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AP_Compass: IST8310: use variable periodic callback

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This is the equivalent of sleep and wait for the conversion time,
after had triggered a new sample request. However it also has the added
benefits of sharing a thread with other sensors on the same bus.

Now we don't read the status register anymore since we have a guaranteed
wait time.
This commit is contained in:
Lucas De Marchi 2017-03-01 01:33:29 -08:00 committed by Andrew Tridgell
parent ce1a13aa8f
commit 4bba643abb
2 changed files with 20 additions and 39 deletions
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51
libraries/AP_Compass/AP_Compass_IST8310.cpp
View File

@ -28,11 +28,16 @@
#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_BIT_SINGLE_MEASUREMENT_MODE 0x1
#define STAT1_REG 0x2
#define DATA_RDY 0x1
#define CNTL2_REG 0xB
#define CNTL2_BIT_SRST 1
@ -158,12 +163,10 @@ bool AP_Compass_IST8310::init()
_dev->set_device_type(DEVTYPE_IST8310);
set_dev_id(_instance, _dev->get_bus_id());
_dev->register_periodic_callback(SAMPLING_PERIOD_USEC,
FUNCTOR_BIND_MEMBER(&AP_Compass_IST8310::timer, void));
_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_not_ready = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8310_not_ready");
_perf_restart = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8310_restart");
_perf_bad_data = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8310_bad_data");
return true;
@ -177,58 +180,41 @@ void AP_Compass_IST8310::start_conversion()
{
if (!_dev->write_register(CNTL1_REG, CNTL1_BIT_SINGLE_MEASUREMENT_MODE)) {
hal.util->perf_count(_perf_xfer_err);
_need_start = true;
return;
_ignore_next_sample = true;
}
_need_start = false;
}
void AP_Compass_IST8310::timer()
{
if (_need_start) {
if (_ignore_next_sample) {
_ignore_next_sample = false;
start_conversion();
return;
}
struct PACKED {
uint8_t status;
le16_t rx;
le16_t ry;
le16_t rz;
} buffer;
bool ret = _dev->read_registers(STAT1_REG, (uint8_t *) &buffer, sizeof(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;
}
auto status = buffer.status;
uint32_t now = AP_HAL::micros();
if (!(status & 0x01)) {
hal.util->perf_count(_perf_not_ready);
start_conversion();
/*
* Sensor is in a wrong state or something went really wrong: try to
* request a sample again
*/
if (now > _last_measurement_usec + 2 * SAMPLING_PERIOD_USEC) {
hal.util->perf_count(_perf_restart);
start_conversion();
}
return;
}
/* 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));
start_conversion();
/*
* Check if value makes sense according to the FSR and Resolution of
* this sensor, discarding outliers
@ -240,13 +226,10 @@ void AP_Compass_IST8310::timer()
return;
}
_last_measurement_usec = now;
// flip Z to conform to right-hand rule convention
z = -z;
/* convert uT to milligauss */
/* 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 */

8
libraries/AP_Compass/AP_Compass_IST8310.h
View File

@ -46,16 +46,14 @@ private:
void start_conversion();
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
AP_HAL::Device::PeriodicHandle _periodic_handle;
AP_HAL::Util::perf_counter_t _perf_xfer_err;
AP_HAL::Util::perf_counter_t _perf_not_ready;
AP_HAL::Util::perf_counter_t _perf_restart;
AP_HAL::Util::perf_counter_t _perf_bad_data;
Vector3f _accum = Vector3f();
uint32_t _accum_count = 0;
uint32_t _last_measurement_usec;
enum Rotation _rotation;
uint8_t _instance;
bool _need_start;
bool _ignore_next_sample;
};