bool compassInit(void) { // initialize and calibration. turn on led during mag calibration (calibration routine blinks it) // calculate magnetic declination mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used. // copy over SPI bus settings for AK8963 compass magDev.bus = *gyroSensorBus(); if (!compassDetect(&magDev, compassConfig()->mag_hardware)) { return false; } const int16_t deg = compassConfig()->mag_declination / 100; const int16_t min = compassConfig()->mag_declination % 100; mag.magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units LED1_ON; magDev.init(); LED1_OFF; magInit = 1; if (compassConfig()->mag_align != ALIGN_DEFAULT) { magDev.magAlign = compassConfig()->mag_align; } return true; }
bool compassDetect(magDev_t *dev) { magSensor_e magHardware = MAG_NONE; busDevice_t *busdev = &dev->busdev; #ifdef USE_MAG_DATA_READY_SIGNAL dev->magIntExtiTag = compassConfig()->interruptTag; #endif switch (compassConfig()->mag_bustype) { #ifdef USE_I2C case BUSTYPE_I2C: busdev->bustype = BUSTYPE_I2C; busdev->busdev_u.i2c.device = I2C_CFG_TO_DEV(compassConfig()->mag_i2c_device); busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address; #endif break; #ifdef USE_SPI case BUSTYPE_SPI: busdev->bustype = BUSTYPE_SPI; spiBusSetInstance(busdev, spiInstanceByDevice(SPI_CFG_TO_DEV(compassConfig()->mag_spi_device))); busdev->busdev_u.spi.csnPin = IOGetByTag(compassConfig()->mag_spi_csn); #endif break; #if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)) case BUSTYPE_MPU_SLAVE: { if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) { busdev->bustype = BUSTYPE_MPU_SLAVE; busdev->busdev_u.mpuSlave.master = gyroSensorBus(); busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address; } else { return false; } } #endif break; default: return false; } dev->magAlign = ALIGN_DEFAULT; switch (compassConfig()->mag_hardware) { case MAG_DEFAULT: FALLTHROUGH; case MAG_HMC5883: #if defined(USE_MAG_HMC5883) || defined(USE_MAG_SPI_HMC5883) if (busdev->bustype == BUSTYPE_I2C) { busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address; } if (hmc5883lDetect(dev)) { #ifdef MAG_HMC5883_ALIGN dev->magAlign = MAG_HMC5883_ALIGN; #endif magHardware = MAG_HMC5883; break; } #endif FALLTHROUGH; case MAG_AK8975: #ifdef USE_MAG_AK8975 if (busdev->bustype == BUSTYPE_I2C) { busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address; } if (ak8975Detect(dev)) { #ifdef MAG_AK8975_ALIGN dev->magAlign = MAG_AK8975_ALIGN; #endif magHardware = MAG_AK8975; break; } #endif FALLTHROUGH; case MAG_AK8963: #if defined(USE_MAG_AK8963) || defined(USE_MAG_SPI_AK8963) if (busdev->bustype == BUSTYPE_I2C) { busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address; } if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) { dev->busdev.bustype = BUSTYPE_MPU_SLAVE; busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address; dev->busdev.busdev_u.mpuSlave.master = gyroSensorBus(); } if (ak8963Detect(dev)) { #ifdef MAG_AK8963_ALIGN dev->magAlign = MAG_AK8963_ALIGN; #endif magHardware = MAG_AK8963; break; } #endif FALLTHROUGH; case MAG_NONE: magHardware = MAG_NONE; break; } if (magHardware == MAG_NONE) { return false; } detectedSensors[SENSOR_INDEX_MAG] = magHardware; sensorsSet(SENSOR_MAG); return true; }