mirror of https://github.com/ArduPilot/ardupilot
259 lines
6.3 KiB
C++
259 lines
6.3 KiB
C++
/*
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* Copyright (C) 2016 Emlid Ltd. 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 3 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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* Driver by RadioLink LjWang, Jun 2017
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* GPS compass module See<http://www.radiolink.com>
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*/
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#include "AP_Compass_QMC5883L.h"
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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 QMC5883L_REG_CONF1 0x09
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#define QMC5883L_REG_CONF2 0x0A
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// data output rates for 5883L
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#define QMC5883L_ODR_10HZ (0x00 << 2)
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#define QMC5883L_ODR_50HZ (0x01 << 2)
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#define QMC5883L_ODR_100HZ (0x02 << 2)
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#define QMC5883L_ODR_200HZ (0x03 << 2)
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// Sensor operation modes
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#define QMC5883L_MODE_STANDBY 0x00
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#define QMC5883L_MODE_CONTINUOUS 0x01
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#define QMC5883L_RNG_2G (0x00 << 4)
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#define QMC5883L_RNG_8G (0x01 << 4)
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#define QMC5883L_OSR_512 (0x00 << 6)
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#define QMC5883L_OSR_256 (0x01 << 6)
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#define QMC5883L_OSR_128 (0x10 << 6)
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#define QMC5883L_OSR_64 (0x11 << 6)
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#define QMC5883L_RST 0x80
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#define QMC5883L_REG_DATA_OUTPUT_X 0x00
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#define QMC5883L_REG_STATUS 0x06
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#define QMC5883L_REG_ID 0x0D
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#define QMC5883_ID_VAL 0xFF
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extern const AP_HAL::HAL &hal;
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AP_Compass_Backend *AP_Compass_QMC5883L::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_QMC5883L *sensor = new AP_Compass_QMC5883L(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_QMC5883L::AP_Compass_QMC5883L(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_QMC5883L::init()
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{
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if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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return false;
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}
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_dev->set_retries(10);
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#if 0
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_dump_registers();
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#endif
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if(!_check_whoami()){
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goto fail;
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}
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if (!_dev->write_register(0x0B, 0x01)||
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!_dev->write_register(0x20, 0x40)||
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!_dev->write_register(0x21, 0x01)||
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!_dev->write_register(QMC5883L_REG_CONF1,
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QMC5883L_MODE_CONTINUOUS|
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QMC5883L_ODR_100HZ|
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QMC5883L_OSR_512|
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QMC5883L_RNG_8G)) {
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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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_instance = register_compass();
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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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_dev->set_device_type(DEVTYPE_QMC5883L);
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set_dev_id(_instance, _dev->get_bus_id());
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if (_force_external) {
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set_external(_instance, true);
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}
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//Enable 100HZ
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_dev->register_periodic_callback(10000,
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FUNCTOR_BIND_MEMBER(&AP_Compass_QMC5883L::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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bool AP_Compass_QMC5883L::_check_whoami()
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{
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uint8_t whoami;
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//Affected by other devices,must read registers 0x00 once or reset,after can read the ID registers reliably
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_dev->read_registers(0x00,&whoami,1);
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if (!_dev->read_registers(0x0C, &whoami,1)||
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whoami != 0x01){
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return false;
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}
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if (!_dev->read_registers(QMC5883L_REG_ID, &whoami,1)||
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whoami != QMC5883_ID_VAL){
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return false;
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}
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return true;
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}
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void AP_Compass_QMC5883L::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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const float range_scale = 1000.0f / 3000.0f;
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uint8_t status;
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if(!_dev->read_registers(QMC5883L_REG_STATUS,&status,1)){
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return;
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}
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//new data is ready
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if (!(status & 0x04)) {
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return;
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}
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if(!_dev->read_registers(QMC5883L_REG_DATA_OUTPUT_X, (uint8_t *) &buffer, 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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#if 0
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printf("mag.x:%d\n",x);
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printf("mag.y:%d\n",y);
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printf("mag.z:%d\n",z);
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#endif
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Vector3f field = Vector3f{x * range_scale , y * range_scale, z * range_scale };
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// rotate to the desired orientation
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if (is_external(_instance)) {
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field.rotate(ROTATION_YAW_90);
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}
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/* rotate raw_field from sensor frame to body frame */
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rotate_field(field, _instance);
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/* publish raw_field (uncorrected point sample) for calibration use */
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publish_raw_field(field, _instance);
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/* correct raw_field for known errors */
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correct_field(field, _instance);
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if (!field_ok(field)) {
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return;
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}
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if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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_accum += field;
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_accum_count++;
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if(_accum_count == 20){
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_accum.x /= 2;
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_accum.y /= 2;
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_accum.z /= 2;
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_accum_count = 10;
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}
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_sem->give();
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}
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}
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void AP_Compass_QMC5883L::read()
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{
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if (!_sem->take_nonblocking()) {
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return;
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}
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if (_accum_count == 0) {
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_sem->give();
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return;
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}
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Vector3f field(_accum);
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field /= _accum_count;
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publish_filtered_field(field, _instance);
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_accum.zero();
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_accum_count = 0;
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_sem->give();
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}
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void AP_Compass_QMC5883L::_dump_registers()
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{
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printf("QMC5883L registers dump\n");
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for (uint8_t reg = QMC5883L_REG_DATA_OUTPUT_X; reg <= 0x30; reg++) {
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uint8_t v;
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_dev->read_registers(reg,&v,1);
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printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
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if ((reg - ( QMC5883L_REG_DATA_OUTPUT_X-1)) % 16 == 0) {
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printf("\n");
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}
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}
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}
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