mirror of https://github.com/ArduPilot/ardupilot
272 lines
7.1 KiB
C++
272 lines
7.1 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 Georgii Staroselskii, Sep 2016
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*/
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#include "AP_Compass_IST8310.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 WAI_REG 0x0
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#define DEVICE_ID 0x10
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#define OUTPUT_X_L_REG 0x3
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#define OUTPUT_X_H_REG 0x4
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#define OUTPUT_Y_L_REG 0x5
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#define OUTPUT_Y_H_REG 0x6
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#define OUTPUT_Z_L_REG 0x7
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#define OUTPUT_Z_H_REG 0x8
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#define CNTL1_REG 0xA
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#define CNTL1_VAL_SINGLE_MEASUREMENT_MODE 0x1
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#define CNTL2_REG 0xB
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#define CNTL2_VAL_SRST 1
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#define AVGCNTL_REG 0x41
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#define AVGCNTL_VAL_XZ_0 (0)
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#define AVGCNTL_VAL_XZ_2 (1)
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#define AVGCNTL_VAL_XZ_4 (2)
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#define AVGCNTL_VAL_XZ_8 (3)
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#define AVGCNTL_VAL_XZ_16 (4)
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#define AVGCNTL_VAL_Y_0 (0 << 3)
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#define AVGCNTL_VAL_Y_2 (1 << 3)
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#define AVGCNTL_VAL_Y_4 (2 << 3)
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#define AVGCNTL_VAL_Y_8 (3 << 3)
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#define AVGCNTL_VAL_Y_16 (4 << 3)
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#define PDCNTL_REG 0x42
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#define PDCNTL_VAL_PULSE_DURATION_NORMAL 0xC0
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#define SAMPLING_PERIOD_USEC (10 * AP_USEC_PER_MSEC)
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/*
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* FSR:
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* x, y: +- 1600 µT
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* z: +- 2500 µT
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*
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* Resolution according to datasheet is 0.3µT/LSB
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*/
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#define IST8310_RESOLUTION 0.3
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static const int16_t IST8310_MAX_VAL_XY = (1600 / IST8310_RESOLUTION) + 1;
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static const int16_t IST8310_MIN_VAL_XY = -IST8310_MAX_VAL_XY;
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static const int16_t IST8310_MAX_VAL_Z = (2500 / IST8310_RESOLUTION) + 1;
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static const int16_t IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z;
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extern const AP_HAL::HAL &hal;
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AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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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_IST8310 *sensor = new AP_Compass_IST8310(compass, std::move(dev), 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_IST8310::AP_Compass_IST8310(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::Device> dev,
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enum Rotation rotation)
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: AP_Compass_Backend(compass)
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, _dev(std::move(dev))
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, _rotation(rotation)
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{
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}
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bool AP_Compass_IST8310::init()
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{
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uint8_t reset_count = 0;
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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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// 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 IST8310
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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(CNTL2_REG, CNTL2_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(10);
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uint8_t cntl2 = 0xFF;
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if (_dev->read_registers(CNTL2_REG, &cntl2, 1) &&
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(cntl2 & 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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fprintf(stderr, "IST8310: failed to reset device\n");
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goto fail;
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}
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if (!_dev->write_register(AVGCNTL_REG, AVGCNTL_VAL_Y_16 | AVGCNTL_VAL_XZ_16) ||
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!_dev->write_register(PDCNTL_REG, PDCNTL_VAL_PULSE_DURATION_NORMAL)) {
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fprintf(stderr, "IST8310: 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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// start state machine: request a sample
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start_conversion();
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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_IST8310);
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set_dev_id(_instance, _dev->get_bus_id());
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_periodic_handle = _dev->register_periodic_callback(SAMPLING_PERIOD_USEC,
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FUNCTOR_BIND_MEMBER(&AP_Compass_IST8310::timer, void));
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_perf_xfer_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8310_xfer_err");
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_perf_bad_data = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8310_bad_data");
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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_IST8310::start_conversion()
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{
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if (!_dev->write_register(CNTL1_REG, CNTL1_VAL_SINGLE_MEASUREMENT_MODE)) {
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hal.util->perf_count(_perf_xfer_err);
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_ignore_next_sample = true;
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}
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}
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void AP_Compass_IST8310::timer()
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{
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if (_ignore_next_sample) {
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_ignore_next_sample = false;
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start_conversion();
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return;
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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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bool ret = _dev->read_registers(OUTPUT_X_L_REG, (uint8_t *) &buffer, sizeof(buffer));
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if (!ret) {
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hal.util->perf_count(_perf_xfer_err);
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return;
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}
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uint32_t now = AP_HAL::micros();
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start_conversion();
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/* same period, but start counting from now */
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_dev->adjust_periodic_callback(_periodic_handle, SAMPLING_PERIOD_USEC);
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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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/*
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* Check if value makes sense according to the FSR and Resolution of
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* this sensor, discarding outliers
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*/
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if (x > IST8310_MAX_VAL_XY || x < IST8310_MIN_VAL_XY ||
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y > IST8310_MAX_VAL_XY || y < IST8310_MIN_VAL_XY ||
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z > IST8310_MAX_VAL_Z || z < IST8310_MIN_VAL_Z) {
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hal.util->perf_count(_perf_bad_data);
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return;
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}
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// flip Z to conform to right-hand rule convention
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z = -z;
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/* Resolution: 0.3 µT/LSB - already convert to milligauss */
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Vector3f field = Vector3f{x * 3.0f, y * 3.0f, z * 3.0f};
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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, now, _instance);
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/* correct raw_field for known errors */
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correct_field(field, _instance);
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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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_sem->give();
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}
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}
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void AP_Compass_IST8310::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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