ardupilot/libraries/AP_Compass/AP_Compass_IST8310.cpp

244 lines
6.5 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 * AP_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(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_IST8310 *sensor = new AP_Compass_IST8310(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
AP_Compass_IST8310::AP_Compass_IST8310(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
: _dev(std::move(dev))
, _rotation(rotation)
, _force_external(force_external)
{
}
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) {
printf("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)) {
printf("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());
if (_force_external) {
set_external(_instance, true);
}
_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;
}
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};
accumulate_sample(field, _instance);
}
void AP_Compass_IST8310::read()
{
drain_accumulated_samples(_instance);
}