ac8c708327
Compass_HMC5843: remove unnecessary i2c semaphore give
2015-08-19 20:04:11 +09:00
407bb5933b
AP_Compass_AK8963: suspend timer while reading
...
Protection in case a timer falls while reading data, because it could end up
with corrupted data
2015-08-19 20:03:57 +09:00
de7cf019ef
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..."
2015-08-19 20:03:56 +09:00
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
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
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Authorship and how sensor is connected get outdated (as it already is).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
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
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
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
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
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
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
cae895bfdf
AP_Compass: AK8963: group members together
...
Besides being semantically related, this removes the hole due to
alignment. The size is the same since the hole is actually turned into
padding.
2015-07-23 17:44:34 +10:00
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
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
d941174978
AP_Compass: AK8963: enhance the readability
...
Reduce the deepness of indentation and fix coding style.
2015-07-23 17:44:33 +10:00
fd5d25b1d5
AP_Compass: use ARRAY_SIZE macro
2015-07-21 14:25:17 +09:00
cedc9a8670
Compass: add last_update_usec per instance
2015-07-17 10:02:41 +09:00
51c3c499e2
AP_Compass: support AK8963 on I2C
2015-07-10 16:46:30 +10:00
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
0cd584c293
AP_Compass: fix rotation for bebop AK8963
...
Set the correct rotation for bebop
2015-07-10 16:46:29 +10:00
7dd0b5fae6
AP_Compass: removed _spi_sem and _spi
2015-07-10 16:46:29 +10:00
c83d5b1f08
AP_Compass: only build AK8963 driver on Linux
...
must match MPU9250 build
2015-07-09 11:57:27 +10:00
d192b3ccea
Compass: set device id for ak8963 and hmc5843
2015-07-06 21:04:46 +09:00
f56f584233
Compass: Improved field rounding in learning
...
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
2015-07-06 11:31:58 +10:00
1deb837e70
AP_Compass: Use common function in MPU9250 for initialization
2015-07-06 10:48:07 +10:00
26c8007c96
AP_Compass: updated backend detect method
...
Uses reimplemented AK8963 driver. There's also no need trying to detect this
compass twice. Actually, it might even be bad, because the current code can
allocate an AK8963 object twice.
2015-07-06 10:48:06 +10:00
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
43b1694c76
Compass: add third compass to PRIMARY param description
2015-07-02 14:19:30 +09:00
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
d6a1bd98e6
AP_Compass: convert example from .pde to .cpp
2015-06-01 16:58:11 +10:00
edc21cfa38
AP_Compass: make having no compass backends non-fatal
...
thanks to Daniel for spotting this
2015-05-26 14:23:40 +10:00
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
2475ee9630
AP_Compass: setup HIL/SITL for two compasses
2015-05-16 07:06:04 +10:00
91b4ba3588
AP_Compass: allow for more than one compass in HIL/SITL
2015-05-15 14:25:44 +10:00
ade4f81c77
Compass: fix example sketch
2015-05-15 11:53:28 +09:00
015fce5183
AP_Compass: revert AP_Math class change
2015-05-05 13:27:06 +10:00
d09ef4783d
AP_Compass: compiler warnings: reorder constructors
2015-05-05 13:26:52 +10:00
ad11a57f57
AP_Compass: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:51 +10:00
be3d6c924e
AP_Compass: rename enum values to avoid header conflicts for 'ERROR'
2015-05-05 09:45:53 +10:00
16e71ec1ce
Compass: fix compile warning re member init order
2015-04-24 14:15:00 +09:00
bf1d128d70
Compass: fix compile warnings re float constants
...
Also fix example sketch
2015-04-24 12:29:07 +09:00
dcb25632fb
AP_Compass: removed old setHIL compass offset
2015-04-21 08:30:05 +10:00
d7000c4105
AP_Compass: fixed compass timestamps in Replay
2015-04-20 15:12:51 +10:00
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
c8b0970e61
AP_Compass: show compass count in example
2015-03-14 20:00:29 +11:00
f4455d063e
AP_Compass: fixed example
2015-03-14 17:07:39 +11:00
1962706a33
AP_Compass: fixed last_update, using last_update_usec()
...
this broke use of compass in the EKF
2015-03-14 12:31:23 +11:00
86fc90f54c
AP_Compass: removed spurious rotation in PX4 backend
...
and cleanup rotation macros
2015-03-14 08:52:37 +11:00
d7bac39539
AP_Compass: removed two unused functions
2015-03-14 08:52:37 +11:00
Randy Mackay
Julien BERAUD
Lucas De Marchi
Staroselskii Georgii
dgrat
Andrew Tridgell
Tom Pittenger