com.diozero.devices.imu.invensense.AK8975Driver Maven / Gradle / Ivy

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package com.diozero.devices.imu.invensense;

/*-
 * #%L
 * Organisation: diozero
 * Project:      diozero - IMU device classes
 * Filename:     AK8975Driver.java
 * 
 * This file is part of the diozero project. More information about this project
 * can be found at https://www.diozero.com/.
 * %%
 * Copyright (C) 2016 - 2024 diozero
 * %%
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 * #L%
 */

import com.diozero.api.DeviceInterface;
import com.diozero.api.I2CDevice;
import com.diozero.api.I2CDeviceInterface;
import com.diozero.api.RuntimeIOException;
import com.diozero.util.SleepUtil;

/**
 * Output data resolution is 13 bit (0.3 uT per LSB), Full scale measurement range is
 * +/-1200 uT
 */
public class AK8975Driver implements DeviceInterface, AK8975Constants {
	private short[] mag_sens_adj = new short[3];
	private I2CDeviceInterface i2cDevice;

	public AK8975Driver(int controller) throws RuntimeIOException {
		this(controller, AK8975_MAG_ADDRESS);
	}

	public AK8975Driver(int controller, int address) throws RuntimeIOException {
		i2cDevice = I2CDevice.builder(address).setController(controller).build();
	}

	public void init() throws RuntimeIOException {
		byte[] data = new byte[4];
		data[0] = AKM_POWER_DOWN;
		i2cDevice.writeByteData(AKM_REG_CNTL, data[0]);
		SleepUtil.sleepMillis(1);

		data[0] = AKM_FUSE_ROM_ACCESS;
		i2cDevice.writeByteData(AKM_REG_CNTL, data[0]);
		SleepUtil.sleepMillis(1);

		/* Get sensitivity adjustment data from fuse ROM. */
		data = i2cDevice.readI2CBlockDataByteArray(AKM_REG_ASAX, 3);
		mag_sens_adj[0] = (short) (data[0] + 128);
		mag_sens_adj[1] = (short) (data[1] + 128);
		mag_sens_adj[2] = (short) (data[2] + 128);

		data[0] = AKM_POWER_DOWN;
		i2cDevice.writeByteData(AKM_REG_CNTL, data[0]);
		SleepUtil.sleepMillis(1);
	}

	public short[] get_mag_sens_adj() {
		return mag_sens_adj;
	}

	@Override
	public void close() {
		i2cDevice.close();
	}
}