_t addr)
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{
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AP_AK8963_SerialBus *bus = new AP_AK8963_SerialBus_I2C(i2c, addr);
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if (!bus)
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return nullptr;
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return _detect(compass, bus);
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}
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AP_Compass_Backend *AP_Compass_AK8963::detect_mpu9250_i2c(Compass &compass,
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AP_HAL::I2CDriver *i2c,
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uint8_t addr)
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{
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AP_InertialSensor &ins = *AP_InertialSensor::get_instance();
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ins.detect_backends();
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return detect_i2c(compass, i2c, addr);
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}
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AP_Compass_Backend *AP_Compass_AK8963::_detect(Compass &compass,
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AP_AK8963_SerialBus *bus)
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{
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AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus);
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if (sensor == nullptr) {
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delete bus;
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return nullptr;
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}
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if (!sensor->init()) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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AP_Compass_AK8963::~AP_Compass_AK8963()
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{
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delete _bus;
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}
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/* stub to satisfy Compass API*/
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void AP_Compass_AK8963::accumulate(void)
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{
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}
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bool AP_Compass_AK8963::init()
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{
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_bus_sem = _bus->get_semaphore();
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hal.scheduler->suspend_timer_procs();
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if (!_bus_sem->take(100)) {
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hal.console->printf("AK8963: Unable to get bus semaphore");
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goto fail_sem;
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}
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if (!_check_id()) {
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hal.console->printf("AK8963: Wrong id\n");
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goto fail;
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}
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if (!_calibrate()) {
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hal.console->printf("AK8963: Could not read calibration data\n");
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goto fail;
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}
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if (!_setup_mode()) {
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hal.console->printf("AK8963: Could not setup mode\n");
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goto fail;
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}
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if (!_bus->start_measurements()) {
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hal.console->printf("AK8963: Could not start measurements\n");
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goto fail;
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}
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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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set_dev_id(_compass_instance, _bus->get_dev_id());
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void));
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_bus_sem->give();
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hal.scheduler->resume_timer_procs();
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return true;
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fail:
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_bus_sem->give();
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fail_sem:
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hal.scheduler->resume_timer_procs();
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return false;
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}
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void AP_Compass_AK8963::read()
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{
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if (!_initialized) {
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return;
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}
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if (_accum_count == 0) {
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/* We're not ready to publish*/
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return;
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}
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hal.scheduler->suspend_timer_procs();
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auto field = _get_filtered_field();
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_reset_filter();
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hal.scheduler->resume_timer_procs();
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publish_filtered_field(field, _compass_instance);
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}
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Vector3f AP_Compass_AK8963::_get_filtered_field() const
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{
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Vector3f field(_mag_x_accum, _mag_y_accum, _mag_z_accum);
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field /= _accum_count;
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return field;
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}
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void AP_Compass_AK8963::_reset_filter()
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{
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_mag_x_accum = _mag_y_accum = _mag_z_accum = 0;
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_accum_count = 0;
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}
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void AP_Compass_AK8963::_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_AK8963::_make_factory_sensitivity_adjustment(Vector3f& field) const
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{
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field.x *= _magnetometer_ASA[0];
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field.y *= _magnetometer_ASA[1];
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field.z *= _magnetometer_ASA[2];
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}
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void AP_Compass_AK8963::_update()
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{
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struct AP_AK8963_SerialBus::raw_value rv;
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float mag_x, mag_y, mag_z;
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// get raw_field - sensor frame, uncorrected
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Vector3f raw_field;
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uint32_t time_us = hal.scheduler->micros();
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if (hal.scheduler->micros() - _last_update_timestamp < 10000) {
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goto end;
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}
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if (!_sem_take_nonblocking()) {
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goto end;
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}
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_bus->read_raw(&rv);
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/* Check for overflow. See AK8963's datasheet, section
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* 6.4.3.6 - Magnetic Sensor Overflow. */
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if ((rv.st2 & 0x08)) {
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goto fail;
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}
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mag_x = (float) rv.val[0];
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mag_y = (float) rv.val[1];
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mag_z = (float) rv.val[2];
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if (is_zero(mag_x) && is_zero(mag_y) && is_zero(mag_z)) {
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goto fail;
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}
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raw_field = Vector3f(mag_x, mag_y, mag_z);
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_make_factory_sensitivity_adjustment(raw_field);
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_make_adc_sensitivity_adjustment(raw_field);
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raw_field *= AK8963_MILLIGAUSS_SCALE;
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// rotate raw_field from sensor frame to body frame
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rotate_field(raw_field, _compass_instance);
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// publish raw_field (uncorrected point sample) for calibration use
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publish_raw_field(raw_field, time_us, _compass_instance);
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// correct raw_field for known errors
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correct_field(raw_field, _compass_instance);
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// publish raw_field (corrected point sample) for EKF use
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publish_unfiltered_field(raw_field, time_us, _compass_instance);
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_mag_x_accum += raw_field.x;
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_mag_y_accum += raw_field.y;
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_mag_z_accum += raw_field.z;
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_accum_count++;
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if (_accum_count == 10) {
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_mag_x_accum /= 2;
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_mag_y_accum /= 2;
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_mag_z_accum /= 2;
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_accum_count = 5;
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}
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_last_update_timestamp = hal.scheduler->micros();
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fail:
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_sem_give();
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end:
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return;
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}
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bool AP_Compass_AK8963::_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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_bus->register_read(AK8963_WIA, &deviceid, 0x01); /* Read AK8963's id */
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if (deviceid == AK8963_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_AK8963::_setup_mode() {
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_bus->register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
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return true;
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}
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bool AP_Compass_AK8963::_reset()
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{
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_bus->register_write(AK8963_CNTL2, AK8963_RESET);
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return true;
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}
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bool AP_Compass_AK8963::_calibrate()
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{
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/* Enable FUSE-mode in order to be able to read calibration data */
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_bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | AK8963_16BIT_ADC);
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uint8_t response[3];
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_bus->register_read(AK8963_ASAX, response, 3);
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for (int i = 0; i < 3; i++) {
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float data = response[i];
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_magnetometer_ASA[i] = ((data - 128) / 256 + 1);
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error("%d: %lf\n", i, _magnetometer_ASA[i]);
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}
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return true;
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}
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bool AP_Compass_AK8963::_sem_take_blocking()
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{
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return _bus_sem->take(10);
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}
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bool AP_Compass_AK8963::_sem_give()
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{
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return _bus_sem->give();
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}
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bool AP_Compass_AK8963::_sem_take_nonblocking()
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{
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static int _sem_failure_count = 0;
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if (_bus_sem->take_nonblocking()) {
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_sem_failure_count = 0;
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return true;
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}
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if (!hal.scheduler->system_initializing() ) {
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_sem_failure_count++;
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if (_sem_failure_count > 100) {
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hal.scheduler->panic("PANIC: failed to take _bus->sem "
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"100 times in a row, in "
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"AP_Compass_AK8963");
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}
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}
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return false;
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}
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void AP_Compass_AK8963::_dump_registers()
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{
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#if AK8963_DEBUG
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error("MPU9250 registers\n");
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static uint8_t regs[0x7e];
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_bus_read(0x0, regs, 0x7e);
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for (uint8_t reg=0x00; reg<=0x7E; reg++) {
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uint8_t v = regs[reg];
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error(("%d:%02x "), (unsigned)reg, (unsigned)v);
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if (reg % 16 == 0) {
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error("\n");
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}
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}
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error("\n");
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#endif
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}
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/* MPU9250 implementation of the AK8963 */
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AP_AK8963_SerialBus_MPU9250::AP_AK8963_SerialBus_MPU9250(AP_InertialSensor &ins,
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uint8_t addr,
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uint8_t mpu9250_instance)
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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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_bus = ins.get_auxiliary_bus(HAL_INS_MPU9250, mpu9250_instance);
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if (!_bus)
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hal.scheduler->panic("Cannot get MPU9250 auxiliary bus");
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_slave = _bus->request_next_slave(addr);
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}
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AP_AK8963_SerialBus_MPU9250::~AP_AK8963_SerialBus_MPU9250()
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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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void AP_AK8963_SerialBus_MPU9250::register_write(uint8_t reg, uint8_t value)
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{
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_slave->passthrough_write(reg, value);
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}
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void AP_AK8963_SerialBus_MPU9250::register_read(uint8_t reg, uint8_t *value, uint8_t count)
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{
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_slave->passthrough_read(reg, value, count);
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}
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void AP_AK8963_SerialBus_MPU9250::read_raw(struct raw_value *rv)
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{
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if (_started) {
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_slave->read((uint8_t*)rv);
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return;
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}
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_slave->passthrough_read(0x03, (uint8_t*)rv, sizeof(*rv));
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}
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AP_HAL::Semaphore * AP_AK8963_SerialBus_MPU9250::get_semaphore()
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{
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return _bus ? _bus->get_semaphore() : nullptr;
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}
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bool AP_AK8963_SerialBus_MPU9250::start_measurements()
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{
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if (_bus->register_periodic_read(_slave, AK8963_HXL, sizeof(struct raw_value)) < 0)
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return false;
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_started = true;
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return true;
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}
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uint32_t AP_AK8963_SerialBus_MPU9250::get_dev_id()
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{
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return AP_COMPASS_TYPE_AK8963_MPU9250;
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}
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/* I2C implementation of the AK8963 */
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AP_AK8963_SerialBus_I2C::AP_AK8963_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr) :
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_i2c(i2c),
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_addr(addr)
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{
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}
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void AP_AK8963_SerialBus_I2C::register_write(uint8_t reg, uint8_t value)
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{
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_i2c->writeRegister(_addr, reg, value);
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}
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void AP_AK8963_SerialBus_I2C::register_read(uint8_t reg, uint8_t *value, uint8_t count)
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{
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_i2c->readRegisters(_addr, reg, count, value);
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}
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void AP_AK8963_SerialBus_I2C::read_raw(struct raw_value *rv)
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{
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_i2c->readRegisters(_addr, AK8963_HXL, sizeof(*rv), (uint8_t *) rv);
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}
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AP_HAL::Semaphore * AP_AK8963_SerialBus_I2C::get_semaphore()
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{
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return _i2c->get_semaphore();
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}
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uint32_t AP_AK8963_SerialBus_I2C::get_dev_id()
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{
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return AP_COMPASS_TYPE_AK8963_I2C;
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}
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#endif // CONFIG_HAL_BOARD
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