Commit Graph

138 Commits

Author SHA1 Message Date
Peter Barker ff99ff34c7 AP_Compass: add and use AP_COMPASS_HMC5843_ENABLED 2023-02-01 18:47:37 +11:00
Peter Barker c0d9201740 AP_Compass: rename HAL_INS_ENABLED to AP_INERTIALSENSOR_ENABLED 2023-01-03 10:28:42 +11:00
murata a19d4b65fc AP_Compass: Console output can be disabled 2022-05-17 09:53:06 +10:00
Jaaaky d27f122295 AP_Compass: Fix multi #include's 2021-12-21 10:38:46 +11:00
Tom Pittenger d45526ff42 AP_Compass: fix periph-heavy compile errors with different things enabled 2021-09-24 10:47:13 -05:00
Andrew Tridgell 0f5dd40052 AP_Compass: removed assert calls
these waste flash space and do not do us any good
2021-03-25 14:03:40 +11:00
Siddharth Purohit 8d227d401a AP_Compass: modify compass driver to support consistent ordering and hotplugging 2020-02-19 13:59:53 +09:00
Andrew Tridgell 4ee6fb9cdf AP_Compass: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER
this makes for cleaner and smaller code as the failure case is not
needed
2020-01-19 20:19:30 +11:00
Tom Pittenger 2cd485e7ae AP_Compass: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Lucas De Marchi c0bccdaed6 AP_Compass: HMC5843: use common method to accumulate samples 2018-10-15 14:41:09 -07:00
Lucas De Marchi 4039b51810 AP_Compass: stop passing frontend pointer
Let AP_Compass_Backend call AP::compass() *once* instead of passing
the frontend pointer over and over.
2018-09-06 08:23:02 +10:00
Andrew Tridgell 71647cfc6b AP_Compass: removed HMC5843 compass probe error 2018-07-14 17:51:50 +10:00
night-ghost f26bb0cfbe AP_Compass: added range filter to backend, added its use in some sensors (thanks khancyr for style correction) 2018-04-11 14:46:42 +10:00
Andrew Tridgell 0d8cdd2728 AP_Compass: fixed warning 2018-02-07 20:33:45 +11:00
Michael du Breuil fb77d0739e AP_Compass: Remove unused time calls, stash the time in the read loop 2017-09-07 19:53:14 +01:00
murata bc7b2144e7 AP_Compass: Change from magic number 0 to definition name. 2017-02-18 14:12:36 +00:00
Lucas De Marchi 5472bc4de1 Global: change Device::PeriodicCb signature
Remove bool return as it's never being used and not supported on PX4.
2017-01-14 10:03:54 +11:00
Andrew Tridgell 4f1f6ec019 AP_Compass: added retries during init for i2c devices
higher in init, lower for run
2016-12-02 09:47:51 +11:00
Randy Mackay 5009e83b6d AP_Compass: fix build warning for HMC5843 2016-11-30 18:00:12 +09:00
Andrew Tridgell 4602b4d679 AP_Compass: improve init and calibration of hmc5843 2016-11-09 17:08:15 +11:00
Andrew Tridgell bd8867be38 AP_Compass: cope with NULL dev pointer in driver probe functions 2016-11-09 17:08:11 +11:00
Andrew Tridgell f31a017ace AP_Compass: changes to HMC5843 driver
this makes the HMC5843 use single-shot mode, which makes it more
robust to bus resets. It also adds WHOAMI checking and enables
automatic temperature compensation.

Unfortunately this makes existing calibration values incompatible, so
a re-cal is required. The device ID has been changed to reflect the
driver change.
2016-11-09 17:08:10 +11:00
Andrew Tridgell 2716ab8408 AP_Compass: added support for per-instance rotations 2016-11-09 17:08:08 +11:00
Andrew Tridgell fac895b0e6 AP_Compass: setup read flag for SPI transfers 2016-11-09 17:08:08 +11:00
Andrew Tridgell 147b253e65 AP_Compass: make device IDs match PX4 drivers
match in-tree drivers to PX4Firmware drivers
2016-11-09 17:08:06 +11:00
Andrew Tridgell de7913e8e9 AP_Compass: implement device IDs for compass drivers 2016-11-09 17:08:04 +11:00
Andrew Tridgell ac0ea12b42 AP_Compass: enable HMC5843 on SPI for PH2 2016-11-09 17:08:03 +11:00
Andrew Tridgell 1c631ea037 AP_Compass: cleanup use of backend semaphores
fixed drivers that didn't protect accumulation counters
2016-11-09 17:08:01 +11:00
Andrew Tridgell 9afd51350e AP_Compass: use thread per bus in more drivers
and removed use of timer suspend
2016-11-09 17:08:01 +11:00
Andrew Tridgell 96adfccae3 AP_Compass: switch hmc5983 driver to use periodic callback on the bus
this does not yet work with the mpu6000 auxiliary bus
2016-11-09 17:07:55 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Lucas De Marchi c6edae7e8e Revert "Global: workaround toolchain problem on windows"
This reverts commit 4e2b30b413.

The toolchain for windows is now updated, we can remove this workaround.
2016-07-25 17:56:12 -03:00
Lucas De Marchi 4e2b30b413 Global: workaround toolchain problem on windows
The minimum version for gcc was supposed to be 4.9 for any platform.
However our build instructions are outdated. Remove the problematic
parts that use the sparse-endian.h header while we don't fix the setup
for windows.
2016-07-19 09:30:39 +09:00
Ricardo de Almeida Gonzaga 2e58653983 AP_Compass: Fix typos 2016-05-13 19:20:05 -03:00
Gustavo Jose de Sousa 91246ad8af AP_Compass: HMC5843: apply HMC5883L "arrow" rotation only if external
That rotation is done because of the "arrow" pointing the sensor direction in
3DR GPS+Compass kit (which isn't natural to the sensor orientation, by the
way). Thus, do that rotation only for external HMC5883L compasses.
2016-05-10 16:05:29 -03:00
Gustavo Jose de Sousa 35cddc7af0 AP_Compass: HMC5843: move hardcoded rotation to before call to rotate_field()
That rotation is set for AP_COMPASS_TYPE_HMC5883L, because it's usually
the compass from 3DR GPS+Compass kit, which has an arrow pointing the
"correct" direction. That rotation should be done before rotate_field()
as it represents the "standard" position for the kit.

This patch also makes published values consistent with respect to rotation.
Before this, raw fields used in calibration were published with a
rotation different from the filtered field when _product_id is
AP_COMPASS_TYPE_HMC5883L.
2016-05-10 15:56:38 -03:00
Gustavo Jose de Sousa 670b0071f9 AP_Compass: HMC5843: add parameter force_external to constructor
And to the detection probe() method. That way we don't need to use a board
`#ifdef` inside the class code.  Additionally, we make raspilot board use it.
2016-05-10 15:52:54 -03:00
Lucas De Marchi 20a4a42cb3 AP_Compass: don't store raw and unfiltered fields
These are not used. The only place where raw fields are used are in the
compass calibrator and we don't need to store them.

Additionally remove duplicated documentation about the meaning of the
functions to avoid them getting out of sync.
2016-03-23 17:50:38 -03:00
Lucas De Marchi 41c1209169 AP_Compass: HMC5843: improve readability
- Capitalize and rename constants
 - Make clear what gain is applied in calibration and what is the
   "normal" gain
 - Make the separation between HMC5883L and HMC5843 explicit when it
   makes sense to improve readability
 - Remove spurious delay in calibrate function
2016-03-23 17:50:38 -03:00
Lucas De Marchi 0291ad869b AP_Compass: HMC5843: use AP_HAL::I2CDevice abstraction
We still need the BusDriver (in some places called SerialBus) interface
since this driver can also be used on an AuxiliaryBus and that has a
different interface.

Besides the usual conversion some more improvements:

  - Use generic function to convert endianness
  - Minor cleanups
  - Reorder per-board ifdefs in compass instantiation: distinguish when
    there's a default compass to when it should probe other compasses
2016-03-23 17:50:38 -03:00
Caio Marcelo de Oliveira Filho 0d3fbbdd37 AP_Compass: use millis/micros/panic functions 2015-11-20 12:30:05 +09:00
Lucas De Marchi eb75d73952 AP_Compass: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:11 +11:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf()
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
José Roberto de Souza 3888579c07 AP_Compass: HMC5843: Use the correctly spelled method 2015-10-16 10:16:24 +11:00
Gustavo Jose de Sousa 9927cf066f AP_Compass: remove use of milligauss_ratio
Now, we have all current compasses publishing their values already in
milligauss, so there's no need for that variable anymore.
2015-10-15 19:56:14 +09:00
Gustavo Jose de Sousa 256c9c06c9 AP_Compass: HMC5843: scale mag field internally
This is part of the transition to make all mag field values be used in
milligauss. Additionally the value of _gain_multiple is adapted to the new way
we're using it and corrected accordingly to the datasheets.
2015-10-15 19:56:11 +09:00
Gustavo Jose de Sousa 814442563e AP_Compass: HMC5843: fix _calibrate()
The use of _gain_multiple is not necessary because the values of
expected_{x,yz} and _mag_{x,y,z} are both in sensor raw unit (i.e., lsbs).

That wasn't fixed before in order not to make APM users to recalibrate their
compasses.
2015-10-15 19:56:10 +09:00
raspilot 19b4f5559a AP_Compass: added LSM303D driver 2015-09-14 14:22:15 +10:00
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