mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-23 00:04:02 -04:00
add QMC5883L driver for GPS compass module
This commit is contained in:
ljwang
Andrew Tridgell
parent
e648f2e61e
commit
8fff1ec4d4
219
libraries/AP_Compass/AP_Compass_QMC5883L.cpp
Normal file
219
libraries/AP_Compass/AP_Compass_QMC5883L.cpp
Normal file
@ -0,0 +1,219 @@
|
||||
/*
|
||||
* Copyright (C) 2016 Emlid Ltd. All rights reserved.
|
||||
*
|
||||
* 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 RadioLink LjWang, Jun 2017
|
||||
*/
|
||||
#include "AP_Compass_QMC5883L.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <utility>
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
#include <AP_HAL/utility/sparse-endian.h>
|
||||
#include <AP_Math/AP_Math.h>
|
||||
|
||||
#define QMC5883L_REG_CONF1 0x09
|
||||
#define QMC5883L_REG_CONF2 0x0A
|
||||
|
||||
// data output rates for 5883L
|
||||
#define QMC5883L_ODR_10HZ (0x00 << 2)
|
||||
#define QMC5883L_ODR_50HZ (0x01 << 2)
|
||||
#define QMC5883L_ODR_100HZ (0x02 << 2)
|
||||
#define QMC5883L_ODR_200HZ (0x03 << 2)
|
||||
|
||||
// Sensor operation modes
|
||||
#define QMC5883L_MODE_STANDBY 0x00
|
||||
#define QMC5883L_MODE_CONTINUOUS 0x01
|
||||
|
||||
#define QMC5883L_RNG_2G (0x00 << 4)
|
||||
#define QMC5883L_RNG_8G (0x01 << 4)
|
||||
|
||||
#define QMC5883L_OSR_512 (0x00 << 6)
|
||||
#define QMC5883L_OSR_256 (0x01 << 6)
|
||||
#define QMC5883L_OSR_128 (0x10 << 6)
|
||||
#define QMC5883L_OSR_64 (0x11 << 6)
|
||||
|
||||
#define QMC5883L_RST 0x80
|
||||
|
||||
#define QMC5883L_REG_DATA_OUTPUT_X 0x00
|
||||
#define QMC5883L_REG_STATUS 0x06
|
||||
|
||||
#define QMC5883L_REG_ID 0x0D
|
||||
#define QMC5883_ID_VAL 0xFF
|
||||
|
||||
extern const AP_HAL::HAL &hal;
|
||||
|
||||
AP_Compass_Backend *AP_Compass_QMC5883L::probe(Compass &compass,
|
||||
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
|
||||
enum Rotation rotation)
|
||||
{
|
||||
if (!dev) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
AP_Compass_QMC5883L *sensor = new AP_Compass_QMC5883L(compass, std::move(dev),rotation);
|
||||
if (!sensor || !sensor->init()) {
|
||||
delete sensor;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return sensor;
|
||||
}
|
||||
|
||||
AP_Compass_QMC5883L::AP_Compass_QMC5883L(Compass &compass,
|
||||
AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
||||
enum Rotation rotation)
|
||||
: AP_Compass_Backend(compass)
|
||||
, _dev(std::move(dev))
|
||||
, _rotation(rotation)
|
||||
{
|
||||
}
|
||||
|
||||
bool AP_Compass_QMC5883L::init()
|
||||
{
|
||||
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
||||
return false;
|
||||
}
|
||||
//must reset first
|
||||
_dev->write_register(QMC5883L_REG_CONF2,QMC5883L_RST);
|
||||
|
||||
_dev->set_retries(10);
|
||||
|
||||
uint8_t whoami;
|
||||
if (!_dev->read_registers(QMC5883L_REG_ID, &whoami,1)||
|
||||
whoami != QMC5883_ID_VAL){
|
||||
// not an QMC5883L
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (!_dev->write_register(0x0B, 0x01)||
|
||||
!_dev->write_register(0x20, 0x40)||
|
||||
!_dev->write_register(0x21, 0x01)||
|
||||
!_dev->write_register(QMC5883L_REG_CONF1,
|
||||
QMC5883L_MODE_CONTINUOUS|
|
||||
QMC5883L_ODR_100HZ|
|
||||
QMC5883L_OSR_512|
|
||||
QMC5883L_RNG_8G)) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
// lower retries for run
|
||||
_dev->set_retries(3);
|
||||
|
||||
_dev->get_semaphore()->give();
|
||||
|
||||
_instance = register_compass();
|
||||
|
||||
printf("%s found on bus %u id %u address 0x%02x\n", name,
|
||||
_dev->bus_num(), _dev->get_bus_id(), _dev->get_bus_address());
|
||||
|
||||
set_rotation(_instance, _rotation);
|
||||
|
||||
_dev->set_device_type(DEVTYPE_QMC5883L);
|
||||
set_dev_id(_instance, _dev->get_bus_id());
|
||||
|
||||
//Enable 100HZ
|
||||
_dev->register_periodic_callback(10000,
|
||||
FUNCTOR_BIND_MEMBER(&AP_Compass_QMC5883L::timer, void));
|
||||
|
||||
return true;
|
||||
|
||||
fail:
|
||||
_dev->get_semaphore()->give();
|
||||
return false;
|
||||
}
|
||||
|
||||
void AP_Compass_QMC5883L::timer()
|
||||
{
|
||||
struct PACKED {
|
||||
le16_t rx;
|
||||
le16_t ry;
|
||||
le16_t rz;
|
||||
} buffer;
|
||||
|
||||
const float range_scale = 1000.0f / 3000.0f;
|
||||
|
||||
uint8_t status;
|
||||
if(!_dev->read_registers(QMC5883L_REG_STATUS,&status,1)){
|
||||
return;
|
||||
}
|
||||
//new data is ready
|
||||
if(!status & 0x04){
|
||||
return;
|
||||
}
|
||||
|
||||
if(!_dev->read_registers(QMC5883L_REG_DATA_OUTPUT_X, (uint8_t *) &buffer, sizeof(buffer))){
|
||||
return ;
|
||||
}
|
||||
|
||||
uint32_t now = AP_HAL::micros();
|
||||
|
||||
auto x = -static_cast<int16_t>(le16toh(buffer.rx));
|
||||
auto y = static_cast<int16_t>(le16toh(buffer.ry));
|
||||
auto z = -static_cast<int16_t>(le16toh(buffer.rz));
|
||||
|
||||
#if 0
|
||||
printf("mag.x:%d\n",x);
|
||||
printf("mag.y:%d\n",y);
|
||||
printf("mag.z:%d\n",z);
|
||||
#endif
|
||||
|
||||
Vector3f field = Vector3f{x * range_scale , y * range_scale, z * range_scale };
|
||||
|
||||
/* rotate raw_field from sensor frame to body frame */
|
||||
rotate_field(field, _instance);
|
||||
|
||||
/* publish raw_field (uncorrected point sample) for calibration use */
|
||||
publish_raw_field(field, now, _instance);
|
||||
|
||||
/* correct raw_field for known errors */
|
||||
correct_field(field, _instance);
|
||||
|
||||
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
||||
_accum += field;
|
||||
_accum_count++;
|
||||
if(_accum_count == 20){
|
||||
_accum.x /= 2;
|
||||
_accum.y /= 2;
|
||||
_accum.z /= 2;
|
||||
_accum_count = 10;
|
||||
}
|
||||
|
||||
_sem->give();
|
||||
}
|
||||
}
|
||||
|
||||
void AP_Compass_QMC5883L::read()
|
||||
{
|
||||
if (!_sem->take_nonblocking()) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (_accum_count == 0) {
|
||||
_sem->give();
|
||||
return;
|
||||
}
|
||||
|
||||
Vector3f field(_accum);
|
||||
field /= _accum_count;
|
||||
|
||||
publish_filtered_field(field, _instance);
|
||||
|
||||
_accum.zero();
|
||||
_accum_count = 0;
|
||||
|
||||
_sem->give();
|
||||
}
|
||||
57
libraries/AP_Compass/AP_Compass_QMC5883L.h
Normal file
57
libraries/AP_Compass/AP_Compass_QMC5883L.h
Normal file
@ -0,0 +1,57 @@
|
||||
/*
|
||||
* Copyright (C) 2016 Emlid Ltd. All rights reserved.
|
||||
*
|
||||
* 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/>.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <AP_Common/AP_Common.h>
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
#include <AP_HAL/I2CDevice.h>
|
||||
#include <AP_Math/AP_Math.h>
|
||||
|
||||
#include "AP_Compass.h"
|
||||
#include "AP_Compass_Backend.h"
|
||||
|
||||
#ifndef HAL_COMPASS_QMC5883L_I2C_ADDR
|
||||
#define HAL_COMPASS_QMC5883L_I2C_ADDR 0x0D
|
||||
#endif
|
||||
|
||||
class AP_Compass_QMC5883L : public AP_Compass_Backend
|
||||
{
|
||||
public:
|
||||
static AP_Compass_Backend *probe(Compass &compass,
|
||||
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
|
||||
enum Rotation rotation = ROTATION_NONE);
|
||||
|
||||
void read() override;
|
||||
|
||||
static constexpr const char *name = "QMC5883L";
|
||||
|
||||
private:
|
||||
AP_Compass_QMC5883L(Compass &compass,
|
||||
AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
||||
enum Rotation rotation);
|
||||
|
||||
void timer();
|
||||
bool init();
|
||||
|
||||
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
|
||||
|
||||
Vector3f _accum = Vector3f();
|
||||
uint32_t _accum_count = 0;
|
||||
|
||||
enum Rotation _rotation;
|
||||
uint8_t _instance;
|
||||
};
|
||||
Loading…
Reference in New Issue
Block a user