mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-23 14:47:44 +08:00
Adding AK09916 driver to support the Here2 GNSS emulated mag (I2C) (#11837)
* drivers, magnetometer: added ak09916 driver to support the mag driver emulated by the Here2 gps * boards: set yaw 270 rotation for external ak09916 driver and only start it for the PH21 * drivers: only start ak09916 when icm20948 is not available on a ph21 setup
This commit is contained in:
Andreas Daniel Antener
committed by
Daniel Agar
Daniel Agar
parent
5a50f96bcf
commit
95a0803b14
@@ -60,7 +60,11 @@ then
|
||||
param set SENS_EN_THERMAL 0
|
||||
|
||||
# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
|
||||
icm20948 -X -M -R 6 start
|
||||
if ! icm20948 -X -M -R 6 start
|
||||
then
|
||||
# external emulated AK09916 (Here2) is rotated 270 degrees yaw
|
||||
ak09916 -X -R 6 start
|
||||
fi
|
||||
|
||||
# external L3GD20H is rotated 180 degrees yaw
|
||||
l3gd20 -X -R 4 start
|
||||
|
||||
@@ -31,6 +31,7 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(ak09916)
|
||||
add_subdirectory(bmm150)
|
||||
add_subdirectory(hmc5883)
|
||||
add_subdirectory(qmc5883)
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE drivers__ak09916
|
||||
MAIN ak09916
|
||||
STACK_MAIN 1200
|
||||
COMPILE_FLAGS
|
||||
-Wno-cast-align # TODO: fix and enable
|
||||
SRCS
|
||||
ak09916.cpp
|
||||
DEPENDS
|
||||
)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,196 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include <semaphore.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
#include <px4_log.h>
|
||||
|
||||
#include <perf/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <nuttx/wqueue.h>
|
||||
#include <systemlib/conversions.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <board_config.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
#include <drivers/device/integrator.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
|
||||
|
||||
#define AK09916_SAMPLE_RATE 100
|
||||
#define AK09916_DEVICE_PATH_MAG "/dev/ak09916_i2c_int"
|
||||
|
||||
#define AK09916_DEVICE_PATH_MAG_EXT "/dev/ak09916_i2c_ext"
|
||||
|
||||
/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
|
||||
|
||||
#define AK09916_MAG_RANGE_GA 1.5e-3f;
|
||||
|
||||
/* ak09916 deviating register addresses and bit definitions */
|
||||
#define AK09916_I2C_ADDR 0x0C
|
||||
|
||||
#define AK09916_DEVICE_ID_A 0x48
|
||||
#define AK09916_DEVICE_ID_B 0x09 // additional ID byte ("INFO" on AK9063 without content specification.)
|
||||
|
||||
#define AK09916REG_WIA 0x00
|
||||
|
||||
#define AK09916REG_HXL 0x11
|
||||
#define AK09916REG_HXH 0x12
|
||||
#define AK09916REG_HYL 0x13
|
||||
#define AK09916REG_HYH 0x14
|
||||
#define AK09916REG_HZL 0x15
|
||||
#define AK09916REG_HZH 0x16
|
||||
#define AK09916REG_ST1 0x10
|
||||
#define AK09916REG_ST2 0x18
|
||||
#define AK09916REG_CNTL2 0x31
|
||||
#define AK09916REG_CNTL3 0x32
|
||||
|
||||
|
||||
#define AK09916_CNTL2_POWERDOWN_MODE 0x00
|
||||
#define AK09916_RESET 0x01
|
||||
#define AK09916_CNTL2_SINGLE_MODE 0x01 /* default */
|
||||
#define AK09916_CNTL2_CONTINOUS_MODE_10HZ 0x02
|
||||
#define AK09916_CNTL2_CONTINOUS_MODE_20HZ 0x04
|
||||
#define AK09916_CNTL2_CONTINOUS_MODE_50HZ 0x06
|
||||
#define AK09916_CNTL2_CONTINOUS_MODE_100HZ 0x08
|
||||
#define AK09916_CNTL2_SELFTEST_MODE 0x10
|
||||
#define AK09916_CNTL3_SRST 0x01
|
||||
#define AK09916_ST1_DRDY 0x01
|
||||
#define AK09916_ST1_DOR 0x02
|
||||
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct ak09916_regs {
|
||||
uint8_t st1;
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
uint8_t tmps;
|
||||
uint8_t st2;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Helper class implementing the magnetometer driver node.
|
||||
*/
|
||||
class AK09916 : public device::I2C
|
||||
{
|
||||
public:
|
||||
AK09916(int bus, const char *path, enum Rotation rotation);
|
||||
~AK09916();
|
||||
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
virtual int init();
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
|
||||
void read_block(uint8_t reg, uint8_t *val, uint8_t count);
|
||||
|
||||
int reset(void);
|
||||
int setup(void);
|
||||
void print_info(void);
|
||||
int setup_master_i2c(void);
|
||||
bool check_id(uint8_t &id);
|
||||
|
||||
|
||||
static void cycle_trampoline(void *arg);
|
||||
void start(void);
|
||||
void stop(void);
|
||||
void cycle(void);
|
||||
|
||||
protected:
|
||||
|
||||
friend class ICM20948;
|
||||
|
||||
/* Directly measure from the _interface if possible */
|
||||
void measure();
|
||||
|
||||
/* Update the state with prefetched data (internally called by the regular measure() )*/
|
||||
void _measure(struct ak09916_regs data);
|
||||
|
||||
uint8_t read_reg(uint8_t reg);
|
||||
void write_reg(uint8_t reg, uint8_t value);
|
||||
|
||||
private:
|
||||
work_s _work{};
|
||||
unsigned _measure_ticks;
|
||||
|
||||
enum Rotation _rotation;
|
||||
orb_advert_t _mag_topic;
|
||||
int _mag_orb_class_instance;
|
||||
int _mag_class_instance;
|
||||
bool _mag_reading_data;
|
||||
ringbuffer::RingBuffer *_mag_reports;
|
||||
mag_report _last_report {}; /**< used for info() */
|
||||
struct mag_calibration_s _mag_scale;
|
||||
float _mag_range_scale;
|
||||
perf_counter_t _mag_reads;
|
||||
perf_counter_t _mag_errors;
|
||||
perf_counter_t _mag_overruns;
|
||||
perf_counter_t _mag_overflows;
|
||||
perf_counter_t _mag_duplicates;
|
||||
float _mag_asa_x;
|
||||
float _mag_asa_y;
|
||||
float _mag_asa_z;
|
||||
|
||||
bool check_duplicate(uint8_t *mag_data);
|
||||
|
||||
// keep last mag reading for duplicate detection
|
||||
uint8_t _last_mag_data[6];
|
||||
|
||||
/* do not allow to copy this class due to pointer data members */
|
||||
AK09916(const AK09916 &);
|
||||
AK09916 operator=(const AK09916 &);
|
||||
};
|
||||
Reference in New Issue
Block a user