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AP_Compass: add support to IST8308

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Lucas De Marchi 2018-07-31 17:27:40 -07:00 committed by Lucas De Marchi
parent 2bffb6f9e6
commit c3d87f91fc
3 changed files with 287 additions and 0 deletions
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1
libraries/AP_Compass/AP_Compass_Backend.h
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@ -57,6 +57,7 @@ public:
DEVTYPE_QMC5883L = 0x0D,
DEVTYPE_MAG3110 = 0x0E,
DEVTYPE_SITL = 0x0F,
DEVTYPE_IST8308 = 0x10,
};

230
libraries/AP_Compass/AP_Compass_IST8308.cpp Normal file
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@ -0,0 +1,230 @@
/*
* Copyright (C) 2018 Lucas De Marchi. 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 2 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/>.
*/
#include "AP_Compass_IST8308.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 WAI_REG 0x0
#define DEVICE_ID 0x08
#define STAT1_REG 0x10
#define STAT1_VAL_DRDY 0x1
#define STAT1_VAL_DOR 0x2
#define DATAX_L_REG 0x11
#define DATAX_H_REG 0x12
#define DATAY_L_REG 0x13
#define DATAY_H_REG 0x14
#define DATAZ_L_REG 0x15
#define DATAZ_H_REG 0x16
#define CNTL1_REG 0x30
#define CNTL2_REG 0x31
#define CNTL2_VAL_STANDBY_MODE 0x0
#define CNTL2_VAL_SINGLE_MODE 0x1
#define CNTL2_VAL_CONT_ODR10_MODE 0x2
#define CNTL2_VAL_CONT_ODR20_MODE 0x4
#define CNTL2_VAL_CONT_ODR50_MODE 0x6
#define CNTL2_VAL_CONT_ODR100_MODE 0x8
#define CNTL2_VAL_CONT_ODR200_MODE 0xA
#define CNTL2_VAL_CONT_ODR8_MODE 0xB
#define CNTL2_VAL_CONT_ODR1_MODE 0xC
#define CNTL2_VAL_CONT_ODR0P5_MODE 0xD
#define CNTL2_VAL_SINGLE_TEST_MODE 0x10
#define CNTL3_REG 0x32
#define CNTL3_VAL_SRST 1
#define CNTL3_VAL_DRDY_POLARITY_HIGH (1 << 2)
#define CNTL3_VAL_DRDY_EN (1 << 3)
#define CNTL4_REG 0x34
#define CNTL4_VAL_DYNAMIC_RANGE_500 0
#define CNTL4_VAL_DYNAMIC_RANGE_200 0x1
#define OSRCNTL_REG 0x41
#define OSRCNTL_VAL_XZ_1 (0)
#define OSRCNTL_VAL_XZ_2 (1)
#define OSRCNTL_VAL_XZ_4 (2)
#define OSRCNTL_VAL_XZ_8 (3)
#define OSRCNTL_VAL_XZ_16 (4)
#define OSRCNTL_VAL_XZ_32 (4)
#define OSRCNTL_VAL_Y_1 (0 << 3)
#define OSRCNTL_VAL_Y_2 (1 << 3)
#define OSRCNTL_VAL_Y_4 (2 << 3)
#define OSRCNTL_VAL_Y_8 (3 << 3)
#define OSRCNTL_VAL_Y_16 (4 << 3)
#define OSRCNTL_VAL_Y_32 (5 << 3)
#define SAMPLING_PERIOD_USEC (10 * AP_USEC_PER_MSEC)
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_IST8308::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_IST8308 *sensor = new AP_Compass_IST8308(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
AP_Compass_IST8308::AP_Compass_IST8308(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
: _dev(std::move(dev))
, _rotation(rotation)
, _force_external(force_external)
{
}
bool AP_Compass_IST8308::init()
{
uint8_t reset_count = 0;
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
// high retries for init
_dev->set_retries(10);
uint8_t whoami;
if (!_dev->read_registers(WAI_REG, &whoami, 1) ||
whoami != DEVICE_ID) {
// not an IST8308
goto fail;
}
for (; reset_count < 5; reset_count++) {
if (!_dev->write_register(CNTL3_REG, CNTL3_VAL_SRST)) {
hal.scheduler->delay(10);
continue;
}
hal.scheduler->delay(20);
uint8_t cntl3 = 0xFF;
if (_dev->read_registers(CNTL3_REG, &cntl3, 1) &&
(cntl3 & 0x01) == 0) {
break;
}
}
if (reset_count == 5) {
printf("IST8308: failed to reset device\n");
goto fail;
}
// DRDY enabled
// Dynamic Range=±500 uT, Sensitivity=6.6 LSB/uT
// OSR 16 (max 100Hz)
// Start continuous mode at 100Hz
if (!_dev->write_register(CNTL3_REG, CNTL3_VAL_DRDY_EN) ||
!_dev->write_register(CNTL4_REG, CNTL4_VAL_DYNAMIC_RANGE_500) ||
!_dev->write_register(OSRCNTL_REG, OSRCNTL_VAL_Y_16 | OSRCNTL_VAL_XZ_16) ||
!_dev->write_register(CNTL2_REG, CNTL2_VAL_CONT_ODR100_MODE)) {
printf("IST8308: found device but could not set it up\n");
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_IST8308);
set_dev_id(_instance, _dev->get_bus_id());
if (_force_external) {
set_external(_instance, true);
}
_dev->register_periodic_callback(SAMPLING_PERIOD_USEC,
FUNCTOR_BIND_MEMBER(&AP_Compass_IST8308::timer, void));
_perf_xfer_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8308_xfer_err");
return true;
fail:
_dev->get_semaphore()->give();
return false;
}
void AP_Compass_IST8308::timer()
{
struct PACKED {
le16_t rx;
le16_t ry;
le16_t rz;
} buffer;
uint8_t stat;
if (!_dev->read_registers(STAT1_REG, &stat, 1) ||
!(stat & STAT1_VAL_DRDY)) {
hal.util->perf_count(_perf_xfer_err);
return;
}
if (stat & STAT1_VAL_DOR) {
printf("IST8308: data overrun\n");
}
if (!_dev->read_registers(DATAX_L_REG, (uint8_t *) &buffer,
sizeof(buffer))) {
hal.util->perf_count(_perf_xfer_err);
return;
}
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));
// flip Z to conform to right-hand rule convention
z = -z;
/* Resolution: 0.1515 µT/LSB - already convert to milligauss */
Vector3f field = Vector3f{x * 1.515f, y * 1.515f, z * 1.515f};
accumulate_sample(field, _instance);
}
void AP_Compass_IST8308::read()
{
drain_accumulated_samples(_instance);
}

56
libraries/AP_Compass/AP_Compass_IST8308.h Normal file
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@ -0,0 +1,56 @@
/*
* Copyright (C) 2018 Lucas De Marchi. 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 2 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_IST8308_I2C_ADDR
#define HAL_COMPASS_IST8308_I2C_ADDR 0x0C
#endif
class AP_Compass_IST8308 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
void read() override;
static constexpr const char *name = "IST8308";
private:
AP_Compass_IST8308(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);
void timer();
bool init();
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
AP_HAL::Util::perf_counter_t _perf_xfer_err;
enum Rotation _rotation;
uint8_t _instance;
bool _force_external;
};