mirror of https://github.com/ArduPilot/ardupilot
227 lines
6.1 KiB
C++
227 lines
6.1 KiB
C++
/*
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* Copyright (C) 2018 Lucas De Marchi. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Compass_IST8308.h"
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#if AP_COMPASS_IST8308_ENABLED
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#include <stdio.h>
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#include <utility>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <AP_Math/AP_Math.h>
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#define WAI_REG 0x0
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#define DEVICE_ID 0x08
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#define STAT1_REG 0x10
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#define STAT1_VAL_DRDY 0x1
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#define STAT1_VAL_DOR 0x2
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#define DATAX_L_REG 0x11
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#define DATAX_H_REG 0x12
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#define DATAY_L_REG 0x13
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#define DATAY_H_REG 0x14
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#define DATAZ_L_REG 0x15
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#define DATAZ_H_REG 0x16
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#define CNTL1_REG 0x30
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#define CNTL2_REG 0x31
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#define CNTL2_VAL_STANDBY_MODE 0x0
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#define CNTL2_VAL_SINGLE_MODE 0x1
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#define CNTL2_VAL_CONT_ODR10_MODE 0x2
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#define CNTL2_VAL_CONT_ODR20_MODE 0x4
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#define CNTL2_VAL_CONT_ODR50_MODE 0x6
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#define CNTL2_VAL_CONT_ODR100_MODE 0x8
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#define CNTL2_VAL_CONT_ODR200_MODE 0xA
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#define CNTL2_VAL_CONT_ODR8_MODE 0xB
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#define CNTL2_VAL_CONT_ODR1_MODE 0xC
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#define CNTL2_VAL_CONT_ODR0P5_MODE 0xD
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#define CNTL2_VAL_SINGLE_TEST_MODE 0x10
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#define CNTL3_REG 0x32
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#define CNTL3_VAL_SRST 1
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#define CNTL3_VAL_DRDY_POLARITY_HIGH (1 << 2)
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#define CNTL3_VAL_DRDY_EN (1 << 3)
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#define CNTL4_REG 0x34
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#define CNTL4_VAL_DYNAMIC_RANGE_500 0
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#define CNTL4_VAL_DYNAMIC_RANGE_200 0x1
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#define OSRCNTL_REG 0x41
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#define OSRCNTL_VAL_XZ_1 (0)
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#define OSRCNTL_VAL_XZ_2 (1)
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#define OSRCNTL_VAL_XZ_4 (2)
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#define OSRCNTL_VAL_XZ_8 (3)
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#define OSRCNTL_VAL_XZ_16 (4)
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#define OSRCNTL_VAL_XZ_32 (4)
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#define OSRCNTL_VAL_Y_1 (0 << 3)
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#define OSRCNTL_VAL_Y_2 (1 << 3)
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#define OSRCNTL_VAL_Y_4 (2 << 3)
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#define OSRCNTL_VAL_Y_8 (3 << 3)
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#define OSRCNTL_VAL_Y_16 (4 << 3)
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#define OSRCNTL_VAL_Y_32 (5 << 3)
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#define SAMPLING_PERIOD_USEC (10 * AP_USEC_PER_MSEC)
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extern const AP_HAL::HAL &hal;
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AP_Compass_Backend *AP_Compass_IST8308::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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bool force_external,
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enum Rotation rotation)
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{
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if (!dev) {
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return nullptr;
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}
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AP_Compass_IST8308 *sensor = NEW_NOTHROW AP_Compass_IST8308(std::move(dev), force_external, rotation);
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if (!sensor || !sensor->init()) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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AP_Compass_IST8308::AP_Compass_IST8308(AP_HAL::OwnPtr<AP_HAL::Device> dev,
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bool force_external,
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enum Rotation rotation)
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: _dev(std::move(dev))
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, _rotation(rotation)
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, _force_external(force_external)
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{
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}
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bool AP_Compass_IST8308::init()
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{
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uint8_t reset_count = 0;
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_dev->get_semaphore()->take_blocking();
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// high retries for init
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_dev->set_retries(10);
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uint8_t whoami;
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if (!_dev->read_registers(WAI_REG, &whoami, 1) ||
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whoami != DEVICE_ID) {
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// not an IST8308
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goto fail;
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}
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for (; reset_count < 5; reset_count++) {
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if (!_dev->write_register(CNTL3_REG, CNTL3_VAL_SRST)) {
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hal.scheduler->delay(10);
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continue;
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}
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hal.scheduler->delay(20);
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uint8_t cntl3 = 0xFF;
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if (_dev->read_registers(CNTL3_REG, &cntl3, 1) &&
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(cntl3 & 0x01) == 0) {
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break;
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}
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}
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if (reset_count == 5) {
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printf("IST8308: failed to reset device\n");
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goto fail;
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}
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// DRDY enabled
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// Dynamic Range=±500 uT, Sensitivity=6.6 LSB/uT
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// OSR 16 (max 100Hz)
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// Start continuous mode at 100Hz
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if (!_dev->write_register(CNTL3_REG, CNTL3_VAL_DRDY_EN) ||
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!_dev->write_register(CNTL4_REG, CNTL4_VAL_DYNAMIC_RANGE_500) ||
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!_dev->write_register(OSRCNTL_REG, OSRCNTL_VAL_Y_16 | OSRCNTL_VAL_XZ_16) ||
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!_dev->write_register(CNTL2_REG, CNTL2_VAL_CONT_ODR100_MODE)) {
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printf("IST8308: found device but could not set it up\n");
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goto fail;
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}
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// lower retries for run
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_dev->set_retries(3);
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_dev->get_semaphore()->give();
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//register compass instance
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_dev->set_device_type(DEVTYPE_IST8308);
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if (!register_compass(_dev->get_bus_id(), _instance)) {
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return false;
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}
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set_dev_id(_instance, _dev->get_bus_id());
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printf("%s found on bus %u id %u address 0x%02x\n", name,
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_dev->bus_num(), _dev->get_bus_id(), _dev->get_bus_address());
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set_rotation(_instance, _rotation);
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if (_force_external) {
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set_external(_instance, true);
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}
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_dev->register_periodic_callback(SAMPLING_PERIOD_USEC,
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FUNCTOR_BIND_MEMBER(&AP_Compass_IST8308::timer, void));
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return true;
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fail:
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_dev->get_semaphore()->give();
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return false;
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}
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void AP_Compass_IST8308::timer()
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{
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struct PACKED {
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le16_t rx;
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le16_t ry;
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le16_t rz;
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} buffer;
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uint8_t stat;
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if (!_dev->read_registers(STAT1_REG, &stat, 1) ||
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!(stat & STAT1_VAL_DRDY)) {
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return;
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}
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if (!_dev->read_registers(DATAX_L_REG, (uint8_t *) &buffer,
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sizeof(buffer))) {
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return;
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}
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auto x = static_cast<int16_t>(le16toh(buffer.rx));
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auto y = static_cast<int16_t>(le16toh(buffer.ry));
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auto z = static_cast<int16_t>(le16toh(buffer.rz));
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// flip Z to conform to right-hand rule convention
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z = -z;
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/* Resolution: 0.1515 µT/LSB - already convert to milligauss */
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Vector3f field = Vector3f{x * 1.515f, y * 1.515f, z * 1.515f};
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accumulate_sample(field, _instance);
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}
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void AP_Compass_IST8308::read()
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{
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drain_accumulated_samples(_instance);
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}
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#endif // AP_COMPASS_IST8308_ENABLED
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