mirror of https://github.com/ArduPilot/ardupilot
224 lines
6.9 KiB
C++
224 lines
6.9 KiB
C++
/*
|
|
* 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 3 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/>.
|
|
*/
|
|
/*
|
|
Driver by Thomas Schumacher, Jan 2019
|
|
Structure based on LIS3MDL driver
|
|
|
|
*/
|
|
#include "AP_Compass_RM3100.h"
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <utility>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <stdio.h>
|
|
|
|
#define RM3100_POLL_REG 0x00
|
|
|
|
#define RM3100_CMM_REG 0x01
|
|
|
|
#define RM3100_CCX1_REG 0x04
|
|
#define RM3100_CCX0_REG 0x05
|
|
#define RM3100_CCY1_REG 0x06
|
|
#define RM3100_CCY0_REG 0x07
|
|
#define RM3100_CCZ1_REG 0x08
|
|
#define RM3100_CCZ0_REG 0x09
|
|
|
|
#define RM3100_TMRC_REG 0x0B
|
|
|
|
#define RM3100_MX2_REG 0x24
|
|
#define RM3100_MX1_REG 0x25
|
|
#define RM3100_MX0_REG 0x26
|
|
#define RM3100_MY2_REG 0x27
|
|
#define RM3100_MY1_REG 0x28
|
|
#define RM3100_MY0_REG 0x29
|
|
#define RM3100_MZ2_REG 0x2A
|
|
#define RM3100_MZ1_REG 0x2B
|
|
#define RM3100_MZ0_REG 0x2C
|
|
|
|
#define RM3100_BIST_REG 0x33
|
|
#define RM3100_STATUS_REG 0x34
|
|
#define RM3100_HSHAKE_REG 0x34
|
|
#define RM3100_REVID_REG 0x36
|
|
|
|
#define CCP0 0xC8 // Cycle Count values
|
|
#define CCP1 0x00
|
|
#define CCP0_DEFAULT 0xC8 // Default Cycle Count values (used as a whoami check)
|
|
#define CCP1_DEFAULT 0x00
|
|
#define GAIN_CC50 20.0f // LSB/uT
|
|
#define GAIN_CC100 38.0f
|
|
#define GAIN_CC200 75.0f
|
|
#define UTESLA_TO_MGAUSS 10.0f // uT to mGauss conversion
|
|
|
|
#define TMRC 0x94 // Update rate 150Hz
|
|
#define CMM 0x71 // read 3 axes and set data ready if 3 axes are ready
|
|
|
|
extern const AP_HAL::HAL &hal;
|
|
|
|
AP_Compass_Backend *AP_Compass_RM3100::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
|
bool force_external,
|
|
enum Rotation rotation)
|
|
{
|
|
if (!dev) {
|
|
return nullptr;
|
|
}
|
|
AP_Compass_RM3100 *sensor = new AP_Compass_RM3100(std::move(dev), force_external, rotation);
|
|
if (!sensor || !sensor->init()) {
|
|
delete sensor;
|
|
return nullptr;
|
|
}
|
|
|
|
return sensor;
|
|
}
|
|
|
|
AP_Compass_RM3100::AP_Compass_RM3100(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
|
|
bool _force_external,
|
|
enum Rotation _rotation)
|
|
: dev(std::move(_dev))
|
|
, force_external(_force_external)
|
|
, rotation(_rotation)
|
|
{
|
|
}
|
|
|
|
bool AP_Compass_RM3100::init()
|
|
{
|
|
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
|
return false;
|
|
}
|
|
|
|
// high retries for init
|
|
dev->set_retries(10);
|
|
|
|
// use default cycle count values as a whoami test
|
|
uint8_t ccx0;
|
|
uint8_t ccx1;
|
|
uint8_t ccy0;
|
|
uint8_t ccy1;
|
|
uint8_t ccz0;
|
|
uint8_t ccz1;
|
|
if (!dev->read_registers(RM3100_CCX1_REG, &ccx1, 1) ||
|
|
!dev->read_registers(RM3100_CCX0_REG, &ccx0, 1) ||
|
|
!dev->read_registers(RM3100_CCY1_REG, &ccy1, 1) ||
|
|
!dev->read_registers(RM3100_CCY0_REG, &ccy0, 1) ||
|
|
!dev->read_registers(RM3100_CCZ1_REG, &ccz1, 1) ||
|
|
!dev->read_registers(RM3100_CCZ0_REG, &ccz0, 1) ||
|
|
ccx1 != CCP1_DEFAULT || ccx0 != CCP0_DEFAULT ||
|
|
ccy1 != CCP1_DEFAULT || ccy0 != CCP0_DEFAULT ||
|
|
ccz1 != CCP1_DEFAULT || ccz0 != CCP0_DEFAULT) {
|
|
// couldn't read one of the cycle count registers or didn't recognize the default cycle count values
|
|
goto fail;
|
|
}
|
|
|
|
dev->setup_checked_registers(8);
|
|
|
|
dev->write_register(RM3100_TMRC_REG, TMRC, true); // cycle count z
|
|
dev->write_register(RM3100_CMM_REG, CMM, false); // CMM configuration
|
|
dev->write_register(RM3100_CCX1_REG, CCP1, true); // cycle count x
|
|
dev->write_register(RM3100_CCX0_REG, CCP0, true); // cycle count x
|
|
dev->write_register(RM3100_CCY1_REG, CCP1, true); // cycle count y
|
|
dev->write_register(RM3100_CCY0_REG, CCP0, true); // cycle count y
|
|
dev->write_register(RM3100_CCZ1_REG, CCP1, true); // cycle count z
|
|
dev->write_register(RM3100_CCZ0_REG, CCP0, true); // cycle count z
|
|
|
|
_scaler = (1 / GAIN_CC200) * UTESLA_TO_MGAUSS; // has to be changed if using a different cycle count
|
|
|
|
// lower retries for run
|
|
dev->set_retries(3);
|
|
|
|
dev->get_semaphore()->give();
|
|
|
|
/* register the compass instance in the frontend */
|
|
compass_instance = register_compass();
|
|
|
|
printf("Found a RM3100 at address 0x%x as compass %u\n", dev->get_bus_address(), compass_instance);
|
|
|
|
set_rotation(compass_instance, rotation);
|
|
|
|
if (force_external) {
|
|
set_external(compass_instance, true);
|
|
}
|
|
|
|
dev->set_device_type(DEVTYPE_RM3100);
|
|
set_dev_id(compass_instance, dev->get_bus_id());
|
|
|
|
// call timer() at 80Hz
|
|
dev->register_periodic_callback(1000000U/80U,
|
|
FUNCTOR_BIND_MEMBER(&AP_Compass_RM3100::timer, void));
|
|
|
|
return true;
|
|
|
|
fail:
|
|
dev->get_semaphore()->give();
|
|
return false;
|
|
}
|
|
|
|
void AP_Compass_RM3100::timer()
|
|
{
|
|
struct PACKED {
|
|
uint8_t magx_2;
|
|
uint8_t magx_1;
|
|
uint8_t magx_0;
|
|
uint8_t magy_2;
|
|
uint8_t magy_1;
|
|
uint8_t magy_0;
|
|
uint8_t magz_2;
|
|
uint8_t magz_1;
|
|
uint8_t magz_0;
|
|
} data;
|
|
Vector3f field;
|
|
|
|
int32_t magx = 0;
|
|
int32_t magy = 0;
|
|
int32_t magz = 0;
|
|
|
|
// check data ready on 3 axis
|
|
uint8_t status;
|
|
if (!dev->read_registers(RM3100_STATUS_REG, (uint8_t *)&status, 1)) {
|
|
goto check_registers;
|
|
}
|
|
|
|
if (!(status & 0x80)) {
|
|
// data not available yet
|
|
goto check_registers;
|
|
}
|
|
|
|
if (!dev->read_registers(RM3100_MX2_REG, (uint8_t *)&data, sizeof(data))) {
|
|
goto check_registers;
|
|
}
|
|
|
|
// the 24 bits of data for each axis are in 2s complement representation
|
|
// each byte is shifted to its position in a 24-bit unsigned integer and from 8 more bits to be left-aligned in a 32-bit integer
|
|
magx = ((uint32_t)data.magx_2 << 24) | ((uint32_t)data.magx_1 << 16) | ((uint32_t)data.magx_0 << 8);
|
|
magy = ((uint32_t)data.magy_2 << 24) | ((uint32_t)data.magy_1 << 16) | ((uint32_t)data.magy_0 << 8);
|
|
magz = ((uint32_t)data.magz_2 << 24) | ((uint32_t)data.magz_1 << 16) | ((uint32_t)data.magz_0 << 8);
|
|
|
|
// right-shift signed integer back to get correct measurement value
|
|
magx >>= 8;
|
|
magy >>= 8;
|
|
magz >>= 8;
|
|
|
|
// apply scaler and store in field vector
|
|
field(magx * _scaler, magy * _scaler, magz * _scaler);
|
|
|
|
accumulate_sample(field, compass_instance);
|
|
|
|
check_registers:
|
|
dev->check_next_register();
|
|
}
|
|
|
|
void AP_Compass_RM3100::read()
|
|
{
|
|
drain_accumulated_samples(compass_instance);
|
|
}
|