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ardupilot/libraries/AP_Compass/AP_Compass_AK8963.cpp

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/*
This program 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 program 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 <http://www.gnu.org/licenses/>.
*/
#include "AP_Compass_AK8963.h"
#if AP_COMPASS_AK8963_ENABLED
#include <assert.h>
#include <utility>
#include <AP_Math/AP_Math.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_InertialSensor/AP_InertialSensor_Invensense.h>
#define AK8963_I2C_ADDR 0x0c
#define AK8963_WIA 0x00
# define AK8963_Device_ID 0x48
#define AK8963_HXL 0x03
/* bit definitions for AK8963 CNTL1 */
#define AK8963_CNTL1 0x0A
# define AK8963_CONTINUOUS_MODE1 0x02
# define AK8963_CONTINUOUS_MODE2 0x06
# define AK8963_SELFTEST_MODE 0x08
# define AK8963_POWERDOWN_MODE 0x00
# define AK8963_FUSE_MODE 0x0f
# define AK8963_16BIT_ADC 0x10
# define AK8963_14BIT_ADC 0x00
#define AK8963_CNTL2 0x0B
# define AK8963_RESET 0x01
#define AK8963_ASAX 0x10
#define AK8963_MILLIGAUSS_SCALE 10.0f
extern const AP_HAL::HAL &hal;
AP_Compass_AK8963::AP_Compass_AK8963(AP_AK8963_BusDriver *bus,
enum Rotation rotation)
: _bus(bus)
, _rotation(rotation)
{
}
AP_Compass_AK8963::~AP_Compass_AK8963()
{
delete _bus;
}
AP_Compass_Backend *AP_Compass_AK8963::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_AK8963_BusDriver *bus = new AP_AK8963_BusDriver_HALDevice(std::move(dev));
if (!bus) {
return nullptr;
}
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(bus, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
#if AP_INERTIALSENSOR_ENABLED
AP_InertialSensor &ins = *AP_InertialSensor::get_singleton();
/* Allow MPU9250 to shortcut auxiliary bus and host bus */
ins.detect_backends();
#endif
return probe(std::move(dev), rotation);
}
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(uint8_t mpu9250_instance,
enum Rotation rotation)
{
#if AP_INERTIALSENSOR_ENABLED
AP_InertialSensor &ins = *AP_InertialSensor::get_singleton();
AP_AK8963_BusDriver *bus =
new AP_AK8963_BusDriver_Auxiliary(ins, HAL_INS_MPU9250_SPI, mpu9250_instance, AK8963_I2C_ADDR);
if (!bus) {
return nullptr;
}
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(bus, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
#else
return nullptr;
#endif
}
bool AP_Compass_AK8963::init()
{
AP_HAL::Semaphore *bus_sem = _bus->get_semaphore();
if (!bus_sem) {
return false;
}
_bus->get_semaphore()->take_blocking();
if (!_bus->configure()) {
DEV_PRINTF("AK8963: Could not configure the bus\n");
goto fail;
}
if (!_check_id()) {
DEV_PRINTF("AK8963: Wrong id\n");
goto fail;
}
if (!_calibrate()) {
DEV_PRINTF("AK8963: Could not read calibration data\n");
goto fail;
}
if (!_setup_mode()) {
DEV_PRINTF("AK8963: Could not setup mode\n");
goto fail;
}
if (!_bus->start_measurements()) {
DEV_PRINTF("AK8963: Could not start measurements\n");
goto fail;
}
_initialized = true;
/* register the compass instance in the frontend */
_bus->set_device_type(DEVTYPE_AK8963);
if (!register_compass(_bus->get_bus_id(), _compass_instance)) {
goto fail;
}
set_dev_id(_compass_instance, _bus->get_bus_id());
set_rotation(_compass_instance, _rotation);
bus_sem->give();
_bus->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void));
return true;
fail:
bus_sem->give();
return false;
}
void AP_Compass_AK8963::read()
{
if (!_initialized) {
return;
}
drain_accumulated_samples(_compass_instance);
}
void AP_Compass_AK8963::_make_adc_sensitivity_adjustment(Vector3f& field) const
{
static const float ADC_16BIT_RESOLUTION = 0.15f;
field *= ADC_16BIT_RESOLUTION;
}
void AP_Compass_AK8963::_make_factory_sensitivity_adjustment(Vector3f& field) const
{
field.x *= _magnetometer_ASA[0];
field.y *= _magnetometer_ASA[1];
field.z *= _magnetometer_ASA[2];
}
void AP_Compass_AK8963::_update()
{
struct sample_regs regs;
Vector3f raw_field;
if (!_bus->block_read(AK8963_HXL, (uint8_t *) &regs, sizeof(regs))) {
return;
}
/* Check for overflow. See AK8963's datasheet, section
* 6.4.3.6 - Magnetic Sensor Overflow. */
if ((regs.st2 & 0x08)) {
return;
}
raw_field = Vector3f(regs.val[0], regs.val[1], regs.val[2]);
if (is_zero(raw_field.x) && is_zero(raw_field.y) && is_zero(raw_field.z)) {
return;
}
_make_factory_sensitivity_adjustment(raw_field);
_make_adc_sensitivity_adjustment(raw_field);
raw_field *= AK8963_MILLIGAUSS_SCALE;
accumulate_sample(raw_field, _compass_instance, 10);
}
bool AP_Compass_AK8963::_check_id()
{
for (int i = 0; i < 5; i++) {
uint8_t deviceid = 0;
/* Read AK8963's id */
if (_bus->register_read(AK8963_WIA, &deviceid) &&
deviceid == AK8963_Device_ID) {
return true;
}
}
return false;
}
bool AP_Compass_AK8963::_setup_mode() {
return _bus->register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
}
bool AP_Compass_AK8963::_reset()
{
return _bus->register_write(AK8963_CNTL2, AK8963_RESET);
}
bool AP_Compass_AK8963::_calibrate()
{
/* Enable FUSE-mode in order to be able to read calibration data */
_bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | AK8963_16BIT_ADC);
uint8_t response[3];
_bus->block_read(AK8963_ASAX, response, 3);
for (int i = 0; i < 3; i++) {
float data = response[i];
_magnetometer_ASA[i] = ((data - 128) / 256 + 1);
}
return true;
}
/* AP_HAL::I2CDevice implementation of the AK8963 */
AP_AK8963_BusDriver_HALDevice::AP_AK8963_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: _dev(std::move(dev))
{
}
bool AP_AK8963_BusDriver_HALDevice::block_read(uint8_t reg, uint8_t *buf, uint32_t size)
{
return _dev->read_registers(reg, buf, size);
}
bool AP_AK8963_BusDriver_HALDevice::register_read(uint8_t reg, uint8_t *val)
{
return _dev->read_registers(reg, val, 1);
}
bool AP_AK8963_BusDriver_HALDevice::register_write(uint8_t reg, uint8_t val)
{
return _dev->write_register(reg, val);
}
AP_HAL::Semaphore *AP_AK8963_BusDriver_HALDevice::get_semaphore()
{
return _dev->get_semaphore();
}
AP_HAL::Device::PeriodicHandle AP_AK8963_BusDriver_HALDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
return _dev->register_periodic_callback(period_usec, cb);
}
/* AK8963 on an auxiliary bus of IMU driver */
AP_AK8963_BusDriver_Auxiliary::AP_AK8963_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
uint8_t backend_instance, uint8_t addr)
{
/*
* Only initialize members. Fails are handled by configure or while
* getting the semaphore
*/
#if AP_INERTIALSENSOR_ENABLED
_bus = ins.get_auxiliary_bus(backend_id, backend_instance);
if (!_bus) {
return;
}
_slave = _bus->request_next_slave(addr);
#endif
}
AP_AK8963_BusDriver_Auxiliary::~AP_AK8963_BusDriver_Auxiliary()
{
/* After started it's owned by AuxiliaryBus */
if (!_started) {
delete _slave;
}
}
bool AP_AK8963_BusDriver_Auxiliary::block_read(uint8_t reg, uint8_t *buf, uint32_t size)
{
if (_started) {
/*
* We can only read a block when reading the block of sample values -
* calling with any other value is a mistake
*/
if (reg != AK8963_HXL) {
return false;
}
int n = _slave->read(buf);
return n == static_cast<int>(size);
}
int r = _slave->passthrough_read(reg, buf, size);
return r > 0 && static_cast<uint32_t>(r) == size;
}
bool AP_AK8963_BusDriver_Auxiliary::register_read(uint8_t reg, uint8_t *val)
{
return _slave->passthrough_read(reg, val, 1) == 1;
}
bool AP_AK8963_BusDriver_Auxiliary::register_write(uint8_t reg, uint8_t val)
{
return _slave->passthrough_write(reg, val) == 1;
}
AP_HAL::Semaphore *AP_AK8963_BusDriver_Auxiliary::get_semaphore()
{
return _bus ? _bus->get_semaphore() : nullptr;
}
bool AP_AK8963_BusDriver_Auxiliary::configure()
{
if (!_bus || !_slave) {
return false;
}
return true;
}
bool AP_AK8963_BusDriver_Auxiliary::start_measurements()
{
if (_bus->register_periodic_read(_slave, AK8963_HXL, sizeof(AP_Compass_AK8963::sample_regs)) < 0) {
return false;
}
_started = true;
return true;
}
AP_HAL::Device::PeriodicHandle AP_AK8963_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_AK8963_BusDriver_Auxiliary::set_device_type(uint8_t devtype)
{
_bus->set_device_type(devtype);
}
// return 24 bit bus identifier
uint32_t AP_AK8963_BusDriver_Auxiliary::get_bus_id(void) const
{
return _bus->get_bus_id();
}
#endif // AP_COMPASS_AK8963_ENABLED
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