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add magnetometer

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This commit is contained in:
Brendan Haines
2024-05-15 23:26:06 -06:00
parent 1c2b904160
commit e0a90fd875
2 changed files with 96 additions and 6 deletions
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76
drivers/sensor/bmx055/bmx055.c
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@ -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;
}