diff --git a/app/src/main.c b/app/src/main.c index 62628d7..49c77bb 100644 --- a/app/src/main.c +++ b/app/src/main.c @@ -91,7 +91,7 @@ int main(void) uint8_t ppt; uint8_t font_width; uint8_t font_height; - struct sensor_value voltage, current, pressure, temperature, accel_x, accel_y, accel_z, accel_z_ref, gyro_x, gyro_y, gyro_z, humidity; + struct sensor_value voltage, current, pressure, temperature, accel_x, accel_y, accel_z, accel_z_ref, gyro_x, gyro_y, gyro_z, mag_x, mag_y, mag_z, humidity; char str_v[15] = {0}; char str_i[15] = {0}; @@ -104,6 +104,9 @@ int main(void) char str_gx[16] = {0}; char str_gy[16] = {0}; char str_gz[16] = {0}; + char str_mx[16] = {0}; + char str_my[16] = {0}; + char str_mz[16] = {0}; char str_h[16] = {0}; LOG_INF("Starting Mellifera version %s...", APP_VERSION_STRING); @@ -267,6 +270,18 @@ int main(void) { LOG_ERR("Could not get gyro"); } + if (sensor_channel_get(imu, SENSOR_CHAN_MAGN_X, &mag_x) < 0) + { + LOG_ERR("Could not get mag"); + } + if (sensor_channel_get(imu, SENSOR_CHAN_MAGN_Y, &mag_y) < 0) + { + LOG_ERR("Could not get mag"); + } + if (sensor_channel_get(imu, SENSOR_CHAN_MAGN_Z, &mag_z) < 0) + { + LOG_ERR("Could not get mag"); + } if (sensor_sample_fetch(lis) < 0) { @@ -300,21 +315,24 @@ int main(void) sprintf(str_gx, "GX:%+7.3f", gyro_x.val1 + gyro_x.val2 * 1e-6); sprintf(str_gy, "GY:%+7.3f", gyro_y.val1 + gyro_y.val2 * 1e-6); sprintf(str_gz, "GZ:%+7.3f", gyro_z.val1 + gyro_z.val2 * 1e-6); + sprintf(str_mx, "MX:%+7.3f", mag_x.val1 + mag_x.val2 * 1e-6); + sprintf(str_my, "MY:%+7.3f", mag_y.val1 + mag_y.val2 * 1e-6); + sprintf(str_mz, "MZ:%+7.3f", mag_z.val1 + mag_z.val2 * 1e-6); sprintf(str_az_ref, "Zr:%+7.3f", accel_z_ref.val1 + accel_z_ref.val2 * 1e-6); sprintf(str_h, "H :%7.3f", humidity.val1 + humidity.val2 * 1e-6); // LOG_INF("%s\t%s\t%s\t%s", str_v, str_i, str_p, str_t); cfb_framebuffer_clear(display, false); - if (cfb_print(display, str_gx, 0, 0)) + if (cfb_print(display, str_mx, 0, 0)) { LOG_ERR("Failed to print a string"); } - if (cfb_print(display, str_gy, 0, 16)) + if (cfb_print(display, str_my, 0, 16)) { LOG_ERR("Failed to print a string"); } - if (cfb_print(display, str_gz, 0, 16 * 2)) + if (cfb_print(display, str_mz, 0, 16 * 2)) { LOG_ERR("Failed to print a string"); } diff --git a/drivers/sensor/bmx055/bmx055.c b/drivers/sensor/bmx055/bmx055.c index 8888613..285c548 100644 --- a/drivers/sensor/bmx055/bmx055.c +++ b/drivers/sensor/bmx055/bmx055.c @@ -149,7 +149,18 @@ const uint8_t MAG_REG_RHALL_LSB = 0x48; const uint8_t MAG_REG_RHALL_MSB = 0x49; const uint8_t MAG_REG_INT_STATUS = 0x4A; const uint8_t MAG_REG_POWER = 0x4B; +typedef enum mag_power_t +{ + MAG_POWER_POWER_ON = 0x01, + MAG_POWER_RESET = 0x82, +} mag_power_t; const uint8_t MAG_REG_MODE = 0x4C; +typedef enum mag_mode_t +{ + MAG_MODE_OPMODE_NORMAL = 0x00 << 1, + MAG_MODE_OPMODE_FORCED = 0x01 << 1, + MAG_MODE_OPMODE_SLEEP_MODE = 0x11 << 1, +} mag_mode_t; const uint8_t MAG_REG_INT_ENABLE = 0x4D; const uint8_t MAG_REG_INT_SETTINGS = 0x4E; const uint8_t MAG_REG_LOW_THRESH = 0x4F; @@ -213,6 +224,19 @@ static int bmx055_sample_fetch(const struct device *dev, data->gyro_y = ((int16_t)sys_get_le16(&gyro[2])); data->gyro_z = ((int16_t)sys_get_le16(&gyro[4])); + uint8_t mag[6]; + struct i2c_dt_spec mag_bus = config->bus; + mag_bus.addr = 0x10; + ret = i2c_burst_read_dt(&mag_bus, MAG_REG_DATA_X_LSB, mag, sizeof(mag)); + if (ret < 0) + { + LOG_ERR("Failed to read gyro registers!"); + return ret; + } + data->mag_x = ((int16_t)sys_get_le16(&mag[0])) >> 1; + data->mag_y = ((int16_t)sys_get_le16(&mag[2])) >> 1; + data->mag_z = ((int16_t)sys_get_le16(&mag[4])) >> 1; + ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_ACCD_TEMP, &data->temperature, sizeof(data->temperature)); if (ret < 0) { @@ -287,10 +311,28 @@ static int bmx055_channel_get(const struct device *dev, val->val2 = (rate - val->val1) * 1000000; break; } + // Gauss case SENSOR_CHAN_MAGN_X: + { + float rate = data->mag_x * 1300.0 / (2 << 15) / 100; // to uT, to gauss + val->val1 = rate; + val->val2 = (rate - val->val1) * 1000000; + break; + } case SENSOR_CHAN_MAGN_Y: + { + float rate = data->mag_y * 1300.0 / (2 << 15) / 100; // to uT, to gauss + val->val1 = rate; + val->val2 = (rate - val->val1) * 1000000; + break; + } case SENSOR_CHAN_MAGN_Z: - return -ENOTSUP; + { + float rate = data->mag_z * 2500.0 / (2 << 15) / 100; // to uT, to gauss + val->val1 = rate; + val->val2 = (rate - val->val1) * 1000000; + break; + } default: return -ENOTSUP; } @@ -354,7 +396,6 @@ static int bmx055_init(const struct device *dev) struct i2c_dt_spec gyro_bus = config->bus; gyro_bus.addr = 0x68; - uint8_t gyro_chip_id; ret = i2c_burst_read_dt(&gyro_bus, GYRO_REG_CHIP_ID, &gyro_chip_id, sizeof(gyro_chip_id)); if (ret < 0) @@ -368,6 +409,37 @@ static int bmx055_init(const struct device *dev) LOG_ERR("Gyro chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, gyro_chip_id, GYRO_CHIP_ID); } + struct i2c_dt_spec mag_bus = config->bus; + mag_bus.addr = 0x10; + + uint8_t mag_power = MAG_POWER_POWER_ON; + ret = i2c_burst_write_dt(&mag_bus, MAG_REG_POWER, &mag_power, sizeof(mag_power)); + if (ret < 0) + { + LOG_ERR("Failed to power up magnetometer"); + return ret; + } + uint8_t mag_mode = MAG_MODE_OPMODE_NORMAL; + ret = i2c_burst_write_dt(&mag_bus, MAG_REG_MODE, &mag_mode, sizeof(mag_mode)); + if (ret < 0) + { + LOG_ERR("Failed to start magnetometer"); + return ret; + } + + uint8_t mag_chip_id; + ret = i2c_burst_read_dt(&mag_bus, MAG_REG_CHIP_ID, &mag_chip_id, sizeof(mag_chip_id)); + if (ret < 0) + { + LOG_ERR("Failed to read magnetometer chip ID register!"); + return ret; + } + const uint8_t MAG_CHIP_ID = 0x32; + if (mag_chip_id != MAG_CHIP_ID) + { + LOG_ERR("Mag chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, mag_chip_id, MAG_CHIP_ID); + } + return 0; }