add:新增ak8963驱动

script/libs/ak8963.lua

@@ -0,0 +1,165 @@
+--[[
+@module ak8963
+@summary ak8963 地磁传感器
+@version 1.0
+@date    2023.06.07
+@author  Dozingfiretruck
+@usage
+--注意:因使用了sys.wait()所有api需要在协程中使用
+-- 用法实例
+local ak8963 = require "ak8963"
+i2cid = 0
+i2c_speed = i2c.FAST
+sys.taskInit(function()
+    i2c.setup(i2cid,i2c_speed)
+    ak8963.init(i2cid)--初始化,传入i2c_id
+    while 1 do
+        sys.wait(100)
+        local mag = ak8963.get_mag()--获取地磁仪
+        log.info("ak8963 mag", "mag.x",mag.x,"mag.y",mag.y,"mag.z",mag.z)
+    end
+end)
+]]
+
+
+local ak8963 = {}
+local sys = require "sys"
+local i2cid
+local i2cslaveaddr
+local deviceid
+
+local AK8963_ADDRESS_AD0_LOW     =   0x0C  
+local AK8963_ADDRESS_AD0_HIGH    =   0x0D  
+
+---器件通讯地址
+local AK8963_WHO_AM_I            =   0x48 -- AK8963
+
+---AK8963所用地址
+-- Read-only Reg
+local AK8963_RA_WHO_AM_I         =   0x00
+local AK8963_REG_INFO            =   0x01
+local AK8963_REG_ST1             =   0x02
+local AK8963_REG_HXL             =   0x03
+local AK8963_REG_HXH             =   0x04
+local AK8963_REG_HYL             =   0x05
+local AK8963_REG_HYH             =   0x06
+local AK8963_REG_HZL             =   0x07
+local AK8963_REG_HZH             =   0x08
+local AK8963_REG_ST2             =   0x09
+-- Write/Read Reg
+local AK8963_REG_CNTL1           =   0x0A
+local AK8963_REG_CNTL2           =   0x0B
+local AK8963_REG_ASTC            =   0x0C
+local AK8963_REG_TS1             =   0x0D
+local AK8963_REG_TS2             =   0x0E
+local AK8963_REG_I2CDIS          =   0x0F
+-- Read-only Reg (ROM)
+local AK8963_REG_ASAX            =   0x10
+local AK8963_REG_ASAY            =   0x11
+local AK8963_REG_ASAZ            =   0x12
+-- Status
+local AK8963_STATUS_DRDY         =   0x01
+local AK8963_STATUS_DOR          =   0x02
+local AK8963_STATUS_HOFL         =   0x08
+
+local AK8963_ASAX
+local AK8963_ASAY
+local AK8963_ASAZ
+
+--器件ID检测
+local function ak8963_check()
+    i2c.send(i2cid, AK8963_ADDRESS_AD0_LOW, AK8963_RA_WHO_AM_I)--读器件地址
+    sys.wait(50)
+    local revData = i2c.recv(i2cid, AK8963_ADDRESS_AD0_LOW, 1)
+    if revData:byte() ~= nil then
+        i2cslaveaddr = AK8963_ADDRESS_AD0_LOW
+    else
+        i2c.send(i2cid, AK8963_ADDRESS_AD0_HIGH, AK8963_RA_WHO_AM_I)--读器件地址
+        sys.wait(50)
+        local revData = i2c.recv(i2cid, AK8963_ADDRESS_AD0_HIGH, 1)
+        if revData:byte() ~= nil then
+            i2cslaveaddr = AK8963_ADDRESS_AD0_HIGH
+        else
+            log.info("i2c", "Can't find device")
+            return false
+        end
+    end
+    i2c.send(i2cid, i2cslaveaddr, AK8963_RA_WHO_AM_I)--读器件地址
+    sys.wait(50)
+    local revData = i2c.recv(i2cid, i2cslaveaddr, 1)
+    log.info("Device i2c address is:", revData:toHex())
+    if revData:byte() == AK8963_WHO_AM_I then
+        deviceid = AK8963_WHO_AM_I
+        log.info("Device i2c id is: AK8963")
+    else
+        log.info("i2c", "Can't find device")
+        return false
+    end
+    return true
+end
+
+--[[
+ak8963初始化
+@api ak8963.init(i2c_id)
+@number 所在的i2c总线id
+@return bool   成功返回true
+@usage
+ak8963.init(0)
+]]
+function ak8963.init(i2c_id)
+    i2cid = i2c_id
+    sys.wait(20)
+    if ak8963_check() then
+        i2c.send(i2cid, i2cslaveaddr, {AK8963_REG_CNTL1, 0x0F})
+        i2c.send(i2cid, i2cslaveaddr,AK8963_REG_ASAX)
+        AK8963_ASAX = i2c.recv(i2cid, i2cslaveaddr, 1):byte()
+        i2c.send(i2cid, i2cslaveaddr,AK8963_REG_ASAY)
+        AK8963_ASAY = i2c.recv(i2cid, i2cslaveaddr, 1):byte()
+        i2c.send(i2cid, i2cslaveaddr,AK8963_REG_ASAZ)
+        AK8963_ASAZ = i2c.recv(i2cid, i2cslaveaddr, 1):byte()
+        i2c.send(i2cid, i2cslaveaddr, {AK8963_REG_CNTL1, 0x10})
+        sys.wait(10)
+        log.info("ak8963 init_ok")
+        return true
+    end
+    return false
+end
+
+--获取地磁计的原始数据
+local function ak8963_get_mag_raw()
+    local mag={x=nil,y=nil,z=nil}
+    i2c.send(i2cid, i2cslaveaddr,AK8963_REG_HXL)
+    local x = i2c.recv(i2cid, i2cslaveaddr, 2)
+    _,mag.x = pack.unpack(x,"<h")
+    i2c.send(i2cid, i2cslaveaddr,AK8963_REG_HYL)
+    local y = i2c.recv(i2cid, i2cslaveaddr, 2)
+    _,mag.y = pack.unpack(y,"<h")
+    i2c.send(i2cid, i2cslaveaddr,AK8963_REG_HZL)
+    local z = i2c.recv(i2cid, i2cslaveaddr, 2)
+    _,mag.z = pack.unpack(z,"<h")
+    return mag or 0
+end
+
+
+--[[
+获取地磁仪的数据
+@api ak8963.get_mag()
+@return table 地磁仪数据
+@usage
+local mag = ak8963.get_mag()--获取地磁仪
+log.info("ak8963 mag", "mag.x",mag.x,"mag.y",mag.y,"mag.z",mag.z)
+]]
+function ak8963.get_mag()
+    local mag={x=nil,y=nil,z=nil}
+    i2c.send(i2cid, i2cslaveaddr, {AK8963_REG_CNTL1, 0x11})
+    sys.wait(10)
+    local tmp = ak8963_get_mag_raw()
+    mag.x = tmp.x*((AK8963_ASAX-128)*0.5/128+1)
+    mag.y = tmp.y*((AK8963_ASAY-128)*0.5/128+1)
+    mag.z = tmp.z*((AK8963_ASAZ-128)*0.5/128+1)
+    return mag
+end
+
+return ak8963
+
+