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ist8308: improve configuration 

- disable noise suppression filter
 - select more appropriate dynamic range
 - carefully set and clear all ODR, DR, and OSRCNTL bits
 - retry in probe multiple times
This commit is contained in:
Daniel Agar 2021-05-17 10:36:56 -04:00
parent 4acc18ca60
commit e498023d0f
3 changed files with 34 additions and 24 deletions
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20
src/drivers/magnetometer/isentek/ist8308/IST8308.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -86,14 +86,20 @@ void IST8308::print_status()
int IST8308::probe()
{
const uint8_t WAI = RegisterRead(Register::WAI);
_retries = 2;
if (WAI != Device_ID) {
DEVICE_DEBUG("unexpected WAI 0x%02x", WAI);
return PX4_ERROR;
for (int retry = 0; retry < 3; retry++) {
const uint8_t WAI = RegisterRead(Register::WAI);
if (WAI == Device_ID) {
return PX4_OK;
} else {
DEVICE_DEBUG("unexpected WAI 0x%02x", WAI);
}
}
return PX4_OK;
return PX4_ERROR;
}
void IST8308::RunImpl()
@ -240,7 +246,7 @@ bool IST8308::Configure()
}
// 1 Microtesla = 0.01 Gauss
_px4_mag.set_scale(1.f / 6.6f * 0.01f); // 6.6 LSB/uT
_px4_mag.set_scale(1.f / 13.2f * 0.01f); // 13.2 LSB/uT
return success;
}

11
src/drivers/magnetometer/isentek/ist8308/IST8308.hpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -103,13 +103,14 @@ private:
} _state{STATE::RESET};
uint8_t _checked_register{0};
static constexpr uint8_t size_register_cfg{5};
static constexpr uint8_t size_register_cfg{6};
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ Register::ACTR, 0, ACTR_BIT::SUSPEND_EN },
{ Register::CNTL1, CNTL1_BIT::NSF_Low, 0 },
{ Register::CNTL2, CNTL2_BIT::MODE_ODR_50Hz, 0 },
{ Register::CNTL1, 0, CNTL1_BIT::NSF_DISABLE },
{ Register::CNTL2, CNTL2_BIT::MODE_ODR_50HZ_SET, CNTL2_BIT::MODE_ODR_50HZ_CLEAR },
{ Register::CNTL3, 0, CNTL3_BIT::SRST },
{ Register::OSRCNTL, OSRCNTL_BIT::OSR_y_32 | OSRCNTL_BIT::OSR_xz_32, 0 },
{ Register::CNTL4, CNTL4_BIT::DR_200UT_SET, CNTL4_BIT::DR_200UT_CLEAR },
{ Register::OSRCNTL, OSRCNTL_BIT::OSR_Y_32_SET | OSRCNTL_BIT::OSR_XZ_32_SET, OSRCNTL_BIT::OSR_Y_32_CLEAR | OSRCNTL_BIT::OSR_XZ_32_CLEAR },
};
};

27
src/drivers/magnetometer/isentek/ist8308/iSentek_IST8308_registers.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -96,18 +96,14 @@ enum ACTR_BIT : uint8_t {
// CNTL1
enum CNTL1_BIT : uint8_t {
// 6:5 NSF[1:0]: Noise Suppression Filter setting
NSF_Low = Bit5,
NSF_Middle = Bit6,
NSF_High = Bit6 | Bit5,
NSF_DISABLE = Bit6 | Bit5, // Disable
};
// CNTL2
enum CNTL2_BIT : uint8_t {
// 4:0 MODE [4:0]: Operation mode setting
MODE_ODR_10Hz = Bit1, // 5’h02: Continuous Measurement Mode with ODR 10Hz
MODE_ODR_20Hz = Bit2, // 5’h04: Continuous Measurement Mode with ODR 20Hz
MODE_ODR_50Hz = Bit2 | Bit1, // 5’h06: Continuous Measurement Mode with ODR 50Hz
MODE_ODR_100Hz = Bit3, // 5’h08: Continuous Measurement Mode with ODR 100Hz
MODE_ODR_50HZ_SET = Bit2 | Bit1, // 5’h06: Continuous Measurement Mode with ODR 50Hz
MODE_ODR_50HZ_CLEAR = Bit3 | Bit0,
};
// CNTL3
@ -115,15 +111,22 @@ enum CNTL3_BIT : uint8_t {
SRST = Bit0, // Soft reset, perform the same routine as POR
};
// CNTL4
enum CNTL4_BIT : uint8_t {
// DR [1:0]: Sensor Dynamic Range and Sensitivity setting
DR_200UT_SET = Bit0, // ±200 uT, Sensitivity=13.2 LSB/uT
DR_200UT_CLEAR = Bit1
};
// OSRCNTL
enum OSRCNTL_BIT : uint8_t {
// 5:3
OSR_y_16 = Bit5, // 3’b100: OSR=16 (ODRmax=100) (Default)
OSR_y_32 = Bit5 | Bit3, // 3’b101: OSR=32 (ODRmax=50)
OSR_Y_32_SET = Bit5 | Bit3, // 3’b101: OSR=32 (ODRmax=50)
OSR_Y_32_CLEAR = Bit4,
// 2:0
OSR_xz_16 = Bit2, // 3’b100: OSR=16 (ODRmax=100) (Default)
OSR_xz_32 = Bit2 | Bit0, // 3’b101: OSR=32 (ODRmax=50)
OSR_XZ_32_SET = Bit2 | Bit0, // 3’b101: OSR=32 (ODRmax=50)
OSR_XZ_32_CLEAR = Bit1,
};
} // namespace iSentek_IST8308