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AP_Compass: rework to make the bus generic for AK8963 

Supporting only MPU9250, prepare to implement another bus, i.e i2c on the
bebop
master
Julien BERAUD 10 years ago committed by Andrew Tridgell
parent
0cd584c293
commit
0b41da0dea
3 changed files with 145 additions and 138 deletions
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  1. 215
      libraries/AP_Compass/AP_Compass_AK8963.cpp
  2. 65
      libraries/AP_Compass/AP_Compass_AK8963.h
  3. 3
      libraries/AP_Compass/Compass.cpp

215
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -106,36 +106,21 @@ @@ -106,36 +106,21 @@
extern const AP_HAL::HAL& hal;
AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass) :
AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus) :
AP_Compass_Backend(compass),
_state(STATE_UNKNOWN),
_initialized(false),
_last_update_timestamp(0),
_last_accum_time(0)
_last_accum_time(0),
_bus(bus)
{
_mag_x_accum =_mag_y_accum = _mag_z_accum = 0;
_mag_x =_mag_y = _mag_z = 0;
_accum_count = 0;
_magnetometer_adc_resolution = AK8963_16BIT_ADC;
init();
}
AP_Compass_Backend *AP_Compass_AK8963::detect(Compass &compass)
{
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass);
if (sensor == nullptr) {
return nullptr;
}
if (!sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
/* stub to satisfy Compass API*/
void AP_Compass_AK8963::accumulate(void)
{
@ -143,24 +128,17 @@ void AP_Compass_AK8963::accumulate(void) @@ -143,24 +128,17 @@ void AP_Compass_AK8963::accumulate(void)
bool AP_Compass_AK8963::init()
{
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
if (_spi == NULL) {
hal.console->println_P(PSTR("Cannot get SPIDevice_MPU9250"));
return false;
}
_spi_sem = _spi->get_semaphore();
_bus_sem = _bus->get_semaphore();
hal.scheduler->suspend_timer_procs();
if (!_spi_sem->take(100)) {
hal.console->printf("AK8963: Unable to get MPU9250 semaphore");
if (!_bus_sem->take(100)) {
hal.console->printf("AK8963: Unable to get bus semaphore");
goto fail_sem;
}
if (!_configure_mpu9250()) {
hal.console->printf_P(PSTR("AK8963: MPU9250 not configured for AK8963\n"));
if (!_bus->configure()) {
hal.console->printf_P(PSTR("AK8963: Bus not configured for AK8963\n"));
goto fail;
}
@ -179,7 +157,7 @@ bool AP_Compass_AK8963::init() @@ -179,7 +157,7 @@ bool AP_Compass_AK8963::init()
goto fail;
}
if (!_start_conversion()) {
if (!_bus->start_conversion()) {
hal.console->printf_P(PSTR("AK8963: conversion not started\n"));
goto fail;
}
@ -193,14 +171,14 @@ bool AP_Compass_AK8963::init() @@ -193,14 +171,14 @@ bool AP_Compass_AK8963::init()
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void));
_spi_sem->give();
_bus_sem->give();
hal.scheduler->resume_timer_procs();
return true;
fail:
_spi_sem->give();
_bus_sem->give();
fail_sem:
hal.scheduler->resume_timer_procs();
@ -227,9 +205,6 @@ void AP_Compass_AK8963::read() @@ -227,9 +205,6 @@ void AP_Compass_AK8963::read()
_mag_x_accum = _mag_y_accum = _mag_z_accum = 0;
_accum_count = 0;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
field.rotate(ROTATION_YAW_90);
#endif
publish_field(field, _compass_instance);
}
@ -251,7 +226,7 @@ void AP_Compass_AK8963::_update() @@ -251,7 +226,7 @@ void AP_Compass_AK8963::_update()
}
break;
case STATE_ERROR:
if (_start_conversion()) {
if (_bus->start_conversion()) {
_state = STATE_SAMPLE;
}
break;
@ -267,7 +242,7 @@ bool AP_Compass_AK8963::_check_id() @@ -267,7 +242,7 @@ bool AP_Compass_AK8963::_check_id()
{
for (int i = 0; i < 5; i++) {
uint8_t deviceid;
_register_read(AK8963_WIA, &deviceid, 0x01); /* Read AK8963's id */
_bus->register_read(AK8963_WIA, &deviceid, 0x01); /* Read AK8963's id */
if (deviceid == AK8963_Device_ID) {
return true;
@ -277,40 +252,26 @@ bool AP_Compass_AK8963::_check_id() @@ -277,40 +252,26 @@ bool AP_Compass_AK8963::_check_id()
return false;
}
bool AP_Compass_AK8963::_configure_mpu9250()
{
if (!AP_InertialSensor_MPU9250::initialize_driver_state())
return false;
uint8_t user_ctrl;
_register_read(MPUREG_USER_CTRL, &user_ctrl, 1);
_bus_write(MPUREG_USER_CTRL, user_ctrl | BIT_USER_CTRL_I2C_MST_EN);
_bus_write(MPUREG_I2C_MST_CTRL, I2C_MST_CLOCK_400KHZ);
return true;
}
bool AP_Compass_AK8963::_configure() {
_register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | _magnetometer_adc_resolution);
_bus->register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | _magnetometer_adc_resolution);
return true;
}
bool AP_Compass_AK8963::_reset()
{
_register_write(AK8963_CNTL2, AK8963_RESET);
_bus->register_write(AK8963_CNTL2, AK8963_RESET);
return true;
}
bool AP_Compass_AK8963::_calibrate()
{
uint8_t cntl1 = _register_read(AK8963_CNTL1);
uint8_t cntl1 = _bus->register_read(AK8963_CNTL1);
_register_write(AK8963_CNTL1, AK8963_FUSE_MODE | _magnetometer_adc_resolution); /* Enable FUSE-mode in order to be able to read calibreation data */
_bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | _magnetometer_adc_resolution); /* Enable FUSE-mode in order to be able to read calibreation data */
uint8_t response[3];
_register_read(AK8963_ASAX, response, 3);
_bus->register_read(AK8963_ASAX, response, 3);
for (int i = 0; i < 3; i++) {
float data = response[i];
@ -318,21 +279,7 @@ bool AP_Compass_AK8963::_calibrate() @@ -318,21 +279,7 @@ bool AP_Compass_AK8963::_calibrate()
error("%d: %lf\n", i, _magnetometer_ASA[i]);
}
_register_write(AK8963_CNTL1, cntl1);
return true;
}
bool AP_Compass_AK8963::_start_conversion()
{
static const uint8_t address = AK8963_INFO;
/* Read registers from INFO through ST2 */
static const uint8_t count = 0x09;
_configure_mpu9250();
_bus_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG); /* Set the I2C slave addres of AK8963 and set for read. */
_bus_write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
_bus_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); /* Enable I2C and set @count byte */
_bus->register_write(AK8963_CNTL1, cntl1);
return true;
}
@ -343,7 +290,7 @@ bool AP_Compass_AK8963::_collect_samples() @@ -343,7 +290,7 @@ bool AP_Compass_AK8963::_collect_samples()
return false;
}
if (!_read_raw()) {
if (!_bus->read_raw(_mag_x, _mag_y, _mag_z)) {
return false;
} else {
_mag_x_accum += _mag_x;
@ -363,27 +310,27 @@ bool AP_Compass_AK8963::_collect_samples() @@ -363,27 +310,27 @@ bool AP_Compass_AK8963::_collect_samples()
bool AP_Compass_AK8963::_sem_take_blocking()
{
return _spi_sem->take(10);
return _bus_sem->take(10);
}
bool AP_Compass_AK8963::_sem_give()
{
return _spi_sem->give();
return _bus_sem->give();
}
bool AP_Compass_AK8963::_sem_take_nonblocking()
{
static int _sem_failure_count = 0;
bool got = _spi_sem->take_nonblocking();
bool got = _bus_sem->take_nonblocking();
if (!got) {
if (!hal.scheduler->system_initializing()) {
_sem_failure_count++;
if (_sem_failure_count > 100) {
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem "
hal.scheduler->panic(PSTR("PANIC: failed to take _bus->sem "
"100 times in a row, in "
"AP_Compass_AK8963::_update"));
"AP_Compass_AK8963"));
}
}
return false; /* never reached */
@ -412,51 +359,35 @@ void AP_Compass_AK8963::_dump_registers() @@ -412,51 +359,35 @@ void AP_Compass_AK8963::_dump_registers()
#endif
}
bool AP_Compass_AK8963::_read_raw()
AP_AK8963_SerialBus_MPU9250::AP_AK8963_SerialBus_MPU9250()
{
uint8_t rx[14] = {0};
const uint8_t count = 9;
_bus_read(MPUREG_EXT_SENS_DATA_00, rx, count);
uint8_t st2 = rx[8]; /* End data read by reading ST2 register */
#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx + 1] << 8) | v[2*idx]))
if(!(st2 & 0x08)) {
_mag_x = (float) int16_val(rx, 1);
_mag_y = (float) int16_val(rx, 2);
_mag_z = (float) int16_val(rx, 3);
if (is_zero(_mag_x) && is_zero(_mag_y) && is_zero(_mag_z)) {
return false;
}
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
return true;
} else {
return false;
if (_spi == NULL) {
hal.console->println_P(PSTR("Cannot get SPIDevice_MPU9250"));
return;
}
}
void AP_Compass_AK8963::_register_write(uint8_t address, uint8_t value)
void AP_AK8963_SerialBus_MPU9250::register_write(uint8_t address, uint8_t value)
{
_bus_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR); /* Set the I2C slave addres of AK8963 and set for _register_write. */
_bus_write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
_bus_write(MPUREG_I2C_SLV0_DO, value); /* Register value to continuous measurement in 16-bit */
_bus_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | 0x01); /* Enable I2C and set 1 byte */
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR); /* Set the I2C slave addres of AK8963 and set for register_write. */
_write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
_write(MPUREG_I2C_SLV0_DO, value); /* Register value to continuous measurement in 16-bit */
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | 0x01); /* Enable I2C and set 1 byte */
}
void AP_Compass_AK8963::_register_read(uint8_t address, uint8_t *value, uint8_t count)
void AP_AK8963_SerialBus_MPU9250::register_read(uint8_t address, uint8_t *value, uint8_t count)
{
_bus_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG); /* Set the I2C slave addres of AK8963 and set for read. */
_bus_write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
_bus_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); /* Enable I2C and set @count byte */
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG); /* Set the I2C slave addres of AK8963 and set for read. */
_write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); /* Enable I2C and set @count byte */
hal.scheduler->delay(10);
_bus_read(MPUREG_EXT_SENS_DATA_00, value, count);
_read(MPUREG_EXT_SENS_DATA_00, value, count);
}
void AP_Compass_AK8963::_bus_read(uint8_t address, uint8_t *buf, uint32_t count)
void AP_AK8963_SerialBus_MPU9250::_read(uint8_t address, uint8_t *buf, uint32_t count)
{
ASSERT(count < 150);
uint8_t tx[150];
@ -469,7 +400,7 @@ void AP_Compass_AK8963::_bus_read(uint8_t address, uint8_t *buf, uint32_t count) @@ -469,7 +400,7 @@ void AP_Compass_AK8963::_bus_read(uint8_t address, uint8_t *buf, uint32_t count)
memcpy(buf, rx + 1, count);
}
void AP_Compass_AK8963::_bus_write(uint8_t address, const uint8_t *buf, uint32_t count)
void AP_AK8963_SerialBus_MPU9250::_write(uint8_t address, const uint8_t *buf, uint32_t count)
{
ASSERT(count < 2);
uint8_t tx[2];
@ -479,4 +410,62 @@ void AP_Compass_AK8963::_bus_write(uint8_t address, const uint8_t *buf, uint32_t @@ -479,4 +410,62 @@ void AP_Compass_AK8963::_bus_write(uint8_t address, const uint8_t *buf, uint32_t
_spi->transaction(tx, NULL, count + 1);
}
bool AP_AK8963_SerialBus_MPU9250::configure()
{
if (!AP_InertialSensor_MPU9250::initialize_driver_state())
return false;
uint8_t user_ctrl;
register_read(MPUREG_USER_CTRL, &user_ctrl, 1);
_write(MPUREG_USER_CTRL, user_ctrl | BIT_USER_CTRL_I2C_MST_EN);
_write(MPUREG_I2C_MST_CTRL, I2C_MST_CLOCK_400KHZ);
return true;
}
bool AP_AK8963_SerialBus_MPU9250::read_raw(float &mag_x, float &mag_y, float &mag_z)
{
uint8_t rx[14] = {0};
const uint8_t count = 9;
_read(MPUREG_EXT_SENS_DATA_00, rx, count);
uint8_t st2 = rx[8]; /* End data read by reading ST2 register */
#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx + 1] << 8) | v[2*idx]))
if(!(st2 & 0x08)) {
mag_x = (float) int16_val(rx, 1);
mag_y = (float) int16_val(rx, 2);
mag_z = (float) int16_val(rx, 3);
if (is_zero(mag_x) && is_zero(mag_y) && is_zero(mag_z)) {
return false;
}
return true;
} else {
return false;
}
}
AP_HAL::Semaphore * AP_AK8963_SerialBus_MPU9250::get_semaphore()
{
return _spi->get_semaphore();
}
bool AP_AK8963_SerialBus_MPU9250::start_conversion()
{
static const uint8_t address = AK8963_INFO;
/* Read registers from INFO through ST2 */
static const uint8_t count = 0x09;
configure();
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG); /* Set the I2C slave addres of AK8963 and set for read. */
_write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); /* Enable I2C and set @count byte */
return true;
}
#endif // CONFIG_HAL_BOARD

65
libraries/AP_Compass/AP_Compass_AK8963.h
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@ -9,10 +9,26 @@ @@ -9,10 +9,26 @@
#include "Compass.h"
#include "AP_Compass_Backend.h"
class AP_AK8963_SerialBus
{
public:
virtual void register_read(uint8_t address, uint8_t *value, uint8_t count) = 0;
uint8_t register_read(uint8_t address) {
uint8_t reg;
register_read(address, &reg, 1);
return reg;
}
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 read_raw(float &mag_x, float &mag_y, float &mag_z) = 0;
};
class AP_Compass_AK8963 : public AP_Compass_Backend
{
public:
AP_Compass_AK8963(Compass &compass);
AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus);
static AP_Compass_Backend *detect(Compass &compass);
@ -29,38 +45,16 @@ private: @@ -29,38 +45,16 @@ private:
STATE_ERROR
} state_t;
bool _read_raw();
bool _reset();
bool _configure();
bool _check_id();
bool _calibrate();
void _update();
bool _start_conversion();
bool _collect_samples();
void _dump_registers();
bool _configure_mpu9250();
void _bus_read(uint8_t address, uint8_t *value, uint32_t count);
void _bus_write(uint8_t address, const uint8_t *value, uint32_t count);
void _bus_write(uint8_t address, const uint8_t value) {
_bus_write(address, &value, 1);
}
void _register_read(uint8_t address, uint8_t *value, uint8_t count);
uint8_t _register_read(uint8_t address) {
uint8_t reg;
_register_read(address, &reg, 1);
return reg;
}
void _register_write(uint8_t address, uint8_t value);
bool _sem_take_nonblocking();
bool _sem_take_blocking();
bool _sem_take_nonblocking();
bool _sem_give();
state_t _state;
@ -80,6 +74,29 @@ private: @@ -80,6 +74,29 @@ private:
uint8_t _magnetometer_adc_resolution;
uint32_t _last_update_timestamp;
uint32_t _last_accum_time;
AP_AK8963_SerialBus *_bus;
AP_HAL::Semaphore *_bus_sem;
};
class AP_AK8963_SerialBus_MPU9250: public AP_AK8963_SerialBus
{
public:
AP_AK8963_SerialBus_MPU9250();
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 read_raw(float &mag_x, float &mag_y, float &mag_z);
private:
void _read(uint8_t address, uint8_t *value, uint32_t count);
void _write(uint8_t address, const uint8_t *value, uint32_t count);
void _write(uint8_t address, const uint8_t value) {
_write(address, &value, 1);
}
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
};
#endif

3
libraries/AP_Compass/Compass.cpp
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@ -351,7 +351,8 @@ Compass::_detect_backends(void) @@ -351,7 +351,8 @@ Compass::_detect_backends(void)
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
_add_backend(AP_Compass_HMC5843::detect);
_add_backend(AP_Compass_AK8963::detect);
_backends[_backend_count++] = new AP_Compass_AK8963(*this,
new AP_AK8963_SerialBus_MPU9250());
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
_add_backend(AP_Compass_HIL::detect);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843

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