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108 lines
2.9 KiB
108 lines
2.9 KiB
#include "system/sensord/sensors/mmc5603nj_magn.h"
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#include <algorithm>
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#include <cassert>
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#include <vector>
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#include "common/swaglog.h"
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#include "common/timing.h"
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#include "common/util.h"
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MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {}
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int MMC5603NJ_Magn::init() {
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int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID});
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if (ret == -1) return -1;
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// Set ODR to 0
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ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
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if (ret < 0) {
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goto fail;
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}
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// Set BW to 0b01 for 1-150 Hz operation
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ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_1, 0b01);
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if (ret < 0) {
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goto fail;
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}
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fail:
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return ret;
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}
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int MMC5603NJ_Magn::shutdown() {
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int ret = 0;
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// disable auto reset of measurements
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uint8_t value = 0;
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ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1);
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if (ret < 0) {
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goto fail;
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}
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value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN);
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ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value);
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if (ret < 0) {
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goto fail;
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}
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// set ODR to 0 to leave continuous mode
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ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
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if (ret < 0) {
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goto fail;
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}
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return ret;
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fail:
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LOGE("Could not disable mmc5603nj auto set reset");
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return ret;
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}
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void MMC5603NJ_Magn::start_measurement() {
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set_register(MMC5603NJ_I2C_REG_INTERNAL_0, 0b01);
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util::sleep_for(5);
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}
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std::vector<float> MMC5603NJ_Magn::read_measurement() {
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int len;
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uint8_t buffer[9];
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len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer));
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assert(len == sizeof(buffer));
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float scale = 1.0 / 16384.0;
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float x = (read_20_bit(buffer[6], buffer[1], buffer[0]) * scale) - 32.0;
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float y = (read_20_bit(buffer[7], buffer[3], buffer[2]) * scale) - 32.0;
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float z = (read_20_bit(buffer[8], buffer[5], buffer[4]) * scale) - 32.0;
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std::vector<float> xyz = {x, y, z};
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return xyz;
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}
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bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
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uint64_t start_time = nanos_since_boot();
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// SET - RESET cycle
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set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_SET);
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util::sleep_for(5);
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MMC5603NJ_Magn::start_measurement();
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std::vector<float> xyz = MMC5603NJ_Magn::read_measurement();
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set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_RESET);
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util::sleep_for(5);
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MMC5603NJ_Magn::start_measurement();
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std::vector<float> reset_xyz = MMC5603NJ_Magn::read_measurement();
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auto event = msg.initEvent().initMagnetometer();
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event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ);
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event.setVersion(1);
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event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
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event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
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event.setTimestamp(start_time);
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float vals[] = {xyz[0], xyz[1], xyz[2], reset_xyz[0], reset_xyz[1], reset_xyz[2]};
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bool valid = true;
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if (std::any_of(std::begin(vals), std::end(vals), [](float val) { return val == -32.0; })) {
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valid = false;
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}
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auto svec = event.initMagneticUncalibrated();
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svec.setV(vals);
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svec.setStatus(valid);
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return true;
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}
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