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AP_Compass: RM3100 added default cycle count value check on initialization as a whoami substitute

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thomass 2019-02-08 07:40:52 +01:00 committed by Andrew Tridgell
parent 488133c396
commit 97f3627bd5
1 changed files with 25 additions and 6 deletions
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31
libraries/AP_Compass/AP_Compass_RM3100.cpp
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@ -52,8 +52,10 @@
#define RM3100_HSHAKE_REG 0x34
#define RM3100_REVID_REG 0x36
#define CCP0 0xC8 // Default Cycle Count
#define CCP0 0xC8 // Cycle Count values
#define CCP1 0x00
#define CCP0_DEFAULT 0xC8 // Default Cycle Count values (used as a whoami check)
#define CCP1_DEFAULT 0x00
#define GAIN_CC50 20.0f // LSB/uT
#define GAIN_CC100 38.0f
#define GAIN_CC200 75.0f
@ -98,8 +100,25 @@ bool AP_Compass_RM3100::init()
// high retries for init
dev->set_retries(10);
// maybe add a test for revision id value here and goto fail if not correct
// it is not clear if revision id is the same for all compasses, in the same manner as a whoami
// use default cycle count values as a whoami test
uint8_t ccx0;
uint8_t ccx1;
uint8_t ccy0;
uint8_t ccy1;
uint8_t ccz0;
uint8_t ccz1;
if (!dev->read_registers(RM3100_CCX1_REG, &ccx1, 1) ||
!dev->read_registers(RM3100_CCX0_REG, &ccx0, 1) ||
!dev->read_registers(RM3100_CCY1_REG, &ccy1, 1) ||
!dev->read_registers(RM3100_CCY0_REG, &ccy0, 1) ||
!dev->read_registers(RM3100_CCZ1_REG, &ccz1, 1) ||
!dev->read_registers(RM3100_CCZ0_REG, &ccz0, 1) ||
ccx1 != CCP1_DEFAULT || ccx0 != CCP0_DEFAULT ||
ccy1 != CCP1_DEFAULT || ccy0 != CCP0_DEFAULT ||
ccz1 != CCP1_DEFAULT || ccz0 != CCP0_DEFAULT) {
// couldn't read one of the cycle count registers or didn't recognize the default cycle count values
goto fail;
}
dev->setup_checked_registers(8);
@ -139,9 +158,9 @@ bool AP_Compass_RM3100::init()
return true;
//fail:
// dev->get_semaphore()->give();
// return false;
fail:
dev->get_semaphore()->give();
return false;
}
void AP_Compass_RM3100::timer()