ardupilot/libraries/AP_Compass/AP_Compass_RM3100.cpp

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/*
* This file 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.
*
* This file 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Driver by Thomas Schumacher, Jan 2019
Structure based on LIS3MDL driver
*/
#include "AP_Compass_RM3100.h"
#include <AP_HAL/AP_HAL.h>
#include <utility>
#include <AP_Math/AP_Math.h>
#include <stdio.h>
#define RM3100_POLL_REG 0x00
#define RM3100_CMM_REG 0x01
#define RM3100_CCX1_REG 0x04
#define RM3100_CCX0_REG 0x05
#define RM3100_CCY1_REG 0x06
#define RM3100_CCY0_REG 0x07
#define RM3100_CCZ1_REG 0x08
#define RM3100_CCZ0_REG 0x09
#define RM3100_TMRC_REG 0x0B
#define RM3100_MX2_REG 0x24
#define RM3100_MX1_REG 0x25
#define RM3100_MX0_REG 0x26
#define RM3100_MY2_REG 0x27
#define RM3100_MY1_REG 0x28
#define RM3100_MY0_REG 0x29
#define RM3100_MZ2_REG 0x2A
#define RM3100_MZ1_REG 0x2B
#define RM3100_MZ0_REG 0x2C
#define RM3100_BIST_REG 0x33
#define RM3100_STATUS_REG 0x34
#define RM3100_HSHAKE_REG 0x34
#define RM3100_REVID_REG 0x36
#define CCP0 0xC8 // Cycle Count values
#define CCP1 0x00
#define CCP0_DEFAULT 0xC8 // Default Cycle Count values (used as a whoami check)
#define CCP1_DEFAULT 0x00
#define GAIN_CC50 20.0f // LSB/uT
#define GAIN_CC100 38.0f
#define GAIN_CC200 75.0f
#define UTESLA_TO_MGAUSS 10.0f // uT to mGauss conversion
#define TMRC 0x94 // Update rate 150Hz
#define CMM 0x71 // read 3 axes and set data ready if 3 axes are ready
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_RM3100::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_RM3100 *sensor = new AP_Compass_RM3100(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
AP_Compass_RM3100::AP_Compass_RM3100(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool _force_external,
enum Rotation _rotation)
: dev(std::move(_dev))
, force_external(_force_external)
, rotation(_rotation)
{
}
bool AP_Compass_RM3100::init()
{
dev->get_semaphore()->take_blocking();
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
// read has high bit set for SPI
dev->set_read_flag(0x80);
}
// high retries for init
dev->set_retries(10);
// use default cycle count values as a whoami test
uint8_t ccx0;
uint8_t ccx1;
uint8_t ccy0;
uint8_t ccy1;
uint8_t ccz0;
uint8_t ccz1;
if (!dev->read_registers(RM3100_CCX1_REG, &ccx1, 1) ||
!dev->read_registers(RM3100_CCX0_REG, &ccx0, 1) ||
!dev->read_registers(RM3100_CCY1_REG, &ccy1, 1) ||
!dev->read_registers(RM3100_CCY0_REG, &ccy0, 1) ||
!dev->read_registers(RM3100_CCZ1_REG, &ccz1, 1) ||
!dev->read_registers(RM3100_CCZ0_REG, &ccz0, 1) ||
ccx1 != CCP1_DEFAULT || ccx0 != CCP0_DEFAULT ||
ccy1 != CCP1_DEFAULT || ccy0 != CCP0_DEFAULT ||
ccz1 != CCP1_DEFAULT || ccz0 != CCP0_DEFAULT) {
// couldn't read one of the cycle count registers or didn't recognize the default cycle count values
dev->get_semaphore()->give();
return false;
}
dev->setup_checked_registers(8);
dev->write_register(RM3100_TMRC_REG, TMRC, true); // CMM data rate
dev->write_register(RM3100_CMM_REG, CMM, true); // CMM configuration
dev->write_register(RM3100_CCX1_REG, CCP1, true); // cycle count x
dev->write_register(RM3100_CCX0_REG, CCP0, true); // cycle count x
dev->write_register(RM3100_CCY1_REG, CCP1, true); // cycle count y
dev->write_register(RM3100_CCY0_REG, CCP0, true); // cycle count y
dev->write_register(RM3100_CCZ1_REG, CCP1, true); // cycle count z
dev->write_register(RM3100_CCZ0_REG, CCP0, true); // cycle count z
_scaler = (1 / GAIN_CC200) * UTESLA_TO_MGAUSS; // has to be changed if using a different cycle count
// lower retries for run
dev->set_retries(3);
dev->get_semaphore()->give();
/* register the compass instance in the frontend */
dev->set_device_type(DEVTYPE_RM3100);
if (!register_compass(dev->get_bus_id(), compass_instance)) {
return false;
}
set_dev_id(compass_instance, dev->get_bus_id());
hal.console->printf("RM3100: Found at address 0x%x as compass %u\n", dev->get_bus_address(), compass_instance);
set_rotation(compass_instance, rotation);
if (force_external) {
set_external(compass_instance, true);
}
// call timer() at 80Hz
dev->register_periodic_callback(1000000U/80U,
FUNCTOR_BIND_MEMBER(&AP_Compass_RM3100::timer, void));
return true;
}
void AP_Compass_RM3100::timer()
{
struct PACKED {
uint8_t magx_2;
uint8_t magx_1;
uint8_t magx_0;
uint8_t magy_2;
uint8_t magy_1;
uint8_t magy_0;
uint8_t magz_2;
uint8_t magz_1;
uint8_t magz_0;
} data;
int32_t magx = 0;
int32_t magy = 0;
int32_t magz = 0;
// check data ready on 3 axis
uint8_t status;
if (!dev->read_registers(RM3100_STATUS_REG, (uint8_t *)&status, 1)) {
goto check_registers;
}
if (!(status & 0x80)) {
// data not available yet
goto check_registers;
}
if (!dev->read_registers(RM3100_MX2_REG, (uint8_t *)&data, sizeof(data))) {
goto check_registers;
}
// the 24 bits of data for each axis are in 2s complement representation
// each byte is shifted to its position in a 24-bit unsigned integer and from 8 more bits to be left-aligned in a 32-bit integer
magx = ((uint32_t)data.magx_2 << 24) | ((uint32_t)data.magx_1 << 16) | ((uint32_t)data.magx_0 << 8);
magy = ((uint32_t)data.magy_2 << 24) | ((uint32_t)data.magy_1 << 16) | ((uint32_t)data.magy_0 << 8);
magz = ((uint32_t)data.magz_2 << 24) | ((uint32_t)data.magz_1 << 16) | ((uint32_t)data.magz_0 << 8);
// right-shift signed integer back to get correct measurement value
magx >>= 8;
magy >>= 8;
magz >>= 8;
#ifdef AP_RM3100_REVERSAL_MASK
// some RM3100 builds get the polarity wrong on one or more of the
// elements. By setting AP_RM3100_REVERSAL_MASK in hwdef.dat you
// can fix it without modifying the hardware
const uint8_t mask = AP_RM3100_REVERSAL_MASK;
if (mask & 1U) {
magx = -magx;
}
if (mask & 2U) {
magy = -magy;
}
if (mask & 4U) {
magz = -magz;
}
#endif
{
// apply scaler and store in field vector
Vector3f field{
magx * _scaler,
magy * _scaler,
magz * _scaler
};
accumulate_sample(field, compass_instance);
}
check_registers:
dev->check_next_register();
}
void AP_Compass_RM3100::read()
{
drain_accumulated_samples(compass_instance);
}