mirror of https://github.com/ArduPilot/ardupilot
557 lines
17 KiB
C++
557 lines
17 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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/*
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* AP_Compass_AK8963.cpp
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* Code by Georgii Staroselskii. Emlid.com
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*
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* Sensor is conected to SPI port
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*
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*/
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#include <AP_Math.h>
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#include <AP_HAL.h>
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#include "AP_Compass_AK8963.h"
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#define READ_FLAG 0x80
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#define MPUREG_I2C_SLV0_ADDR 0x25
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#define MPUREG_I2C_SLV0_REG 0x26
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#define MPUREG_I2C_SLV0_CTRL 0x27
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#define MPUREG_EXT_SENS_DATA_00 0x49
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#define MPUREG_I2C_SLV0_DO 0x63
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#define MPU9250_SPI_BACKEND 1
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#define MPUREG_PWR_MGMT_1 0x6B
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# define BIT_PWR_MGMT_1_CLK_INTERNAL 0x00 // clock set to internal 8Mhz oscillator
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# define BIT_PWR_MGMT_1_CLK_XGYRO 0x01 // PLL with X axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_YGYRO 0x02 // PLL with Y axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_ZGYRO 0x03 // PLL with Z axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_EXT32KHZ 0x04 // PLL with external 32.768kHz reference
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# define BIT_PWR_MGMT_1_CLK_EXT19MHZ 0x05 // PLL with external 19.2MHz reference
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# define BIT_PWR_MGMT_1_CLK_STOP 0x07 // Stops the clock and keeps the timing generator in reset
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# define BIT_PWR_MGMT_1_TEMP_DIS 0x08 // disable temperature sensor
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# define BIT_PWR_MGMT_1_CYCLE 0x20 // put sensor into cycle mode. cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL
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# define BIT_PWR_MGMT_1_SLEEP 0x40 // put sensor into low power sleep mode
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# define BIT_PWR_MGMT_1_DEVICE_RESET 0x80 // reset entire device
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/* bit definitions for MPUREG_USER_CTRL */
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#define MPUREG_USER_CTRL 0x6A
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# define BIT_USER_CTRL_I2C_MST_EN 0x20 /* Enable MPU to act as the I2C Master to external slave sensors */
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# define BIT_USER_CTRL_I2C_IF_DIS 0x10
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/* bit definitions for MPUREG_MST_CTRL */
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#define MPUREG_I2C_MST_CTRL 0x24
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# define I2C_SLV0_EN 0x80
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# define I2C_MST_CLOCK_400KHZ 0x0D
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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_INFO 0x01
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#define AK8963_ST1 0x02
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# define AK8963_DRDY 0x01
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# define AK8963_DOR 0x02
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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 0x2
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# define AK8963_CONTINUOUS_MODE2 0x6
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# define AK8963_SELFTEST_MODE 0x8
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# define AK8963_POWERDOWN_MODE 0x0
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# define AK8963_FUSE_MODE 0xf
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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_ASTC 0x0C
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# define AK8983_SELFTEST_MAGNETIC_FIELD_ON 0x40
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#define AK8963_ASAX 0x10
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#define AK8963_DEBUG 0
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#define AK8963_SELFTEST 0
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#if AK8963_DEBUG
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#define error(...) fprintf(stderr, __VA_ARGS__)
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#define debug(...) hal.console->printf(__VA_ARGS__)
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#define ASSERT(x) assert(x)
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#else
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#define error(...)
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#define debug(...)
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#define ASSERT(x)
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#endif
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extern const AP_HAL::HAL& hal;
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AK8963_MPU9250_SPI_Backend::AK8963_MPU9250_SPI_Backend()
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{
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}
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bool AK8963_MPU9250_SPI_Backend::sem_take_blocking()
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{
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return _spi_sem->take(10);
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}
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bool AK8963_MPU9250_SPI_Backend::sem_give()
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{
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return _spi_sem->give();
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}
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bool AK8963_MPU9250_SPI_Backend::sem_take_nonblocking()
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{
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/**
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* Take nonblocking from a TimerProcess context &
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* monitor for bad failures
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*/
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static int _sem_failure_count = 0;
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bool got = _spi_sem->take_nonblocking();
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if (!got) {
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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(PSTR("PANIC: failed to take _spi_sem "
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"100 times in a row, in "
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"AP_Compass_AK8963::_update"));
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}
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}
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return false; /* never reached */
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} else {
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_sem_failure_count = 0;
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}
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return got;
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}
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bool AK8963_MPU9250_SPI_Backend::init()
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{
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_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
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if (_spi == NULL) {
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hal.console->println_P(PSTR("Cannot get SPIDevice_MPU9250"));
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return false;
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}
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_spi_sem = _spi->get_semaphore();
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return true;
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}
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void AK8963_MPU9250_SPI_Backend::read(uint8_t address, uint8_t *buf, uint32_t count)
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{
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ASSERT(count < 10);
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uint8_t tx[11];
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uint8_t rx[11];
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tx[0] = address | READ_FLAG;
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tx[1] = 0;
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_spi->transaction(tx, rx, count + 1);
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memcpy(buf, rx + 1, count);
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}
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void AK8963_MPU9250_SPI_Backend::write(uint8_t address, const uint8_t *buf, uint32_t count)
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{
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ASSERT(count < 2);
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uint8_t tx[2];
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tx[0] = address;
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memcpy(tx+1, buf, count);
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_spi->transaction(tx, NULL, count + 1);
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}
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AP_Compass_AK8963_MPU9250::AP_Compass_AK8963_MPU9250(Compass &compass):
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AP_Compass_AK8963(compass)
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{
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}
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// detect the sensor
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AP_Compass_Backend *AP_Compass_AK8963_MPU9250::detect(Compass &compass)
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{
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AP_Compass_AK8963_MPU9250 *sensor = new AP_Compass_AK8963_MPU9250(compass);
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if (sensor == NULL) {
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return NULL;
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}
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if (!sensor->init()) {
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delete sensor;
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return NULL;
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}
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return sensor;
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}
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void AP_Compass_AK8963_MPU9250::_dump_registers()
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{
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#if AK8963_DEBUG
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error(PSTR("MPU9250 registers\n"));
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for (uint8_t reg=0x00; reg<=0x7E; reg++) {
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uint8_t v = _backend->read(reg);
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error(("%02x:%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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void AP_Compass_AK8963_MPU9250::_backend_reset()
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{
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_backend->write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
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}
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bool AP_Compass_AK8963_MPU9250::_backend_init()
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{
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_backend->write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_MST_EN); /* I2C Master mode */
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_backend->write(MPUREG_I2C_MST_CTRL, I2C_MST_CLOCK_400KHZ); /* I2C configuration multi-master IIC 400KHz */
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return true;
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}
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bool AP_Compass_AK8963_MPU9250::init()
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{
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#if MPU9250_SPI_BACKEND
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_backend = new AK8963_MPU9250_SPI_Backend();
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if (_backend == NULL) {
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hal.scheduler->panic(PSTR("_backend coudln't be allocated"));
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}
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if (!_backend->init()) {
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delete _backend;
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_backend = NULL;
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return false;
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}
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return AP_Compass_AK8963::init();
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#else
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#error Wrong backend for AK8963 is selected
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/* other backends not implented yet */
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return false;
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#endif
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}
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void AP_Compass_AK8963_MPU9250::_register_write(uint8_t address, uint8_t value)
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{
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_backend->write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR); /* Set the I2C slave addres of AK8963 and set for _register_write. */
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_backend->write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
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_backend->write(MPUREG_I2C_SLV0_DO, value); /* Register value to continuous measurement in 16-bit */
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_backend->write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | 0x01); /* Enable I2C and set 1 byte */
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}
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void AP_Compass_AK8963_MPU9250::_register_read(uint8_t address, uint8_t count, uint8_t *value)
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{
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_backend->write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG); /* Set the I2C slave addres of AK8963 and set for read. */
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_backend->write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
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_backend->write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); /* Enable I2C and set @count byte */
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hal.scheduler->delay(10);
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_backend->read(MPUREG_EXT_SENS_DATA_00, value, count);
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}
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uint8_t AP_Compass_AK8963_MPU9250::_read_id()
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{
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return 1;
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}
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bool AP_Compass_AK8963_MPU9250::read_raw()
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{
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uint8_t rx[14] = {0};
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const uint8_t count = 9;
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_backend->read(MPUREG_EXT_SENS_DATA_00, rx, count);
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uint8_t st2 = rx[8]; /* End data read by reading ST2 register */
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#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx + 1] << 8) | v[2*idx]))
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if(!(st2 & 0x08)) {
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_mag_x = (float) int16_val(rx, 1);
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_mag_y = (float) int16_val(rx, 2);
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_mag_z = (float) int16_val(rx, 3);
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if (is_zero(_mag_x) && is_zero(_mag_y) && is_zero(_mag_z)) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass) :
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AP_Compass_Backend(compass),
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_backend(NULL),
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_initialised(false),
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_state(STATE_CONVERSION),
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_last_update_timestamp(0),
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_last_accum_time(0)
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{
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_initialised = false;
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_mag_x_accum =_mag_y_accum = _mag_z_accum = 0;
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_mag_x =_mag_y = _mag_z = 0;
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_accum_count = 0;
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_magnetometer_adc_resolution = AK8963_16BIT_ADC;
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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::_self_test()
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{
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bool success = false;
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/* see AK8963.pdf p.19 */
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/* Set power-down mode */
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_register_write(AK8963_CNTL1, AK8963_POWERDOWN_MODE | _magnetometer_adc_resolution);
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/* Turn the internal magnetic field on */
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_register_write(AK8963_ASTC, AK8983_SELFTEST_MAGNETIC_FIELD_ON);
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/* Register value to self-test mode in 14-bit */
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_register_write(AK8963_CNTL1, AK8963_SELFTEST_MODE | _magnetometer_adc_resolution);
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_start_conversion();
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hal.scheduler->delay(20);
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read_raw();
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float hx = _mag_x;
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float hy = _mag_y;
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float hz = _mag_z;
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error("AK8963's SELF-TEST STARTED\n");
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switch (_magnetometer_adc_resolution) {
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bool hx_is_in_range;
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bool hy_is_in_range;
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bool hz_is_in_range;
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case AK8963_14BIT_ADC:
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hx_is_in_range = (hx >= - 50) && (hx <= 50);
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hy_is_in_range = (hy >= - 50) && (hy <= 50);
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hz_is_in_range = (hz >= - 800) && (hz <= -200);
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if (hx_is_in_range && hy_is_in_range && hz_is_in_range) {
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success = true;
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}
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break;
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case AK8963_16BIT_ADC:
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hx_is_in_range = (hx >= -200) && (hx <= 200);
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hy_is_in_range = (hy >= -200) && (hy <= 200);
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hz_is_in_range = (hz >= -3200) && (hz <= -800);
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if (hx_is_in_range && hy_is_in_range && hz_is_in_range) {
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success = true;
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}
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break;
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default:
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success = false;
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hal.scheduler->panic(PSTR("Wrong AK8963's ADC resolution selected"));
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break;
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}
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error("AK8963's SELF-TEST ENDED: %f %f %f\n", hx, hy, hz);
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/* Turn the internal magnetic field off */
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_register_write(AK8963_ASTC, 0x0);
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/* Register value to continuous measurement in 14-bit */
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_register_write(AK8963_CNTL1, AK8963_POWERDOWN_MODE | _magnetometer_adc_resolution);
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return success;
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}
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bool AP_Compass_AK8963::init()
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{
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hal.scheduler->suspend_timer_procs();
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if (!_backend->sem_take_blocking()) {
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error("_spi_sem->take failed\n");
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return false;
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}
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if (!_backend_init()) {
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_backend->sem_give();
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return false;
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}
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_register_write(AK8963_CNTL2, AK8963_RESET); /* Reset AK8963 */
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hal.scheduler->delay(1000);
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int id_mismatch_count;
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uint8_t deviceid;
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for (id_mismatch_count = 0; id_mismatch_count < 5; id_mismatch_count++) {
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_register_read(AK8963_WIA, 0x01, &deviceid); /* Read AK8963's id */
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if (deviceid == AK8963_Device_ID) {
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break;
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}
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error("trying to read AK8963's ID once more...\n");
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_backend_reset();
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hal.scheduler->delay(100);
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_dump_registers();
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}
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if (id_mismatch_count == 5) {
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_initialised = false;
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hal.console->printf("WRONG AK8963 DEVICE ID: 0x%x\n", (unsigned)deviceid);
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hal.scheduler->panic(PSTR("AK8963: bad DEVICE ID"));
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}
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_calibrate();
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_initialised = true;
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#if AK8963_SELFTEST
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if (_self_test()) {
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_initialised = true;
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} else {
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_initialised = false;
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}
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#endif
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/* Register value to continuous measurement */
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_register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | _magnetometer_adc_resolution);
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_backend->sem_give();
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// register the compass instance in the frontend
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_compass_instance = register_compass();
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hal.scheduler->resume_timer_procs();
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hal.scheduler->register_timer_process( AP_HAL_MEMBERPROC(&AP_Compass_AK8963::_update));
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_start_conversion();
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_initialised = true;
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return _initialised;
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}
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void AP_Compass_AK8963::_update()
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{
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if (hal.scheduler->micros() - _last_update_timestamp < 10000) {
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return;
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}
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if (!_backend->sem_take_nonblocking()) {
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return;
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}
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switch (_state)
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{
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case STATE_CONVERSION:
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_start_conversion();
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_state = STATE_SAMPLE;
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break;
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case STATE_SAMPLE:
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_collect_samples();
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_state = STATE_CONVERSION;
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break;
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case STATE_ERROR:
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break;
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default:
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break;
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}
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_last_update_timestamp = hal.scheduler->micros();
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_backend->sem_give();
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}
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bool AP_Compass_AK8963::_calibrate()
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{
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error("CALIBRATTION START\n");
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_register_write(AK8963_CNTL1, AK8963_FUSE_MODE | _magnetometer_adc_resolution); /* Enable FUSE-mode in order to be able to read calibreation data */
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hal.scheduler->delay(10);
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uint8_t response[3];
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_register_read(AK8963_ASAX, 0x03, response);
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
float data = response[i];
|
|
magnetometer_ASA[i] = ((data-128)/256+1);
|
|
error("%d: %lf\n", i, magnetometer_ASA[i]);
|
|
}
|
|
|
|
error("CALIBRATTION END\n");
|
|
|
|
return true;
|
|
}
|
|
|
|
void AP_Compass_AK8963::read()
|
|
{
|
|
if (!_initialised) {
|
|
return;
|
|
}
|
|
|
|
if (_accum_count == 0) {
|
|
/* We're not ready to publish*/
|
|
return;
|
|
}
|
|
|
|
/* Update */
|
|
Vector3f field(_mag_x_accum * magnetometer_ASA[0],
|
|
_mag_y_accum * magnetometer_ASA[1],
|
|
_mag_z_accum * magnetometer_ASA[2]);
|
|
|
|
field /= _accum_count;
|
|
_mag_x_accum = _mag_y_accum = _mag_z_accum = 0;
|
|
_accum_count = 0;
|
|
|
|
publish_field(field, _compass_instance);
|
|
}
|
|
|
|
void AP_Compass_AK8963::_start_conversion()
|
|
{
|
|
static const uint8_t address = AK8963_INFO;
|
|
/* Read registers from INFO through ST2 */
|
|
static const uint8_t count = 0x09;
|
|
|
|
_backend_init();
|
|
_backend->write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_MST_EN); /* I2C Master mode */
|
|
_backend->write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG); /* Set the I2C slave addres of AK8963 and set for read. */
|
|
_backend->write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
|
|
_backend->write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); /* Enable I2C and set @count byte */
|
|
}
|
|
|
|
void AP_Compass_AK8963::_collect_samples()
|
|
{
|
|
if (!_initialised) {
|
|
return;
|
|
}
|
|
|
|
if (!read_raw()) {
|
|
error("read_raw failed\n");
|
|
} else {
|
|
_mag_x_accum += _mag_x;
|
|
_mag_y_accum += _mag_y;
|
|
_mag_z_accum += _mag_z;
|
|
_accum_count++;
|
|
if (_accum_count == 10) {
|
|
_mag_x_accum /= 2;
|
|
_mag_y_accum /= 2;
|
|
_mag_z_accum /= 2;
|
|
_accum_count = 5;
|
|
}
|
|
}
|
|
}
|