diff --git a/libraries/AP_Compass/AP_Compass_Backend.h b/libraries/AP_Compass/AP_Compass_Backend.h index 2cb343bdd7..d3a3203c47 100644 --- a/libraries/AP_Compass/AP_Compass_Backend.h +++ b/libraries/AP_Compass/AP_Compass_Backend.h @@ -57,6 +57,7 @@ public: DEVTYPE_QMC5883L = 0x0D, DEVTYPE_MAG3110 = 0x0E, DEVTYPE_SITL = 0x0F, + DEVTYPE_IST8308 = 0x10, }; diff --git a/libraries/AP_Compass/AP_Compass_IST8308.cpp b/libraries/AP_Compass/AP_Compass_IST8308.cpp new file mode 100644 index 0000000000..c90aa7a8db --- /dev/null +++ b/libraries/AP_Compass/AP_Compass_IST8308.cpp @@ -0,0 +1,230 @@ +/* + * Copyright (C) 2018 Lucas De Marchi. 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 2 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 . + */ +#include "AP_Compass_IST8308.h" + +#include +#include + +#include +#include +#include + +#define WAI_REG 0x0 +#define DEVICE_ID 0x08 + +#define STAT1_REG 0x10 +#define STAT1_VAL_DRDY 0x1 +#define STAT1_VAL_DOR 0x2 + +#define DATAX_L_REG 0x11 +#define DATAX_H_REG 0x12 +#define DATAY_L_REG 0x13 +#define DATAY_H_REG 0x14 +#define DATAZ_L_REG 0x15 +#define DATAZ_H_REG 0x16 + +#define CNTL1_REG 0x30 + +#define CNTL2_REG 0x31 +#define CNTL2_VAL_STANDBY_MODE 0x0 +#define CNTL2_VAL_SINGLE_MODE 0x1 +#define CNTL2_VAL_CONT_ODR10_MODE 0x2 +#define CNTL2_VAL_CONT_ODR20_MODE 0x4 +#define CNTL2_VAL_CONT_ODR50_MODE 0x6 +#define CNTL2_VAL_CONT_ODR100_MODE 0x8 +#define CNTL2_VAL_CONT_ODR200_MODE 0xA +#define CNTL2_VAL_CONT_ODR8_MODE 0xB +#define CNTL2_VAL_CONT_ODR1_MODE 0xC +#define CNTL2_VAL_CONT_ODR0P5_MODE 0xD +#define CNTL2_VAL_SINGLE_TEST_MODE 0x10 + +#define CNTL3_REG 0x32 +#define CNTL3_VAL_SRST 1 +#define CNTL3_VAL_DRDY_POLARITY_HIGH (1 << 2) +#define CNTL3_VAL_DRDY_EN (1 << 3) + +#define CNTL4_REG 0x34 +#define CNTL4_VAL_DYNAMIC_RANGE_500 0 +#define CNTL4_VAL_DYNAMIC_RANGE_200 0x1 + +#define OSRCNTL_REG 0x41 +#define OSRCNTL_VAL_XZ_1 (0) +#define OSRCNTL_VAL_XZ_2 (1) +#define OSRCNTL_VAL_XZ_4 (2) +#define OSRCNTL_VAL_XZ_8 (3) +#define OSRCNTL_VAL_XZ_16 (4) +#define OSRCNTL_VAL_XZ_32 (4) +#define OSRCNTL_VAL_Y_1 (0 << 3) +#define OSRCNTL_VAL_Y_2 (1 << 3) +#define OSRCNTL_VAL_Y_4 (2 << 3) +#define OSRCNTL_VAL_Y_8 (3 << 3) +#define OSRCNTL_VAL_Y_16 (4 << 3) +#define OSRCNTL_VAL_Y_32 (5 << 3) + +#define SAMPLING_PERIOD_USEC (10 * AP_USEC_PER_MSEC) + +extern const AP_HAL::HAL &hal; + +AP_Compass_Backend *AP_Compass_IST8308::probe(AP_HAL::OwnPtr dev, + bool force_external, + enum Rotation rotation) +{ + if (!dev) { + return nullptr; + } + + AP_Compass_IST8308 *sensor = new AP_Compass_IST8308(std::move(dev), force_external, rotation); + if (!sensor || !sensor->init()) { + delete sensor; + return nullptr; + } + + return sensor; +} + +AP_Compass_IST8308::AP_Compass_IST8308(AP_HAL::OwnPtr dev, + bool force_external, + enum Rotation rotation) + : _dev(std::move(dev)) + , _rotation(rotation) + , _force_external(force_external) +{ +} + +bool AP_Compass_IST8308::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 IST8308 + goto fail; + } + + for (; reset_count < 5; reset_count++) { + if (!_dev->write_register(CNTL3_REG, CNTL3_VAL_SRST)) { + hal.scheduler->delay(10); + continue; + } + + hal.scheduler->delay(20); + + uint8_t cntl3 = 0xFF; + if (_dev->read_registers(CNTL3_REG, &cntl3, 1) && + (cntl3 & 0x01) == 0) { + break; + } + } + + if (reset_count == 5) { + printf("IST8308: failed to reset device\n"); + goto fail; + } + + // DRDY enabled + // Dynamic Range=±500 uT, Sensitivity=6.6 LSB/uT + // OSR 16 (max 100Hz) + // Start continuous mode at 100Hz + if (!_dev->write_register(CNTL3_REG, CNTL3_VAL_DRDY_EN) || + !_dev->write_register(CNTL4_REG, CNTL4_VAL_DYNAMIC_RANGE_500) || + !_dev->write_register(OSRCNTL_REG, OSRCNTL_VAL_Y_16 | OSRCNTL_VAL_XZ_16) || + !_dev->write_register(CNTL2_REG, CNTL2_VAL_CONT_ODR100_MODE)) { + printf("IST8308: found device but could not set it up\n"); + goto fail; + } + + // lower retries for run + _dev->set_retries(3); + + _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_IST8308); + set_dev_id(_instance, _dev->get_bus_id()); + + if (_force_external) { + set_external(_instance, true); + } + + _dev->register_periodic_callback(SAMPLING_PERIOD_USEC, + FUNCTOR_BIND_MEMBER(&AP_Compass_IST8308::timer, void)); + + _perf_xfer_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "IST8308_xfer_err"); + + return true; + +fail: + _dev->get_semaphore()->give(); + return false; +} + +void AP_Compass_IST8308::timer() +{ + struct PACKED { + le16_t rx; + le16_t ry; + le16_t rz; + } buffer; + uint8_t stat; + + if (!_dev->read_registers(STAT1_REG, &stat, 1) || + !(stat & STAT1_VAL_DRDY)) { + hal.util->perf_count(_perf_xfer_err); + return; + } + + if (stat & STAT1_VAL_DOR) { + printf("IST8308: data overrun\n"); + } + + if (!_dev->read_registers(DATAX_L_REG, (uint8_t *) &buffer, + sizeof(buffer))) { + hal.util->perf_count(_perf_xfer_err); + return; + } + + auto x = static_cast(le16toh(buffer.rx)); + auto y = static_cast(le16toh(buffer.ry)); + auto z = static_cast(le16toh(buffer.rz)); + + // flip Z to conform to right-hand rule convention + z = -z; + + /* Resolution: 0.1515 µT/LSB - already convert to milligauss */ + Vector3f field = Vector3f{x * 1.515f, y * 1.515f, z * 1.515f}; + + accumulate_sample(field, _instance); +} + +void AP_Compass_IST8308::read() +{ + drain_accumulated_samples(_instance); +} diff --git a/libraries/AP_Compass/AP_Compass_IST8308.h b/libraries/AP_Compass/AP_Compass_IST8308.h new file mode 100644 index 0000000000..8680eab25f --- /dev/null +++ b/libraries/AP_Compass/AP_Compass_IST8308.h @@ -0,0 +1,56 @@ +/* + * Copyright (C) 2018 Lucas De Marchi. 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 2 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 . + */ +#pragma once + +#include +#include +#include +#include + +#include "AP_Compass.h" +#include "AP_Compass_Backend.h" + +#ifndef HAL_COMPASS_IST8308_I2C_ADDR +#define HAL_COMPASS_IST8308_I2C_ADDR 0x0C +#endif + +class AP_Compass_IST8308 : public AP_Compass_Backend +{ +public: + static AP_Compass_Backend *probe(AP_HAL::OwnPtr dev, + bool force_external = false, + enum Rotation rotation = ROTATION_NONE); + + void read() override; + + static constexpr const char *name = "IST8308"; + +private: + AP_Compass_IST8308(AP_HAL::OwnPtr dev, + bool force_external, + enum Rotation rotation); + + void timer(); + bool init(); + + AP_HAL::OwnPtr _dev; + AP_HAL::Util::perf_counter_t _perf_xfer_err; + + enum Rotation _rotation; + uint8_t _instance; + bool _force_external; +};