mirror of https://github.com/ArduPilot/ardupilot
272 lines
7.1 KiB
C++
272 lines
7.1 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 OUTPUT_X_L_REG 0x3
|
|
#define OUTPUT_X_H_REG 0x4
|
|
#define OUTPUT_Y_L_REG 0x5
|
|
#define OUTPUT_Y_H_REG 0x6
|
|
#define OUTPUT_Z_L_REG 0x7
|
|
#define OUTPUT_Z_H_REG 0x8
|
|
|
|
#define CNTL1_REG 0xA
|
|
#define CNTL1_VAL_SINGLE_MEASUREMENT_MODE 0x1
|
|
|
|
#define CNTL2_REG 0xB
|
|
#define CNTL2_VAL_SRST 1
|
|
|
|
#define AVGCNTL_REG 0x41
|
|
#define AVGCNTL_VAL_XZ_0 (0)
|
|
#define AVGCNTL_VAL_XZ_2 (1)
|
|
#define AVGCNTL_VAL_XZ_4 (2)
|
|
#define AVGCNTL_VAL_XZ_8 (3)
|
|
#define AVGCNTL_VAL_XZ_16 (4)
|
|
#define AVGCNTL_VAL_Y_0 (0 << 3)
|
|
#define AVGCNTL_VAL_Y_2 (1 << 3)
|
|
#define AVGCNTL_VAL_Y_4 (2 << 3)
|
|
#define AVGCNTL_VAL_Y_8 (3 << 3)
|
|
#define AVGCNTL_VAL_Y_16 (4 << 3)
|
|
|
|
#define PDCNTL_REG 0x42
|
|
#define PDCNTL_VAL_PULSE_DURATION_NORMAL 0xC0
|
|
|
|
#define SAMPLING_PERIOD_USEC (10 * USEC_PER_MSEC)
|
|
|
|
/*
|
|
* FSR:
|
|
* x, y: +- 1600 µT
|
|
* z: +- 2500 µT
|
|
*
|
|
* Resolution according to datasheet is 0.3µT/LSB
|
|
*/
|
|
#define IST8310_RESOLUTION 0.3
|
|
|
|
static const int16_t IST8310_MAX_VAL_XY = (1600 / IST8310_RESOLUTION) + 1;
|
|
static const int16_t IST8310_MIN_VAL_XY = -IST8310_MAX_VAL_XY;
|
|
static const int16_t IST8310_MAX_VAL_Z = (2500 / IST8310_RESOLUTION) + 1;
|
|
static const int16_t IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z;
|
|
|
|
|
|
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()
|
|
{
|
|
uint8_t reset_count = 0;
|
|
|
|
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;
|
|
}
|
|
|
|
for (; reset_count < 5; reset_count++) {
|
|
if (!_dev->write_register(CNTL2_REG, CNTL2_VAL_SRST)) {
|
|
hal.scheduler->delay(10);
|
|
continue;
|
|
}
|
|
|
|
hal.scheduler->delay(10);
|
|
|
|
uint8_t cntl2 = 0xFF;
|
|
if (_dev->read_registers(CNTL2_REG, &cntl2, 1) &&
|
|
(cntl2 & 0x01) == 0) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (reset_count == 5) {
|
|
fprintf(stderr, "IST8310: failed to reset device\n");
|
|
goto fail;
|
|
}
|
|
|
|
if (!_dev->write_register(AVGCNTL_REG, AVGCNTL_VAL_Y_16 | AVGCNTL_VAL_XZ_16) ||
|
|
!_dev->write_register(PDCNTL_REG, PDCNTL_VAL_PULSE_DURATION_NORMAL)) {
|
|
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());
|
|
|
|
_periodic_handle = _dev->register_periodic_callback(SAMPLING_PERIOD_USEC,
|
|
FUNCTOR_BIND_MEMBER(&AP_Compass_IST8310::timer, void));
|
|
|
|
_perf_xfer_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8310_xfer_err");
|
|
_perf_bad_data = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8310_bad_data");
|
|
|
|
return true;
|
|
|
|
fail:
|
|
_dev->get_semaphore()->give();
|
|
return false;
|
|
}
|
|
|
|
void AP_Compass_IST8310::start_conversion()
|
|
{
|
|
if (!_dev->write_register(CNTL1_REG, CNTL1_VAL_SINGLE_MEASUREMENT_MODE)) {
|
|
hal.util->perf_count(_perf_xfer_err);
|
|
_ignore_next_sample = true;
|
|
}
|
|
}
|
|
|
|
void AP_Compass_IST8310::timer()
|
|
{
|
|
if (_ignore_next_sample) {
|
|
_ignore_next_sample = false;
|
|
start_conversion();
|
|
return;
|
|
}
|
|
|
|
struct PACKED {
|
|
le16_t rx;
|
|
le16_t ry;
|
|
le16_t rz;
|
|
} buffer;
|
|
|
|
bool ret = _dev->read_registers(OUTPUT_X_L_REG, (uint8_t *) &buffer, sizeof(buffer));
|
|
if (!ret) {
|
|
hal.util->perf_count(_perf_xfer_err);
|
|
return;
|
|
}
|
|
|
|
uint32_t now = AP_HAL::micros();
|
|
|
|
start_conversion();
|
|
|
|
/* same period, but start counting from now */
|
|
_dev->adjust_periodic_callback(_periodic_handle, SAMPLING_PERIOD_USEC);
|
|
|
|
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));
|
|
|
|
/*
|
|
* Check if value makes sense according to the FSR and Resolution of
|
|
* this sensor, discarding outliers
|
|
*/
|
|
if (x > IST8310_MAX_VAL_XY || x < IST8310_MIN_VAL_XY ||
|
|
y > IST8310_MAX_VAL_XY || y < IST8310_MIN_VAL_XY ||
|
|
z > IST8310_MAX_VAL_Z || z < IST8310_MIN_VAL_Z) {
|
|
hal.util->perf_count(_perf_bad_data);
|
|
return;
|
|
}
|
|
|
|
// flip Z to conform to right-hand rule convention
|
|
z = -z;
|
|
|
|
/* Resolution: 0.3 µT/LSB - already convert 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, now, _instance);
|
|
|
|
/* correct raw_field for known errors */
|
|
correct_field(field, _instance);
|
|
|
|
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
|
_accum += field;
|
|
_accum_count++;
|
|
_sem->give();
|
|
}
|
|
}
|
|
|
|
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();
|
|
}
|