254 lines
7.1 KiB
C++
254 lines
7.1 KiB
C++
/*
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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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/*
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Driver by Thomas Schumacher, Jan 2019
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Structure based on LIS3MDL driver
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*/
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#include "AP_Compass_RM3100.h"
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#include <AP_HAL/AP_HAL.h>
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#include <utility>
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#include <AP_Math/AP_Math.h>
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#include <stdio.h>
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#define RM3100_POLL_REG 0x00
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#define RM3100_CMM_REG 0x01
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#define RM3100_CCX1_REG 0x04
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#define RM3100_CCX0_REG 0x05
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#define RM3100_CCY1_REG 0x06
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#define RM3100_CCY0_REG 0x07
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#define RM3100_CCZ1_REG 0x08
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#define RM3100_CCZ0_REG 0x09
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#define RM3100_TMRC_REG 0x0B
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#define RM3100_MX2_REG 0x24
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#define RM3100_MX1_REG 0x25
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#define RM3100_MX0_REG 0x26
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#define RM3100_MY2_REG 0x27
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#define RM3100_MY1_REG 0x28
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#define RM3100_MY0_REG 0x29
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#define RM3100_MZ2_REG 0x2A
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#define RM3100_MZ1_REG 0x2B
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#define RM3100_MZ0_REG 0x2C
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#define RM3100_BIST_REG 0x33
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#define RM3100_STATUS_REG 0x34
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#define RM3100_HSHAKE_REG 0x34
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#define RM3100_REVID_REG 0x36
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#define CCP0 0xC8 // Default Cycle Count
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#define CCP1 0x00
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#define GAIN_CC50 20.0f // LSB/uT
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#define GAIN_CC100 38.0f
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#define GAIN_CC200 75.0f
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#define UTESLA_TO_MGAUSS 10.0f // uT to mGauss conversion
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#define TMRC 0x94 // Update rate 150Hz
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#define CMM 0x71 // read 3 axes and set data ready if 3 axes are ready
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extern const AP_HAL::HAL &hal;
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AP_Compass_Backend *AP_Compass_RM3100::probe(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::Device> dev,
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bool force_external,
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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_RM3100 *sensor = new AP_Compass_RM3100(compass, std::move(dev), force_external, 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_RM3100::AP_Compass_RM3100(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::Device> _dev,
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bool _force_external,
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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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, force_external(_force_external)
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, rotation(_rotation)
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{
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}
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bool AP_Compass_RM3100::init()
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{
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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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// maybe add a test for revision id value here and goto fail if not correct
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// it is not clear if revision id is the same for all compasses, in the same manner as a whoami
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dev->setup_checked_registers(8);
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dev->write_register(RM3100_TMRC_REG, TMRC, true); // cycle count z
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dev->write_register(RM3100_CMM_REG, CMM, false); // CMM configuration
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dev->write_register(RM3100_CCX1_REG, CCP1, true); // cycle count x
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dev->write_register(RM3100_CCX0_REG, CCP0, true); // cycle count x
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dev->write_register(RM3100_CCY1_REG, CCP1, true); // cycle count y
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dev->write_register(RM3100_CCY0_REG, CCP0, true); // cycle count y
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dev->write_register(RM3100_CCZ1_REG, CCP1, true); // cycle count z
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dev->write_register(RM3100_CCZ0_REG, CCP0, true); // cycle count z
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_scaler = (1 / GAIN_CC200) * UTESLA_TO_MGAUSS; // has to be changed if using a different cycle count
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// lower retries for run
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dev->set_retries(3);
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dev->get_semaphore()->give();
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/* register the compass instance in the frontend */
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compass_instance = register_compass();
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printf("Found a RM3100 at address 0x%x as compass %u\n", dev->get_bus_address(), compass_instance);
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set_rotation(compass_instance, rotation);
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if (force_external) {
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set_external(compass_instance, true);
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}
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dev->set_device_type(DEVTYPE_RM3100);
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set_dev_id(compass_instance, dev->get_bus_id());
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// call timer() at 80Hz
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dev->register_periodic_callback(1000000U/80U,
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FUNCTOR_BIND_MEMBER(&AP_Compass_RM3100::timer, void));
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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_RM3100::timer()
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{
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struct PACKED {
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uint8_t magx_2;
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uint8_t magx_1;
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uint8_t magx_0;
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uint8_t magy_2;
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uint8_t magy_1;
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uint8_t magy_0;
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uint8_t magz_2;
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uint8_t magz_1;
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uint8_t magz_0;
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} data;
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Vector3f field;
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uint32_t magx = 0;
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uint32_t magy = 0;
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uint32_t magz = 0;
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// check data ready on 3 axis
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uint8_t status;
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if (!dev->read_registers(RM3100_STATUS_REG, (uint8_t *)&status, 1)) {
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goto check_registers;
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}
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if (!(status & 0x80)) {
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// data not available yet
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goto check_registers;
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}
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if (!dev->read_registers(RM3100_MX2_REG, (uint8_t *)&data, sizeof(data))) {
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goto check_registers;
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}
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magx = ((uint32_t)data.magx_2 << 16) | ((uint32_t)data.magx_1 << 8) | (uint32_t)data.magx_0;
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magy = ((uint32_t)data.magy_2 << 16) | ((uint32_t)data.magy_1 << 8) | (uint32_t)data.magy_0;
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magz = ((uint32_t)data.magz_2 << 16) | ((uint32_t)data.magz_1 << 8) | (uint32_t)data.magz_0;
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if (magx & 0x800000) {
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magx |= 0xFF000000;
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}
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if (magy & 0x800000) {
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magy |= 0xFF000000;
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}
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if (magz & 0x800000) {
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magz |= 0xFF000000;
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}
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field((int32_t)magx * _scaler, (int32_t)magy * _scaler, (int32_t)magz * _scaler);
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// rotate raw_field from sensor frame to body frame
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rotate_field(field, compass_instance);
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// publish raw_field (uncorrected point sample) for calibration use
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publish_raw_field(field, compass_instance);
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// correct raw_field for known errors
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correct_field(field, compass_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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check_registers:
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dev->check_next_register();
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}
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void AP_Compass_RM3100::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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#if 0
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// debugging code for sample rate
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static uint32_t lastt;
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static uint32_t total;
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total += accum_count;
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uint32_t now = AP_HAL::micros();
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float dt = (now - lastt) * 1.0e-6;
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if (dt > 1) {
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printf("%u %f samples RM3100 \n", total, dt);
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lastt = now;
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total = 0;
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}
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#endif
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accum /= accum_count;
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publish_filtered_field(accum, compass_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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