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Merge pull request #2801 from betaflight/fix-spracingf3evo-mag-detection

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Fix MPU9250 SPI AK8963 MAG detection
This commit is contained in:
Martin Budden 2017-04-02 22:30:10 +01:00 • committed by GitHub
commit d6c3f8cb18
3 changed files with 20 additions and 15 deletions
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32
src/main/drivers/compass_ak8963.c
View file

@ -82,6 +82,8 @@
static float magGain[3] = { 1.0f, 1.0f, 1.0f };
static busDevice_t *bus = NULL; // HACK
// FIXME pretend we have real MPU9250 support
// Is an separate MPU9250 driver really needed? The GYRO/ACC part between MPU6500 and MPU9250 is exactly the same.
#if defined(MPU6500_SPI_INSTANCE) && !defined(MPU9250_SPI_INSTANCE)
@ -109,22 +111,22 @@ static queuedReadState_t queuedRead = { false, 0, 0};
static bool ak8963SensorRead(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *buf)
{
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes
delay(10);
__disable_irq();
mpuReadRegisterI2C(NULL, MPU_RA_EXT_SENS_DATA_00, len_, buf); // read I2C
bool ack = mpu9250SpiReadRegister(bus, MPU_RA_EXT_SENS_DATA_00, len_, buf); // read I2C
__enable_irq();
return true;
return ack;
}
static bool ak8963SensorWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
{
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_ADDR, addr_); // set I2C slave address for write
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_DO, data); // set I2C salve value
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_CTRL, 0x81); // write 1 byte
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_ADDR, addr_); // set I2C slave address for write
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_DO, data); // set I2C salve value
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_CTRL, 0x81); // write 1 byte
return true;
}
@ -136,9 +138,9 @@ static bool ak8963SensorStartRead(uint8_t addr_, uint8_t reg_, uint8_t len_)
queuedRead.len = len_;
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes
queuedRead.readStartedAt = micros();
queuedRead.waiting = true;
@ -173,7 +175,7 @@ static bool ak8963SensorCompleteRead(uint8_t *buf)
queuedRead.waiting = false;
mpuReadRegisterI2C(NULL, MPU_RA_EXT_SENS_DATA_00, queuedRead.len, buf); // read I2C buffer
mpu9250SpiReadRegister(bus, MPU_RA_EXT_SENS_DATA_00, queuedRead.len, buf); // read I2C buffer
return true;
}
#else
@ -313,10 +315,12 @@ bool ak8963Detect(magDev_t *mag)
{
uint8_t sig = 0;
bus = &mag->bus;
#if defined(USE_SPI) && defined(MPU9250_SPI_INSTANCE)
// initialze I2C master via SPI bus (MPU9250)
verifympu9250SpiWriteRegister(&mag->bus, MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR
verifympu9250SpiWriteRegister(&mag->bus, MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN);
delay(10);
verifympu9250SpiWriteRegister(&mag->bus, MPU_RA_I2C_MST_CTRL, 0x0D); // I2C multi-master / 400kHz

1
src/main/target/SPRACINGF3EVO/target.h
View file

@ -58,6 +58,7 @@
#define USE_BARO_BMP280
#define MAG
#define USE_MPU9250_MAG // Enables bypass configuration
#define USE_MAG_AK8963
//#define USE_MAG_HMC5883 // External

2
src/main/target/SPRACINGF3MINI/target.mk
View file

@ -5,9 +5,9 @@ TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8963.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_ak8963.c \
drivers/flash_m25p16.c
ifeq ($(TARGET), TINYBEEF3)