ardupilot/libraries/AP_Compass/AP_Compass_IST8310.cpp

203 lines
4.9 KiB
C++

/*
* Copyright (C) 2016 Emlid Ltd. All rights reserved.
*
* 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 Georgii Staroselskii, Sep 2016
*/
#include "AP_Compass_IST8310.h"
#include <stdio.h>
#include <utility>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_Math/AP_Math.h>
#define WAI_REG 0x0
#define DEVICE_ID 0x10
#define CNTL1_REG 0xA
#define SINGLE_MEASUREMENT_MODE 0x1
#define ODR_100HZ 0x6
#define STAT1_REG 0x2
#define DATA_RDY 0x1
#define AVGCNTL_REG 0x41
#define AVERAGING_Y_BY_2 0x20
#define AVERAGING_XZ_BY_4 0x04
#define PDCNTL_REG 0x42
#define NORMAL_PULSE_DURATION 0xC0
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_IST8310 *sensor = new AP_Compass_IST8310(compass, std::move(dev), rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
AP_Compass_IST8310::AP_Compass_IST8310(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
, _rotation(rotation)
{
}
bool AP_Compass_IST8310::init()
{
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
// high retries for init
_dev->set_retries(10);
uint8_t whoami;
if (!_dev->read_registers(WAI_REG, &whoami, 1) ||
whoami != DEVICE_ID) {
// not an IST8310
goto fail;
}
if (!_dev->write_register(AVGCNTL_REG, AVERAGING_Y_BY_2 | AVERAGING_XZ_BY_4) ||
!_dev->write_register(PDCNTL_REG, NORMAL_PULSE_DURATION)) {
fprintf(stderr, "IST8310: found device but could not set it up\n");
goto fail;
}
// lower retries for run
_dev->set_retries(3);
// start state machine: request a sample
start_conversion();
_dev->get_semaphore()->give();
_instance = register_compass();
printf("%s found on bus %u id %u address 0x%02x\n", name,
_dev->bus_num(), _dev->get_bus_id(), _dev->get_bus_address());
set_rotation(_instance, _rotation);
_dev->set_device_type(DEVTYPE_IST8310);
set_dev_id(_instance, _dev->get_bus_id());
_dev->register_periodic_callback(10 * USEC_PER_MSEC,
FUNCTOR_BIND_MEMBER(&AP_Compass_IST8310::timer, bool));
return true;
fail:
_dev->get_semaphore()->give();
return false;
}
void AP_Compass_IST8310::start_conversion()
{
_dev->write_register(CNTL1_REG,
SINGLE_MEASUREMENT_MODE);
}
bool AP_Compass_IST8310::timer()
{
bool ret = false;
struct PACKED {
uint8_t status;
le16_t rx;
le16_t ry;
le16_t rz;
} buffer;
ret = _dev->read_registers(STAT1_REG, (uint8_t *) &buffer, sizeof(buffer));
if (!ret) {
/* We're going to be back on the next iteration either way */
return true;
}
auto status = buffer.status;
if (!(status & 0x01)) {
/* We're not ready yet */
return true;
}
auto x = static_cast<int16_t>(le16toh(buffer.rx));
auto y = static_cast<int16_t>(le16toh(buffer.ry));
auto z = static_cast<int16_t>(le16toh(buffer.rz));
/* convert uT to milligauss */
Vector3f field = Vector3f{x * 3.0f, y * 3.0f, z * 3.0f};
/* rotate raw_field from sensor frame to body frame */
rotate_field(field, _instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, AP_HAL::micros(), _instance);
/* correct raw_field for known errors */
correct_field(field, _instance);
if (_sem->take(0)) {
_accum += field;
_accum_count++;
_sem->give();
}
start_conversion();
return true;
}
void AP_Compass_IST8310::read()
{
if (!_sem->take_nonblocking()) {
return;
}
if (_accum_count == 0) {
_sem->give();
return;
}
Vector3f field(_accum);
field /= _accum_count;
publish_filtered_field(field, _instance);
_accum.zero();
_accum_count = 0;
_sem->give();
}