Commit Graph

49 Commits

Author SHA1 Message Date
Andrew Tridgell c59bdc12df AP_Compass: fix the milligauss handling
the previous approach assumed a 1:1 mapping between compass backends
and compass instances, which isn't true on PX4.

It also only setup milligauss offsets on a set_and_save call, which is
not the only way offsets change

this adds a milligauss_ratio per instance, which is considerably
simpler
2015-09-09 14:53:11 +10:00
Staroselskii Georgii 693613aa0f AP_Compass: convert AK8963 measurements to uT
AK8963 is configured in 16-bit ADC mode which implies sensitivity of 0.15 uT/LSb. Knowing this fact we can convert the measurements to the proper units. The change will make users recalibrate their compasses.
2015-09-09 10:38:16 +10:00
Staroselskii Georgii c207d8c6a8 AP_Compass: add milligauss counterparts to get_field() and get_offsets()
From now on there's a pair get_field_milligauss() and
get_offsets_milligauss() that can make the transition to the common
units across all compasses easier.
2015-09-09 10:38:16 +10:00
Andrew Tridgell 079161ef3a AP_Compass: fixed raw_field init in AK8963 driver
thanks to Peter for spotting this
2015-09-03 21:27:22 +10:00
Siddharth Bharat Purohit 63973bff31 AP_Compass_AK8963: move variable declarations before goto 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit 8cdc9748b3 AP_Compass: publish raw and unfiltered field for AK8963 compass 2015-09-03 16:59:13 +10:00
Jonathan Challinger cd5cf45ba8 AP_Compass_AK8963: use new compass backend interface 2015-09-03 16:59:09 +10:00
Lucas De Marchi 868d0bf3c3 AP_Compass: AK8963: refactor constructors
Declare a common constructor that others can call.
2015-08-28 12:39:08 +10:00
Lucas De Marchi a5df93bf10 AP_Compass: AK8963: be agnostic to I2C bus/address
This decision is better made by the caller rather than polluting the
driver with board-specific details.
2015-08-28 12:39:08 +10:00
Lucas De Marchi 7e997564bf AP_Compass: standardize inclusion of libaries headers
Do the missing header changes due to changing the code before the pr
getting accepted.
2015-08-18 17:12:51 +10:00
Gustavo Jose de Sousa 58f300e78e AP_Compass: standardize inclusion of libaries headers
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
2015-08-11 16:28:42 +10:00
Julien BERAUD 39b42a4e6e AP_Compass_AK8963: suspend timer while reading
Protection in case a timer falls while reading data, because it could end up
with corrupted data
2015-08-03 22:50:08 +09:00
Julien BERAUD 0aa2fe7a0b AP_Compass_AK8963: fix sem handling
In case of error or zeroed data, the i2c semaphore wasn't given.
It happened at first startup on Bebop and caused a failure:
"PANIC: failed to take _bus->sem 100 times in a row..."
2015-08-03 20:57:46 +09:00
Lucas De Marchi 8240e5ae65 AP_Compass: AK8963: reduce bytes read
We are not using INFO and ST1 registers, so there's no need to read
extra 2 bytes for each transaction.
2015-07-23 17:44:36 +10:00
Lucas De Marchi 2b9c46e1ff AP_Compass: AK8963: don't oversample AK8963
Reduce the frequency with which MPU9250 reads AK8963 to reduce the
chance of errors.
2015-07-23 17:44:36 +10:00
Lucas De Marchi 6c2ceea165 AP_Compass: AK8963: remove author and connection comment
Authorship and how sensor is connected get outdated (as it already is).
Our code is on git so let it track who wrote each line.
2015-07-23 17:44:36 +10:00
Staroselskii Georgii 8ab33c46ce AP_Compass: revisited AK8963 code
Reduced duplication a bit and revisited the update method which is now
split into several logical hunks.
2015-07-23 17:44:36 +10:00
Lucas De Marchi fffedae3e0 AP_Compass: AK8963: reduce stack usage and zero out buffers
Since we are not using MPU9250's fifo to get samples from AK8963 we will
always read only 1 sample (+ control registers).
2015-07-23 17:44:35 +10:00
Lucas De Marchi 37734886a5 AP_Compass: AK8963: remove repeated comments
No need to repeat the same comments on 3 different places. Instead add a
single comment to explain how start_measurements() and read_raw() are
related.
2015-07-23 17:44:35 +10:00
Lucas De Marchi 27d95b67a8 AP_Compass: AK8963: remove state machine
Don't use a state machine in AK8963: the start_measurements() method
should be called only once.  Even if there's a magnetic sensor overflow
the only thing we should do is to discard the new data.

This also moves the _collect_samples() method to be inside _update()
since it's the only place it should be called from, the one running on
the timer thread.
2015-07-23 17:44:35 +10:00
Lucas De Marchi e232543fca AP_Compass: AK8963: change initialization and rename methods
We need to check the AK8963's id before anything else Here we are
reordering the calls to _calibrate() and _check_id(). After that we
don't need to read and write again the AK8963_CNTL1 register.

While at it do some renames as well:
	- _configure() -> _setup_mode(): since now there's a
 	  _bus->configure() it became confusing what actually it's
	  doing.
	- make error messages say what we were actually trying to do but
	  couldn't. Also remove PSTR since this is linux-only.
	- start_conversion() -> start_measurements():  We are instructing the
          bus to start to get the samples, not to tell the chip to start an
          analog->digital conversion like in other sensors.
2015-07-23 17:44:35 +10:00
Lucas De Marchi ae5d9baddb AP_Compass: AK8963: remove defines not used anymore
The MPUREG_PWR_MGMT_1 defines were used when we cared about the MPU9250
initialization code. Now all initialization is done by the MPU9250 class
itself, so remove these defines.

Also remove AK8983_SELFTEST_MAGNETIC_FIELD_ON that is never used and let
the defines always with 2 bytes to improve readability.
2015-07-23 17:44:34 +10:00
Lucas De Marchi 28d3d775a4 AP_Compass: AK8963: remove resolution member
We only use the highest one and there's no intention to support the
14bits one. Just use the define rather than saving it as a member.
2015-07-23 17:44:34 +10:00
Lucas De Marchi 86b3312112 AP_Compass: AK8963: factor out common code of read_raw()
Similar code was added in the read_raw() implementation for each bus.
Add a new POD struct read_raw to contain the registers from the AK8963
and use it instead as argument.
2015-07-23 17:44:33 +10:00
dgrat d941174978 AP_Compass: AK8963: enhance the readability
Reduce the deepness of indentation and fix coding style.
2015-07-23 17:44:33 +10:00
Julien BERAUD 51c3c499e2 AP_Compass: support AK8963 on I2C 2015-07-10 16:46:30 +10:00
Julien BERAUD 0b41da0dea AP_Compass: rework to make the bus generic for AK8963
Supporting only MPU9250, prepare to implement another bus, i.e i2c on the
bebop
2015-07-10 16:46:29 +10:00
Julien BERAUD 0cd584c293 AP_Compass: fix rotation for bebop AK8963
Set the correct rotation for bebop
2015-07-10 16:46:29 +10:00
Andrew Tridgell c83d5b1f08 AP_Compass: only build AK8963 driver on Linux
must match MPU9250 build
2015-07-09 11:57:27 +10:00
Randy Mackay d192b3ccea Compass: set device id for ak8963 and hmc5843 2015-07-06 21:04:46 +09:00
Lucas De Marchi 1deb837e70 AP_Compass: Use common function in MPU9250 for initialization 2015-07-06 10:48:07 +10:00
Staroselskii Georgii 7a417d1151 AP_Compass: AK8963 rework
Got rid of extra abstraction layer. There is no need for that now.
2015-07-06 10:48:06 +10:00
Andrew Tridgell 5b0394eb05 AP_Compass: start MPU9250 driver at low speed
this raises the chances of successful init of the MPU9250
2015-07-02 08:48:06 +10:00
Lucas De Marchi 95627cf412 AP_Compass: use functor macros
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
2015-05-26 13:46:52 +10:00
Andrew Tridgell 015fce5183 AP_Compass: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Tom Pittenger ad11a57f57 AP_Compass: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:51 +10:00
Andrew Tridgell be3d6c924e AP_Compass: rename enum values to avoid header conflicts for 'ERROR' 2015-05-05 09:45:53 +10:00
Lucas De Marchi 996739df12 AP_Compass: Do not panic if compass is not found
Copter uses 2 compasses for linux configuration, but one of them may not
be available. Do not panic if a AK8963 isn't found.
2015-04-14 09:29:12 +10:00
Andrew Tridgell 7b51c907f5 AP_Compass: zero some more variables in constructor and init 2015-03-13 19:22:11 +11:00
Andrew Tridgell 0efd3bacea AP_Compass: make new backend match old PX4 behaviour
when a compass is internal only apply board orientation, not user
specified rotation
2015-03-13 18:46:15 +11:00
Andrew Tridgell a871c87cad AP_Compass: use state array for compass variables 2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches 13f0aa5ecd AP_Compass: Separate common code into backend
_copy_to_frontend function takes care of abstracting
this code from the driver. For now the function takes
care of the offset and rotation that is common.
2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches d3b76cd8d3 AP_Compass: split compass into frontend/backend 2015-03-13 18:46:15 +11:00
Grant Morphett 52c5db8440 AP_Compass: Changes to fix the warnings in rover sitl build.
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
2015-02-11 18:16:45 +11:00
Staroselskii Georgii c16eb5d330 AP_Compass: fixed corrections for AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii 4394f0cf75 AP_Compass: fixed external compass detection for AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii f0753e965e AP_Compass: eliminated possible division by zero in AK8963 2015-01-09 06:38:22 +11:00
Andrew Tridgell 9835544163 AP_Compass: fixed build on non-Linux platforms 2015-01-07 08:41:14 +11:00
Staroselskii Georgii 0d1cf347c7 AP_Compass: added AK8963 support 2015-01-07 08:41:12 +11:00