ardupilot/libraries/AP_Compass/AP_Compass_LIS3MDL.cpp

215 lines
5.7 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 Andrew Tridgell, Nov 2016
thanks to Robert Dickenson and the PX4 team for register definitions
*/
#include "AP_Compass_LIS3MDL.h"
#include <AP_HAL/AP_HAL.h>
#include <utility>
#include <AP_Math/AP_Math.h>
#include <stdio.h>
#define ADDR_CTRL_REG1 0x20
#define ADDR_CTRL_REG2 0x21
#define ADDR_CTRL_REG3 0x22
#define ADDR_CTRL_REG4 0x23
#define ADDR_CTRL_REG5 0x24
#define ADDR_STATUS_REG 0x27
#define ADDR_OUT_X_L 0x28
#define ADDR_OUT_X_H 0x29
#define ADDR_OUT_Y_L 0x2a
#define ADDR_OUT_Y_H 0x2b
#define ADDR_OUT_Z_L 0x2c
#define ADDR_OUT_Z_H 0x2d
#define ADDR_OUT_T_L 0x2e
#define ADDR_OUT_T_H 0x2f
#define MODE_REG_CONTINOUS_MODE (0 << 0)
#define MODE_REG_SINGLE_MODE (1 << 0)
#define ADDR_WHO_AM_I 0x0f
#define ID_WHO_AM_I 0x3d
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_LIS3MDL::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_LIS3MDL *sensor = new AP_Compass_LIS3MDL(compass, std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
AP_Compass_LIS3MDL::AP_Compass_LIS3MDL(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool _force_external,
enum Rotation _rotation)
: AP_Compass_Backend(compass)
, dev(std::move(_dev))
, force_external(_force_external)
, rotation(_rotation)
{
}
bool AP_Compass_LIS3MDL::init()
{
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
dev->set_read_flag(0xC0);
}
// high retries for init
dev->set_retries(10);
uint8_t whoami;
if (!dev->read_registers(ADDR_WHO_AM_I, &whoami, 1) ||
whoami != ID_WHO_AM_I) {
// not a 3MDL
goto fail;
}
dev->setup_checked_registers(5);
dev->write_register(ADDR_CTRL_REG1, 0xFC, true); // 80Hz, UHP
dev->write_register(ADDR_CTRL_REG2, 0, true); // 4Ga range
dev->write_register(ADDR_CTRL_REG3, 0, true); // continuous
dev->write_register(ADDR_CTRL_REG4, 0x0C, true); // z-axis ultra high perf
dev->write_register(ADDR_CTRL_REG5, 0x40, true); // block-data-update
// 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 LIS3MDL on 0x%x as compass %u\n", dev->get_bus_id(), compass_instance);
set_rotation(compass_instance, rotation);
if (force_external) {
set_external(compass_instance, true);
}
dev->set_device_type(DEVTYPE_LIS3MDL);
set_dev_id(compass_instance, dev->get_bus_id());
// call timer() at 155Hz
dev->register_periodic_callback(1000000U/80U,
FUNCTOR_BIND_MEMBER(&AP_Compass_LIS3MDL::timer, void));
return true;
fail:
dev->get_semaphore()->give();
return false;
}
void AP_Compass_LIS3MDL::timer()
{
struct PACKED {
int16_t magx;
int16_t magy;
int16_t magz;
} data;
const float range_scale = 1000.0f / 6842.0f;
Vector3f field;
// check data ready
uint8_t status;
if (!dev->read_registers(ADDR_STATUS_REG, (uint8_t *)&status, 1)) {
goto check_registers;
}
if (!(status & 0x08)) {
// data not available yet
goto check_registers;
}
if (!dev->read_registers(ADDR_OUT_X_L, (uint8_t *)&data, sizeof(data))) {
goto check_registers;
}
field(data.magx * range_scale, data.magy * range_scale, data.magz * range_scale);
/* rotate raw_field from sensor frame to body frame */
rotate_field(field, compass_instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, AP_HAL::micros(), compass_instance);
/* correct raw_field for known errors */
correct_field(field, compass_instance);
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
accum += field;
accum_count++;
_sem->give();
}
check_registers:
dev->check_next_register();
}
void AP_Compass_LIS3MDL::read()
{
if (!_sem->take_nonblocking()) {
return;
}
if (accum_count == 0) {
_sem->give();
return;
}
#if 0
// debugging code for sample rate
static uint32_t lastt;
static uint32_t total;
total += accum_count;
uint32_t now = AP_HAL::micros();
float dt = (now - lastt) * 1.0e-6;
if (dt > 1) {
printf("%u samples\n", total);
lastt = now;
total = 0;
}
#endif
accum /= accum_count;
publish_filtered_field(accum, compass_instance);
accum.zero();
accum_count = 0;
_sem->give();
}