diff --git a/src/main/drivers/compass/compass_ak8963.c b/src/main/drivers/compass/compass_ak8963.c
index b34656fa8..99cedf6a1 100644
--- a/src/main/drivers/compass/compass_ak8963.c
+++ b/src/main/drivers/compass/compass_ak8963.c
@@ -43,47 +43,7 @@
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/compass/compass_ak8963.h"
-
-// This sensor is available in MPU-9250.
-
-// AK8963, mag sensor address
-#define AK8963_MAG_I2C_ADDRESS 0x0C
-#define AK8963_Device_ID 0x48
-
-// Registers
-#define AK8963_MAG_REG_WHO_AM_I 0x00
-#define AK8963_MAG_REG_INFO 0x01
-#define AK8963_MAG_REG_STATUS1 0x02
-#define AK8963_MAG_REG_HXL 0x03
-#define AK8963_MAG_REG_HXH 0x04
-#define AK8963_MAG_REG_HYL 0x05
-#define AK8963_MAG_REG_HYH 0x06
-#define AK8963_MAG_REG_HZL 0x07
-#define AK8963_MAG_REG_HZH 0x08
-#define AK8963_MAG_REG_STATUS2 0x09
-#define AK8963_MAG_REG_CNTL1 0x0a
-#define AK8963_MAG_REG_CNTL2 0x0b
-#define AK8963_MAG_REG_ASCT 0x0c // self test
-#define AK8963_MAG_REG_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
-#define AK8963_MAG_REG_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
-#define AK8963_MAG_REG_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
-
-#define READ_FLAG 0x80
-
-#define STATUS1_DATA_READY 0x01
-#define STATUS1_DATA_OVERRUN 0x02
-
-#define STATUS2_DATA_ERROR 0x02
-#define STATUS2_MAG_SENSOR_OVERFLOW 0x03
-
-#define CNTL1_MODE_POWER_DOWN 0x00
-#define CNTL1_MODE_ONCE 0x01
-#define CNTL1_MODE_CONT1 0x02
-#define CNTL1_MODE_CONT2 0x06
-#define CNTL1_MODE_SELF_TEST 0x08
-#define CNTL1_MODE_FUSE_ROM 0x0F
-
-#define CNTL2_SOFT_RESET 0x01
+#include "drivers/compass/compass_spi_ak8963.h"
static float magGain[3] = { 1.0f, 1.0f, 1.0f };
@@ -201,15 +161,15 @@ static bool ak8963Init()
ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL1, CNTL1_MODE_FUSE_ROM); // Enter Fuse ROM access mode
ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_ASAX, sizeof(calibration), calibration); // Read the x-, y-, and z-axis calibration values
- magGain[X] = (((((float)(int8_t)calibration[X] - 128) / 256) + 1) * 30);
- magGain[Y] = (((((float)(int8_t)calibration[Y] - 128) / 256) + 1) * 30);
- magGain[Z] = (((((float)(int8_t)calibration[Z] - 128) / 256) + 1) * 30);
+ magGain[X] = ((((float)(int8_t)calibration[X] - 128) / 256) + 1) * 30;
+ magGain[Y] = ((((float)(int8_t)calibration[Y] - 128) / 256) + 1) * 30;
+ magGain[Z] = ((((float)(int8_t)calibration[Z] - 128) / 256) + 1) * 30;
ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL1, CNTL1_MODE_POWER_DOWN); // power down after reading.
// Clear status registers
- ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1, &status);
- ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS2, 1, &status);
+ ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_ST1, 1, &status);
+ ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_ST2, 1, &status);
// Trigger first measurement
ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL1, CNTL1_MODE_ONCE);
@@ -233,7 +193,7 @@ static bool ak8963Read(int16_t *magData)
restart:
switch (state) {
case CHECK_STATUS:
- ak8963SensorStartRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1);
+ ak8963SensorStartRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_ST1, 1);
state++;
return false;
@@ -247,7 +207,7 @@ restart:
uint8_t status = buf[0];
- if (!ack || (status & STATUS1_DATA_READY) == 0) {
+ if (!ack || (status & ST1_DATA_READY) == 0) {
// too early. queue the status read again
state = CHECK_STATUS;
if (retry) {
@@ -276,18 +236,18 @@ restart:
}
}
#else
- ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1, &buf[0]);
+ ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_ST1, 1, &buf[0]);
uint8_t status = buf[0];
- if (!ack || (status & STATUS1_DATA_READY) == 0) {
+ if (!ack || (status & ST1_DATA_READY) == 0) {
return false;
}
ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_HXL, 7, &buf[0]);
#endif
uint8_t status2 = buf[6];
- if (!ack || (status2 & STATUS2_DATA_ERROR) || (status2 & STATUS2_MAG_SENSOR_OVERFLOW)) {
+ if (!ack || (status2 & ST2_DATA_ERROR) || (status2 & ST2_MAG_SENSOR_OVERFLOW)) {
return false;
}
@@ -305,6 +265,14 @@ bool ak8963Detect(magDev_t *mag)
{
uint8_t sig = 0;
+#if defined(USE_SPI) && defined(AK8963_SPI_INSTANCE)
+ spiBusSetInstance(&mag->bus, AK8963_SPI_INSTANCE);
+ mag->bus.busdev_u.spi.csnPin = mag->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(AK8963_CS_PIN)) : mag->bus.busdev_u.spi.csnPin;
+
+ // check for SPI AK8963
+ if (ak8963SpiDetect(mag)) return true;
+#endif
+
#if defined(MPU6500_SPI_INSTANCE) || defined(MPU9250_SPI_INSTANCE)
bus = &mag->bus;
#if defined(MPU6500_SPI_INSTANCE)
@@ -322,7 +290,7 @@ bool ak8963Detect(magDev_t *mag)
ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL2, CNTL2_SOFT_RESET); // reset MAG
delay(4);
- bool ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_WHO_AM_I, 1, &sig); // check for AK8963
+ bool ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_WIA, 1, &sig); // check for AK8963
if (ack && sig == AK8963_Device_ID) // 0x48 / 01001000 / 'H'
{
mag->init = ak8963Init;
diff --git a/src/main/drivers/compass/compass_ak8963.h b/src/main/drivers/compass/compass_ak8963.h
index 9a13b1794..2862968b7 100644
--- a/src/main/drivers/compass/compass_ak8963.h
+++ b/src/main/drivers/compass/compass_ak8963.h
@@ -17,4 +17,50 @@
#pragma once
+// This sensor is also available also part of the MPU-9250 connected to the secondary I2C bus.
+
+// AK8963, mag sensor address
+#define AK8963_MAG_I2C_ADDRESS 0x0C
+#define AK8963_Device_ID 0x48
+
+// Registers
+#define AK8963_MAG_REG_WIA 0x00
+#define AK8963_MAG_REG_INFO 0x01
+#define AK8963_MAG_REG_ST1 0x02
+#define AK8963_MAG_REG_HXL 0x03
+#define AK8963_MAG_REG_HXH 0x04
+#define AK8963_MAG_REG_HYL 0x05
+#define AK8963_MAG_REG_HYH 0x06
+#define AK8963_MAG_REG_HZL 0x07
+#define AK8963_MAG_REG_HZH 0x08
+#define AK8963_MAG_REG_ST2 0x09
+#define AK8963_MAG_REG_CNTL1 0x0a
+#define AK8963_MAG_REG_CNTL2 0x0b
+#define AK8963_MAG_REG_ASCT 0x0c // self test
+#define AK8963_MAG_REG_I2CDIS 0x0f
+#define AK8963_MAG_REG_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
+#define AK8963_MAG_REG_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
+#define AK8963_MAG_REG_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
+
+#define READ_FLAG 0x80
+
+#define ST1_DATA_READY 0x01
+#define ST1_DATA_OVERRUN 0x02
+
+#define ST2_DATA_ERROR 0x02
+#define ST2_MAG_SENSOR_OVERFLOW 0x03
+
+#define CNTL1_MODE_POWER_DOWN 0x00
+#define CNTL1_MODE_ONCE 0x01
+#define CNTL1_MODE_CONT1 0x02
+#define CNTL1_MODE_CONT2 0x06
+#define CNTL1_MODE_SELF_TEST 0x08
+#define CNTL1_MODE_FUSE_ROM 0x0F
+#define CNTL1_BIT_14_Bit 0x00
+#define CNTL1_BIT_16_Bit 0x10
+
+#define CNTL2_SOFT_RESET 0x01
+
+#define I2CDIS_DISABLE_MASK 0x1d
+
bool ak8963Detect(magDev_t *mag);
diff --git a/src/main/drivers/compass/compass_spi_ak8963.c b/src/main/drivers/compass/compass_spi_ak8963.c
new file mode 100644
index 000000000..601c5bc8e
--- /dev/null
+++ b/src/main/drivers/compass/compass_spi_ak8963.c
@@ -0,0 +1,122 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#include
+#include
+#include
+
+#include
+
+#include "platform.h"
+
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/bus_spi.h"
+#include "drivers/io.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+#include "drivers/compass/compass.h"
+#include "drivers/compass/compass_ak8963.h"
+#include "drivers/compass/compass_spi_ak8963.h"
+
+#ifdef USE_MAG_SPI_AK8963
+
+static float magGain[3] = { 1.0f, 1.0f, 1.0f };
+static busDevice_t *bus = NULL;
+
+static bool ak8963SpiInit(void)
+{
+ uint8_t calibration[3];
+ uint8_t status;
+
+ UNUSED(status);
+
+ spiBusWriteRegister(bus, AK8963_MAG_REG_I2CDIS, I2CDIS_DISABLE_MASK); // disable I2C
+ delay(10);
+
+ spiBusWriteRegister(bus, AK8963_MAG_REG_CNTL1, CNTL1_MODE_POWER_DOWN); // power down before entering fuse mode
+ delay(20);
+
+ spiBusWriteRegister(bus, AK8963_MAG_REG_CNTL1, CNTL1_MODE_FUSE_ROM); // Enter Fuse ROM access mode
+ delay(10);
+
+ spiBusReadRegisterBuffer(bus, AK8963_MAG_REG_ASAX, calibration, sizeof(calibration)); // Read the x-, y-, and z-axis calibration values
+ delay(10);
+
+ magGain[X] = ((((float)(int8_t)calibration[X] - 128) / 256) + 1) * 30;
+ magGain[Y] = ((((float)(int8_t)calibration[Y] - 128) / 256) + 1) * 30;
+ magGain[Z] = ((((float)(int8_t)calibration[Z] - 128) / 256) + 1) * 30;
+
+ spiBusWriteRegister(bus, AK8963_MAG_REG_CNTL1, CNTL1_MODE_POWER_DOWN); // power down after reading.
+ delay(10);
+
+ // Clear status registers
+ status = spiBusReadRegister(bus, AK8963_MAG_REG_ST1);
+ status = spiBusReadRegister(bus, AK8963_MAG_REG_ST2);
+
+ // Trigger first measurement
+ spiBusWriteRegister(bus, AK8963_MAG_REG_CNTL1, CNTL1_MODE_ONCE);
+ return true;
+}
+
+static bool ak8963SpiRead(int16_t *magData)
+{
+ bool ack = false;
+ uint8_t buf[7];
+
+ uint8_t status = spiBusReadRegister(bus, AK8963_MAG_REG_ST1);
+
+ if (!ack || (status & ST1_DATA_READY) == 0) {
+ return false;
+ }
+
+ ack = spiBusReadRegisterBuffer(bus, AK8963_MAG_REG_HXL, &buf[0], 7);
+ uint8_t status2 = buf[6];
+ if (!ack || (status2 & ST2_DATA_ERROR) || (status2 & ST2_MAG_SENSOR_OVERFLOW)) {
+ return false;
+ }
+
+ magData[X] = -(int16_t)(buf[1] << 8 | buf[0]) * magGain[X];
+ magData[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * magGain[Y];
+ magData[Z] = -(int16_t)(buf[5] << 8 | buf[4]) * magGain[Z];
+
+ return spiBusWriteRegister(bus, AK8963_MAG_REG_CNTL1, CNTL1_MODE_ONCE); // start reading again
+}
+
+bool ak8963SpiDetect(magDev_t *mag)
+{
+ uint8_t sig = 0;
+
+ // check for SPI AK8963
+ bool ack = spiBusReadRegisterBuffer(&mag->bus, AK8963_MAG_REG_WIA, &sig, 1);
+ if (ack && sig == AK8963_Device_ID) // 0x48 / 01001000 / 'H'
+ {
+ bus = &mag->bus;
+
+ mag->init = ak8963SpiInit;
+ mag->read = ak8963SpiRead;
+
+ return true;
+ }
+ return false;
+}
+#endif
diff --git a/src/main/drivers/compass/compass_spi_ak8963.h b/src/main/drivers/compass/compass_spi_ak8963.h
new file mode 100644
index 000000000..176a47be9
--- /dev/null
+++ b/src/main/drivers/compass/compass_spi_ak8963.h
@@ -0,0 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#pragma once
+
+bool ak8963SpiDetect(magDev_t *mag);
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
index 4ee0b8d63..6330ce1e8 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.h
+++ b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -53,10 +53,14 @@
#define USE_MAG_HMC5883
#define USE_MAG_SPI_HMC5883
#define USE_MAG_AK8963
+#define USE_MAG_SPI_AK8963
#define HMC5883_CS_PIN PC15
#define HMC5883_SPI_INSTANCE SPI3
+#define AK8963_CS_PIN PC15
+#define AK8963_SPI_INSTANCE SPI3
+
#define MAG_HMC5883_ALIGN CW180_DEG
#define MAG_AK8963_ALIGN CW270_DEG
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.mk b/src/main/target/ALIENFLIGHTNGF7/target.mk
index 8754d6c5f..a559d8cc9 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.mk
+++ b/src/main/target/ALIENFLIGHTNGF7/target.mk
@@ -7,5 +7,6 @@ TARGET_SRC = \
drivers/barometer/barometer_bmp280.c \
drivers/barometer/barometer_ms5611.c \
drivers/compass/compass_ak8963.c \
+ drivers/compass/compass_spi_ak8963.c \
drivers/compass/compass_hmc5883l.c \
drivers/compass/compass_spi_hmc5883l.c