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AP_Compass: switch to continuous 155Hz mode for LIS3MDL

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This commit is contained in:
Andrew Tridgell 2016-11-25 09:44:40 +11:00
parent 62805f59fa
commit 1f403b02ef
2 changed files with 32 additions and 24 deletions
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52
libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
View File

@ -93,12 +93,13 @@ bool AP_Compass_LIS3MDL::init()
goto fail; goto fail;
} }
dev->setup_checked_registers(4); dev->setup_checked_registers(5);
dev->write_register(ADDR_CTRL_REG1, 0xFC, true); dev->write_register(ADDR_CTRL_REG1, 0x62, true); // 155Hz, UHP
dev->write_register(ADDR_CTRL_REG2, 0, true); // 4Ga range dev->write_register(ADDR_CTRL_REG2, 0, true); // 4Ga range
dev->write_register(ADDR_CTRL_REG3, 0, true); // continuous
dev->write_register(ADDR_CTRL_REG4, 0x0C, true); // z-axis ultra high perf dev->write_register(ADDR_CTRL_REG4, 0x0C, true); // z-axis ultra high perf
dev->write_register(ADDR_CTRL_REG5, 0x40, true); dev->write_register(ADDR_CTRL_REG5, 0x40, true); // block-data-update
dev->get_semaphore()->give(); dev->get_semaphore()->give();
@ -116,11 +117,9 @@ bool AP_Compass_LIS3MDL::init()
dev->set_device_type(DEVTYPE_LIS3MDL); dev->set_device_type(DEVTYPE_LIS3MDL);
set_dev_id(compass_instance, dev->get_bus_id()); set_dev_id(compass_instance, dev->get_bus_id());
phase = PHASE_MEASURE; // call timer() at 155Hz
dev->register_periodic_callback(1000000U/155U,
// call timer() at 80Hz FUNCTOR_BIND_MEMBER(&AP_Compass_LIS3MDL::timer, bool));
dev->register_periodic_callback(12500,
FUNCTOR_BIND_MEMBER(&AP_Compass_LIS3MDL::timer, bool));
return true; return true;
@ -131,16 +130,7 @@ fail:
bool AP_Compass_LIS3MDL::timer() bool AP_Compass_LIS3MDL::timer()
{ {
if (phase == PHASE_MEASURE) {
// start single measurement
if (dev->write_register(ADDR_CTRL_REG3, 1)) {
phase = PHASE_COLLECT;
}
return true;
}
struct PACKED { struct PACKED {
uint8_t status;
int16_t magx; int16_t magx;
int16_t magy; int16_t magy;
int16_t magz; int16_t magz;
@ -148,7 +138,17 @@ bool AP_Compass_LIS3MDL::timer()
const float range_scale = 1000.0f / 6842.0f; const float range_scale = 1000.0f / 6842.0f;
Vector3f field; Vector3f field;
if (!dev->read_registers(ADDR_STATUS_REG, (uint8_t *)&data, sizeof(data))) { // check data ready
uint8_t status;
if (!dev->read_registers(ADDR_STATUS_REG, (uint8_t *)&status, 1)) {
goto check_registers;
}
if (!(status & 0x08)) {
// data not available yet
goto check_registers;
}
if (!dev->read_registers(ADDR_OUT_X_L, (uint8_t *)&data, sizeof(data))) {
goto check_registers; goto check_registers;
} }
@ -169,8 +169,6 @@ bool AP_Compass_LIS3MDL::timer()
_sem->give(); _sem->give();
} }
phase = PHASE_MEASURE;
check_registers: check_registers:
dev->check_next_register(); dev->check_next_register();
return true; return true;
@ -186,6 +184,20 @@ void AP_Compass_LIS3MDL::read()
return; return;
} }
#if 0
// debugging code for sample rate
static uint32_t lastt;
static uint32_t total;
total += accum_count;
uint32_t now = AP_HAL::micros();
float dt = (now - lastt) * 1.0e-6;
if (dt > 1) {
printf("%u samples\n", total);
lastt = now;
total = 0;
}
#endif
accum /= accum_count; accum /= accum_count;
publish_filtered_field(accum, compass_instance); publish_filtered_field(accum, compass_instance);

4
libraries/AP_Compass/AP_Compass_LIS3MDL.h
View File

@ -52,10 +52,6 @@ private:
bool init(); bool init();
bool timer(); bool timer();
enum {
PHASE_MEASURE, PHASE_COLLECT
} phase;
uint8_t compass_instance; uint8_t compass_instance;
Vector3f accum; Vector3f accum;
uint16_t accum_count; uint16_t accum_count;