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BMX055 magnetometer fixes and advanced self-test (#20118)

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* bmx055 magnetometer selftest

* try this

* cleanup trim data reading

* parsing fixed now?

* make self test work and increase numreps
pull/20159/head
Willem Melching 4 years ago committed by GitHub
parent a53c361bd4
commit 17f3683228
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 123 additions and 63 deletions
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  1. 164
      selfdrive/sensord/sensors/bmx055_magn.cc
  2. 22
      selfdrive/sensord/sensors/bmx055_magn.hpp

164
selfdrive/sensord/sensors/bmx055_magn.cc
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@ -62,31 +62,19 @@ static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t
return (int16_t)retval;
}
static int16_t parse_xy(uint8_t lsb, uint8_t msb){
// 13 bit
uint16_t combined = (uint16_t(msb) << 5) | uint16_t(lsb >> 3);
return int16_t(combined << 3) / (1 << 3);
}
static int16_t parse_z(uint8_t lsb, uint8_t msb){
// 15 bit
uint16_t combined = (uint16_t(msb) << 7) | uint16_t(lsb >> 1);
return int16_t(combined << 1) / (1 << 1);
}
static uint16_t parse_rhall(uint8_t lsb, uint8_t msb){
// 14 bit
return (uint16_t(msb) << 6) | uint16_t(lsb >> 2);
}
BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {}
int BMX055_Magn::init(){
int ret;
uint8_t buffer[1];
uint8_t trim_x1y1[2] = {0};
uint8_t trim_xyz_data[4] = {0};
uint8_t trim_xy1xy2[10] = {0};
uint8_t trim_x2y2[2] = {0};
uint8_t trim_xy1xy2[2] = {0};
uint8_t trim_z1[2] = {0};
uint8_t trim_z2[2] = {0};
uint8_t trim_z3[2] = {0};
uint8_t trim_z4[2] = {0};
uint8_t trim_xyz1[2] = {0};
// suspend -> sleep
ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
@ -110,83 +98,139 @@ int BMX055_Magn::init(){
// Load magnetometer trim
ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2);
if(ret < 0){
goto fail;
}
ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4, trim_xyz_data, 4);
if(ret < 0){
goto fail;
}
ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2, trim_xy1xy2, 10);
if(ret < 0){
goto fail;
}
if(ret < 0) goto fail;
ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2);
if(ret < 0) goto fail;
ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2);
if(ret < 0) goto fail;
ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2);
if(ret < 0) goto fail;
ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2);
if(ret < 0) goto fail;
ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2);
if(ret < 0) goto fail;
ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2);
if(ret < 0) goto fail;
ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2);
if(ret < 0) goto fail;
// Read trim data
trim_data.dig_x1 = (int8_t)trim_x1y1[0];
trim_data.dig_y1 = (int8_t)trim_x1y1[1];
trim_data.dig_x1 = trim_x1y1[0];
trim_data.dig_y1 = trim_x1y1[1];
trim_data.dig_x2 = (int8_t)trim_xyz_data[2];
trim_data.dig_y2 = (int8_t)trim_xyz_data[3];
trim_data.dig_x2 = trim_x2y2[0];
trim_data.dig_y2 = trim_x2y2[1];
trim_data.dig_z1 = read_16_bit(trim_xy1xy2[2], trim_xy1xy2[3]);
trim_data.dig_z2 = read_16_bit(trim_xy1xy2[0], trim_xy1xy2[1]);
trim_data.dig_z3 = read_16_bit(trim_xy1xy2[6], trim_xy1xy2[7]);
trim_data.dig_z4 = read_16_bit(trim_xyz_data[0], trim_xyz_data[1]);
trim_data.dig_xy1 = trim_xy1xy2[1]; // NB: MSB/LSB swapped
trim_data.dig_xy2 = trim_xy1xy2[0];
trim_data.dig_xy1 = trim_xy1xy2[9];
trim_data.dig_xy2 = (int8_t)trim_xy1xy2[8];
trim_data.dig_z1 = read_16_bit(trim_z1[0], trim_z1[1]);
trim_data.dig_z2 = read_16_bit(trim_z2[0], trim_z2[1]);
trim_data.dig_z3 = read_16_bit(trim_z3[0], trim_z3[1]);
trim_data.dig_z4 = read_16_bit(trim_z4[0], trim_z4[1]);
trim_data.dig_xyz1 = read_16_bit(trim_xy1xy2[4], trim_xy1xy2[5] & 0x7f);
trim_data.dig_xyz1 = read_16_bit(trim_xyz1[0], trim_xyz1[1] & 0x7f);
assert(trim_data.dig_xyz1 != 0);
// TODO: perform self-test
perform_self_test();
// 9 REPXY and 15 REPZ for 100 Hz
// 3 REPXY and 3 REPZ for > 300 Hz
ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (3 - 1) / 2);
// f_max = 1 / (145us * nXY + 500us * NZ + 980us)
// Chose NXY = 7, NZ = 12, which gives 125 Hz,
// and has the same ratio as the high accuracy preset
ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (7 - 1) / 2);
if (ret < 0){
goto fail;
}
ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 3 - 1);
ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 12 - 1);
if (ret < 0){
goto fail;
}
return 0;
fail:
return ret;
}
void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event){
uint64_t start_time = nanos_since_boot();
bool BMX055_Magn::perform_self_test(){
uint8_t buffer[8];
int16_t x, y;
int16_t neg_z, pos_z;
int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
assert(len == sizeof(buffer));
// Increase z reps for less false positives (~30 Hz ODR)
set_register(BMX055_MAGN_I2C_REG_REPXY, 1);
set_register(BMX055_MAGN_I2C_REG_REPZ, 64 - 1);
// Clean existing measurement
read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
uint8_t forced = BMX055_MAGN_FORCED;
// Negative current
set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6));
util::sleep_for(100);
read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
parse_xyz(buffer, &x, &y, &neg_z);
// Positive current
set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6));
util::sleep_for(100);
read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
parse_xyz(buffer, &x, &y, &pos_z);
// Put back in normal mode
set_register(BMX055_MAGN_I2C_REG_MAG, 0);
int16_t diff = pos_z - neg_z;
bool passed = (diff > 180) && (diff < 240);
if (!passed){
LOGE("self test failed: neg %d pos %d diff %d", neg_z, pos_z, diff);
}
return passed;
}
bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z){
bool ready = buffer[6] & 0x1;
if (ready){
int16_t x = parse_xy(buffer[0], buffer[1]);
int16_t y = parse_xy(buffer[2], buffer[3]);
int16_t z = parse_z(buffer[4], buffer[5]);
int16_t rhall = parse_rhall(buffer[5], buffer[6]);
int16_t mdata_x = (int16_t) (((int16_t)buffer[1] << 8) | buffer[0]) >> 3;
int16_t mdata_y = (int16_t) (((int16_t)buffer[3] << 8) | buffer[2]) >> 3;
int16_t mdata_z = (int16_t) (((int16_t)buffer[5] << 8) | buffer[4]) >> 1;
uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2;
assert(data_r != 0);
*x = compensate_x(trim_data, mdata_x, data_r);
*y = compensate_y(trim_data, mdata_y, data_r);
*z = compensate_z(trim_data, mdata_z, data_r);
}
return ready;
}
x = compensate_x(trim_data, x, rhall);
y = compensate_y(trim_data, y, rhall);
z = compensate_z(trim_data, z, rhall);
// TODO: convert to micro tesla:
// https://github.com/BoschSensortec/BMM150-Sensor-API/blob/master/bmm150.c#L1614
void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event){
uint64_t start_time = nanos_since_boot();
uint8_t buffer[8];
int16_t x, y, z;
int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
assert(len == sizeof(buffer));
if (parse_xyz(buffer, &x, &y, &z)){
event.setSource(cereal::SensorEventData::SensorSource::BMX055);
event.setVersion(1);
event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
event.setTimestamp(start_time);
// Axis convention
x = -x;
y = -y;
float xyz[] = {(float)x, (float)y, (float)z};
auto svec = event.initMagneticUncalibrated();
svec.setV(xyz);

22
selfdrive/sensord/sensors/bmx055_magn.hpp
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@ -1,4 +1,5 @@
#pragma once
#include <tuple>
#include "sensors/i2c_sensor.hpp"
@ -14,9 +15,22 @@
#define BMX055_MAGN_I2C_REG_REPXY 0x51
#define BMX055_MAGN_I2C_REG_REPZ 0x52
#define BMX055_MAGN_I2C_REG_DIG_X1 0x5D
#define BMX055_MAGN_I2C_REG_DIG_Z4 0x62
#define BMX055_MAGN_I2C_REG_DIG_Z2 0x68
#define BMX055_MAGN_I2C_REG_DIG_X1 0x5D
#define BMX055_MAGN_I2C_REG_DIG_Y1 0x5E
#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB 0x62
#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB 0x63
#define BMX055_MAGN_I2C_REG_DIG_X2 0x64
#define BMX055_MAGN_I2C_REG_DIG_Y2 0x65
#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB 0x68
#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB 0x69
#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB 0x6A
#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB 0x6B
#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C
#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D
#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB 0x6E
#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB 0x6F
#define BMX055_MAGN_I2C_REG_DIG_XY2 0x70
#define BMX055_MAGN_I2C_REG_DIG_XY1 0x71
// Constants
#define BMX055_MAGN_CHIP_ID 0x32
@ -40,6 +54,8 @@ struct trim_data_t {
class BMX055_Magn : public I2CSensor{
uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;}
trim_data_t trim_data = {0};
bool perform_self_test();
bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z);
public:
BMX055_Magn(I2CBus *bus);
int init();

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