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[codex] Add BMX160 auxiliary magnetometer init #232

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[codex] Add BMX160 auxiliary magnetometer init #232

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116 changes: 111 additions & 5 deletions src/SensorManager/BMX160/DFRobot_BMX160.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,68 @@ void DFRobot_BMX160::defaultParamSettg(sBmx160Dev_t *dev)
dev->prevAccelCfg = dev->accelCfg;
}

void DFRobot_BMX160::setMagnConf()
bool DFRobot_BMX160::setMagnConf()
{
if (setBmi160AuxMagnConf()) {
LOG_INF("BMM150 magnetometer configured through BMI160 auxiliary interface");
return true;
}

LOG_WRN("BMM150 auxiliary probe failed; using BMX160 magnetometer interface fallback");
setBmx160MagnConf();

return false;
}

bool DFRobot_BMX160::setBmi160AuxMagnConf()
{
uint8_t reg_val = 0;
uint8_t chip_id = 0;

if (!writeBmxReg(BMX160_COMMAND_REG_ADDR, BMX160_MAGN_NORMAL_MODE)) {
return false;
}
delay(1);

if (!readReg(BMX160_IF_CONF_ADDR, &reg_val, 1)) {
return false;
}

reg_val |= BMX160_IF_CONF_SECONDARY_IF_EN;
if (!writeBmxReg(BMX160_IF_CONF_ADDR, reg_val)) {
return false;
}
delay(BMX160_MAGN_COM_DELAY);

if (!setBmi160AuxMode(true, 0x00)) {
return false;
}

if (!writeBmm150Reg(BMM150_POWER_CONTROL_ADDR, BMM150_POWER_CONTROL_ENABLE)) {
return false;
}
delay(BMX160_MAGN_COM_DELAY);

if (!readBmm150Reg(BMM150_CHIP_ID_ADDR, &chip_id) || chip_id != BMM150_CHIP_ID) {
LOG_WRN("BMM150 chip id mismatch: 0x%02x", chip_id);
return false;
}

if (!writeBmm150Reg(BMM150_REP_XY_ADDR, BMM150_REP_XY_REGULAR) ||
!writeBmm150Reg(BMM150_REP_Z_ADDR, BMM150_REP_Z_REGULAR) ||
!writeBmm150Reg(BMM150_OP_MODE_ADDR, BMM150_OP_MODE_FORCED) ||
!setBmi160AuxReadAddr(BMM150_DATA_X_LSB_ADDR) ||
!writeBmxReg(BMX160_MAGN_CONFIG_ADDR, BMX160_MAGN_ODR_100HZ) ||
!setBmi160AuxMode(false, 0x03)) {
return false;
}

delay(50);

return true;
}

void DFRobot_BMX160::setBmx160MagnConf()
{
// puts magnetometer into mag_if setup mode
writeBmxReg(BMX160_MAGN_IF_0_ADDR, 0x80);
Expand All @@ -164,6 +225,47 @@ void DFRobot_BMX160::setMagnConf()
delay(50);
}

bool DFRobot_BMX160::setBmi160AuxMode(bool manual, uint8_t read_burst_len)
{
uint8_t aux_if[2] = {
static_cast<uint8_t>(BMX160_MAGN_BMM150_I2C_ADDR << 1),
static_cast<uint8_t>((manual ? BMX160_MANUAL_MODE_EN_MSK : 0x00) |
(read_burst_len & BMX160_MAGN_READ_BURST_MSK))
};

return writeReg(BMX160_AUX_IF_0_ADDR, aux_if, sizeof(aux_if));
}

bool DFRobot_BMX160::setBmi160AuxReadAddr(uint8_t reg)
{
return writeBmxReg(BMX160_AUX_IF_2_ADDR, reg);
}

bool DFRobot_BMX160::writeBmm150Reg(uint8_t reg, uint8_t value)
{
if (!writeBmxReg(BMX160_AUX_IF_4_ADDR, value)) {
return false;
}
delay(BMX160_MAGN_COM_DELAY);

if (!writeBmxReg(BMX160_AUX_IF_3_ADDR, reg)) {
return false;
}
delay(BMX160_MAGN_COM_DELAY);

return true;
}

bool DFRobot_BMX160::readBmm150Reg(uint8_t reg, uint8_t *value)
{
if (!setBmi160AuxReadAddr(reg)) {
return false;
}
delay(BMX160_MAGN_COM_DELAY);

return readReg(BMX160_MAG_DATA_ADDR, value, 1);
}

void DFRobot_BMX160::setGyroRange(eGyroRange_t bits){
switch (bits){
case eGyroRange_125DPS:
Expand Down Expand Up @@ -254,30 +356,34 @@ void DFRobot_BMX160::getAllData(sBmx160SensorData_t *magn, sBmx160SensorData_t *
}
}

void DFRobot_BMX160::writeBmxReg(uint8_t reg, uint8_t value)
bool DFRobot_BMX160::writeBmxReg(uint8_t reg, uint8_t value)
{
uint8_t buffer[1] = {value};
writeReg(reg, buffer, 1);
return writeReg(reg, buffer, 1);
}

void DFRobot_BMX160::writeReg(uint8_t reg, uint8_t *pBuf, uint16_t len)
bool DFRobot_BMX160::writeReg(uint8_t reg, uint8_t *pBuf, uint16_t len)
{
_i2c->aquire();

int ret = i2c_burst_write(_i2c->master, _addr, reg, pBuf, len);
if (ret) LOG_WRN("I2C write failed: %d", ret);

_i2c->release();

return ret == 0;
}

void DFRobot_BMX160::readReg(uint8_t reg, uint8_t *pBuf, uint16_t len)
bool DFRobot_BMX160::readReg(uint8_t reg, uint8_t *pBuf, uint16_t len)
{
_i2c->aquire();

int ret = i2c_burst_read(_i2c->master, _addr, reg, pBuf, len);
if (ret) LOG_WRN("I2C read failed: %d", ret);

_i2c->release();

return ret == 0;
}

bool DFRobot_BMX160::scan()
Expand Down
35 changes: 31 additions & 4 deletions src/SensorManager/BMX160/DFRobot_BMX160.h
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -234,6 +234,27 @@
#define BMX160_SPI_COMM_TEST_ADDR 0x7F
#define BMX160_INTL_PULLUP_CONF_ADDR 0x85

/* BMI160-style auxiliary interface used by development BMX160/BMM150 hardware */
#define BMX160_AUX_IF_0_ADDR 0x4B
#define BMX160_AUX_IF_1_ADDR 0x4C
#define BMX160_AUX_IF_2_ADDR 0x4D
#define BMX160_AUX_IF_3_ADDR 0x4E
#define BMX160_AUX_IF_4_ADDR 0x4F
#define BMX160_IF_CONF_SECONDARY_IF_EN 0x20

/* BMM150 registers behind the BMX160/BMI160 auxiliary interface */
#define BMM150_CHIP_ID_ADDR 0x40
#define BMM150_CHIP_ID 0x32
#define BMM150_DATA_X_LSB_ADDR 0x42
#define BMM150_POWER_CONTROL_ADDR 0x4B
#define BMM150_OP_MODE_ADDR 0x4C
#define BMM150_REP_XY_ADDR 0x51
#define BMM150_REP_Z_ADDR 0x52
#define BMM150_POWER_CONTROL_ENABLE 0x01
#define BMM150_OP_MODE_FORCED 0x02
#define BMM150_REP_XY_REGULAR 0x04
#define BMM150_REP_Z_REGULAR 0x0E

/** Error code definitions */
#define BMX160_OK 0
#define BMX160_E_NULL_PTR -1
Expand Down Expand Up @@ -1072,7 +1093,7 @@ class DFRobot_BMX160{
* @param pBuf write the store and buffer of the data
* @param len data length to be readed
*/
void readReg(uint8_t reg, uint8_t *pBuf, uint16_t len);
bool readReg(uint8_t reg, uint8_t *pBuf, uint16_t len);

/**
* @fn writeReg
Expand All @@ -1082,7 +1103,7 @@ class DFRobot_BMX160{
* @param len data length to be written
* @return return the actually written length
*/
void writeReg(uint8_t reg, uint8_t *pBuf, uint16_t len);
bool writeReg(uint8_t reg, uint8_t *pBuf, uint16_t len);

/**
* @fn writeBmxReg
Expand All @@ -1091,7 +1112,7 @@ class DFRobot_BMX160{
* @param value Data written to the BMX register
* @return return the actually written length
*/
void writeBmxReg(uint8_t reg, uint8_t value);
bool writeBmxReg(uint8_t reg, uint8_t value);

/**
* @fn scan
Expand All @@ -1106,7 +1127,13 @@ class DFRobot_BMX160{
* @fn setMagnConf
* @brief set magnetometer Config
*/
void setMagnConf();
bool setMagnConf();
void setBmx160MagnConf();
bool setBmi160AuxMagnConf();
bool setBmi160AuxMode(bool manual, uint8_t read_burst_len);
bool writeBmm150Reg(uint8_t reg, uint8_t value);
bool readBmm150Reg(uint8_t reg, uint8_t *value);
bool setBmi160AuxReadAddr(uint8_t reg);

float accelRange = BMX160_ACCEL_MG_LSB_2G * EARTH_ACC;
float gyroRange = BMX160_GYRO_SENSITIVITY_2000DPS;
Expand Down
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