Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Magnetometer.cpp
- Committer:
- pvaibhav
- Date:
- 2015-03-16
- Revision:
- 13:bc20290eaff2
- Parent:
- 12:1632d7391453
- Child:
- 14:d9fbb3ccd482
File content as of revision 13:bc20290eaff2:
#include "Magnetometer.h" #define DEBUG "BMX055-Mag" #include "Logger.h" #include "Vector3.h" Magnetometer::Magnetometer(I2C &i2c) : I2CPeripheral(i2c, 0x10 << 1 /* address */), sum(0, 0, 0), hardIron(0,0,0), numSamples(0) { if (powerOn()) { readCalibrationData(); INFO("Bosch Sensortec BMX055-Magneto found"); powerOff(); } else { WARN("Bosch Sensortec BMX055-Magneto not found"); } } bool Magnetometer::powerOn() { write_reg(0x4B, 0x82); // softreset with power off wait_ms(3); // page 18 write_reg(0x4B, 0x83); // softreset with power on, this causes full POR. page 134. wait_ms(3); return read_reg(0x40) == 0x32; // verify chip ID } void Magnetometer::powerOff() { write_reg(0x4B, 0x82); // softreset and stay powered off LOG("powered off"); } bool Magnetometer::performSelfTest() { write_reg(0x4C, 0x06); // go to sleep mode write_reg(0x4C, 0x07); // start self test wait_ms(50); const bool done = (read_reg(0x4C) & 0x01) == 0; const bool x_passed = read_reg(0x42) & 0x01; const bool y_passed = read_reg(0x44) & 0x01; const bool z_passed = read_reg(0x46) & 0x01; INFO("Self test done=%s x=%s y=%s z=%s", done?"pass":"fail", x_passed?"pass":"fail", y_passed?"pass":"fail", z_passed?"pass":"fail"); return done && x_passed && y_passed && z_passed; } void Magnetometer::start() { // configure for "high accuracy preset" pg. 122 write_reg(0x51, 23); // 2x+1 = 47 sample avg for XY-axis write_reg(0x52, 41); // 2x+1 = 83 sample avg for Z-axis write_reg(0x4C, 0x28); // 20 Hz ODR and normal mode start } void Magnetometer::stop() { write_reg(0x4C, 0x06); // 10 Hz but sleep mode } Vector3 Magnetometer::read() { // Refer to https://github.com/kriswiner/BMX-055/blob/master/BMX055_MS5637_BasicAHRS_t3.ino#L790 uint8_t buffer[8]; for (size_t i = 0; i < sizeof buffer; i++) buffer[i] = read_reg(0x42 + i); //read_reg(0x40, buffer, 4); // Datasheet is wrong, BMX055 magneto x and y axis are interchanged and y axis is inverted !!! const int16_t mdata_y = *(reinterpret_cast<const int16_t*>(buffer + 0)) / -8; const int16_t mdata_x = *(reinterpret_cast<const int16_t*>(buffer + 2)) / 8; const int16_t mdata_z = *(reinterpret_cast<const int16_t*>(buffer + 4)) / 2; const uint16_t data_r = *(reinterpret_cast<const uint16_t*>(buffer + 6)) / 4; int16_t temp; // temporary Vector3 magData; // calculate temperature compensated 16-bit magnetic fields temp = ((int16_t)(((uint16_t)((((int32_t)dig_xyz1) << 14)/(data_r != 0 ? data_r : dig_xyz1))) - ((uint16_t)0x4000))); magData.x = ((int16_t)((((int32_t)mdata_x) * ((((((((int32_t)dig_xy2) * ((((int32_t)temp) * ((int32_t)temp)) >> 7)) + (((int32_t)temp) * ((int32_t)(((int16_t)dig_xy1) << 7)))) >> 9) + ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_x2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_x1) << 3); temp = ((int16_t)(((uint16_t)((((int32_t)dig_xyz1) << 14)/(data_r != 0 ? data_r : dig_xyz1))) - ((uint16_t)0x4000))); magData.y = ((int16_t)((((int32_t)mdata_y) * ((((((((int32_t)dig_xy2) * ((((int32_t)temp) * ((int32_t)temp)) >> 7)) + (((int32_t)temp) * ((int32_t)(((int16_t)dig_xy1) << 7)))) >> 9) + ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_y2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_y1) << 3); magData.z = (((((int32_t)(mdata_z - dig_z4)) << 15) - ((((int32_t)dig_z3) * ((int32_t)(((int16_t)data_r) - ((int16_t)dig_xyz1))))>>2))/(dig_z2 + ((int16_t)(((((int32_t)dig_z1) * ((((int16_t)data_r) << 1)))+(1<<15))>>16)))); return magData - Vector3(-720, 1481, -2830); } void Magnetometer::readCalibrationData() { // trying to read in serial order of address dig_x1 = read_reg(0x5D); dig_y1 = read_reg(0x5E); dig_z4 = ( int16_t) (read_reg(0x62) | ( int16_t)(read_reg(0x63) << 8)); dig_x2 = read_reg(0x64); dig_y2 = read_reg(0x65); dig_z2 = (uint16_t) (read_reg(0x68) | (uint16_t)(read_reg(0x69) << 8)); dig_z1 = (uint16_t) (read_reg(0x6A) | (uint16_t)(read_reg(0x6B) << 8)); dig_xyz1 = (uint16_t) (read_reg(0x6C) | (uint16_t)(read_reg(0x6D) << 8)); dig_z3 = ( int16_t) (read_reg(0x6E) | ( int16_t)(read_reg(0x6F) << 8)); dig_xy2 = read_reg(0x70); dig_xy1 = read_reg(0x71); LOG("calibration data loaded"); }