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AP_Compass: AK8963: change initialization and rename methods

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We need to check the AK8963's id before anything else Here we are
reordering the calls to _calibrate() and _check_id(). After that we
don't need to read and write again the AK8963_CNTL1 register.

While at it do some renames as well:
	- _configure() -> _setup_mode(): since now there's a
 	  _bus->configure() it became confusing what actually it's
	  doing.
	- make error messages say what we were actually trying to do but
	  couldn't. Also remove PSTR since this is linux-only.
	- start_conversion() -> start_measurements():  We are instructing the
          bus to start to get the samples, not to tell the chip to start an
          analog->digital conversion like in other sensors.
This commit is contained in:
Lucas De Marchi 2015-07-22 16:11:20 -03:00 committed by Andrew Tridgell
parent ae5d9baddb
commit e232543fca
2 changed files with 22 additions and 26 deletions
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38
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -159,27 +159,27 @@ bool AP_Compass_AK8963::init()
}
if (!_bus->configure()) {
hal.console->printf_P(PSTR("AK8963: Bus not configured for AK8963\n"));
goto fail;
}
if (!_configure()) {
hal.console->printf_P(PSTR("AK8963: not configured\n"));
hal.console->printf("AK8963: Could not configure bus for AK8963\n");
goto fail;
}
if (!_check_id()) {
hal.console->printf_P(PSTR("AK8963: wrong id\n"));
hal.console->printf("AK8963: Wrong id\n");
goto fail;
}
if (!_calibrate()) {
hal.console->printf_P(PSTR("AK8963: not calibrated\n"));
hal.console->printf("AK8963: Could not read calibration data\n");
goto fail;
}
if (!_bus->start_conversion()) {
hal.console->printf_P(PSTR("AK8963: conversion not started\n"));
if (!_setup_mode()) {
hal.console->printf("AK8963: Could not setup mode\n");
goto fail;
}
if (!_bus->start_measurements()) {
hal.console->printf("AK8963: Could not start measurments\n");
goto fail;
}
@ -251,7 +251,7 @@ void AP_Compass_AK8963::_update()
}
break;
case STATE_ERROR:
if (_bus->start_conversion()) {
if (_bus->start_measurements()) {
_state = STATE_SAMPLE;
}
break;
@ -277,7 +277,7 @@ bool AP_Compass_AK8963::_check_id()
return false;
}
bool AP_Compass_AK8963::_configure() {
bool AP_Compass_AK8963::_setup_mode() {
_bus->register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
return true;
}
@ -291,8 +291,6 @@ bool AP_Compass_AK8963::_reset()
bool AP_Compass_AK8963::_calibrate()
{
uint8_t cntl1 = _bus->register_read(AK8963_CNTL1);
/* Enable FUSE-mode in order to be able to read calibration data */
_bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | AK8963_16BIT_ADC);
@ -305,8 +303,6 @@ bool AP_Compass_AK8963::_calibrate()
error("%d: %lf\n", i, _magnetometer_ASA[i]);
}
_bus->register_write(AK8963_CNTL1, cntl1);
return true;
}
@ -367,9 +363,9 @@ bool AP_Compass_AK8963::_sem_take_nonblocking()
if (!hal.scheduler->system_initializing() ) {
_sem_failure_count++;
if (_sem_failure_count > 100) {
hal.scheduler->panic(PSTR("PANIC: failed to take _bus->sem "
"100 times in a row, in "
"AP_Compass_AK8963"));
hal.scheduler->panic("PANIC: failed to take _bus->sem "
"100 times in a row, in "
"AP_Compass_AK8963");
}
}
@ -401,7 +397,7 @@ AP_AK8963_SerialBus_MPU9250::AP_AK8963_SerialBus_MPU9250()
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
if (_spi == NULL) {
hal.console->println_P(PSTR("Cannot get SPIDevice_MPU9250"));
hal.console->printf("Cannot get SPIDevice_MPU9250\n");
return;
}
}
@ -471,7 +467,7 @@ AP_HAL::Semaphore * AP_AK8963_SerialBus_MPU9250::get_semaphore()
return _spi->get_semaphore();
}
bool AP_AK8963_SerialBus_MPU9250::start_conversion()
bool AP_AK8963_SerialBus_MPU9250::start_measurements()
{
const uint8_t count = sizeof(struct raw_value);

10
libraries/AP_Compass/AP_Compass_AK8963.h
View File

@ -27,8 +27,8 @@ public:
}
virtual void register_write(uint8_t address, uint8_t value) = 0;
virtual AP_HAL::Semaphore* get_semaphore() = 0;
virtual bool start_conversion() = 0;
virtual bool configure() = 0;
virtual bool start_measurements() = 0;
virtual void read_raw(struct raw_value *rv) = 0;
virtual uint32_t get_dev_id() = 0;
};
@ -55,7 +55,7 @@ private:
} state_t;
bool _reset();
bool _configure();
bool _setup_mode();
bool _check_id();
bool _calibrate();
@ -91,8 +91,8 @@ public:
void register_read(uint8_t address, uint8_t *value, uint8_t count);
void register_write(uint8_t address, uint8_t value);
AP_HAL::Semaphore* get_semaphore();
bool start_conversion();
bool configure();
bool start_measurements();
void read_raw(struct raw_value *rv);
uint32_t get_dev_id();
private:
@ -112,8 +112,8 @@ public:
void register_read(uint8_t address, uint8_t *value, uint8_t count);
void register_write(uint8_t address, uint8_t value);
AP_HAL::Semaphore* get_semaphore();
bool start_conversion(){return true;}
bool configure(){return true;}
bool configure(){ return true; }
bool start_measurements() { return true; }
void read_raw(struct raw_value *rv);
uint32_t get_dev_id();
private: