mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 12:03:34 +08:00
Daniel Agar
75370ebf42
- mag enabled with -M when starting - always check FIFO count before transfer - interupt pin set active low and latch - relax retry timeout if configure failed - improve configured empty rate (sample rate) rounding - fix RegisterCheck - check FIFO count as part of full transfer and reset or adjust timing if necessary - rename DRV_MAG_DEVTYPE_MPU9250 -> DRV_MAG_DEVTYPE_AK8963
115 lines
3.2 KiB
C++
115 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mag_i2c.cpp
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*
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* I2C interface for AK8963
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*/
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#include <px4_platform_common/px4_config.h>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_device.h>
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#include "mpu9250.h"
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#include "MPU9250_mag.h"
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#ifdef USE_I2C
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device::Device *AK8963_I2C_interface(int bus, int bus_frequency);
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class AK8963_I2C : public device::I2C
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{
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public:
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AK8963_I2C(int bus, int bus_frequency);
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~AK8963_I2C() override = default;
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int read(unsigned address, void *data, unsigned count) override;
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int write(unsigned address, void *data, unsigned count) override;
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protected:
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int probe() override;
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};
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device::Device *
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AK8963_I2C_interface(int bus, int bus_frequency)
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{
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return new AK8963_I2C(bus, bus_frequency);
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}
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AK8963_I2C::AK8963_I2C(int bus, int bus_frequency) : I2C("AK8963_I2C", nullptr, bus, AK8963_I2C_ADDR, bus_frequency)
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{
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_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_AK8963;
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}
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int
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AK8963_I2C::write(unsigned reg_speed, void *data, unsigned count)
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{
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uint8_t cmd[2] {};
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if (sizeof(cmd) < (count + 1)) {
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return -EIO;
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}
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cmd[0] = MPU9250_REG(reg_speed);
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cmd[1] = *(uint8_t *)data;
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return transfer(&cmd[0], count + 1, nullptr, 0);
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}
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int
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AK8963_I2C::read(unsigned reg_speed, void *data, unsigned count)
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{
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uint8_t cmd = MPU9250_REG(reg_speed);
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return transfer(&cmd, 1, (uint8_t *)data, count);
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}
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int
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AK8963_I2C::probe()
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{
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uint8_t whoami = 0;
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uint8_t expected = AK8963_DEVICE_ID;
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if (PX4_OK != read(AK8963REG_WIA, &whoami, 1)) {
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return -EIO;
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}
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if (whoami != expected) {
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return -EIO;
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}
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return OK;
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}
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#endif
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