You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
225 lines
7.0 KiB
225 lines
7.0 KiB
/* |
|
* 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 3 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 <http://www.gnu.org/licenses/>. |
|
*/ |
|
/* |
|
Driver by Thomas Schumacher, Jan 2019 |
|
Structure based on LIS3MDL driver |
|
|
|
*/ |
|
#include "AP_Compass_RM3100.h" |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
#include <utility> |
|
#include <AP_Math/AP_Math.h> |
|
#include <stdio.h> |
|
|
|
#define RM3100_POLL_REG 0x00 |
|
|
|
#define RM3100_CMM_REG 0x01 |
|
|
|
#define RM3100_CCX1_REG 0x04 |
|
#define RM3100_CCX0_REG 0x05 |
|
#define RM3100_CCY1_REG 0x06 |
|
#define RM3100_CCY0_REG 0x07 |
|
#define RM3100_CCZ1_REG 0x08 |
|
#define RM3100_CCZ0_REG 0x09 |
|
|
|
#define RM3100_TMRC_REG 0x0B |
|
|
|
#define RM3100_MX2_REG 0x24 |
|
#define RM3100_MX1_REG 0x25 |
|
#define RM3100_MX0_REG 0x26 |
|
#define RM3100_MY2_REG 0x27 |
|
#define RM3100_MY1_REG 0x28 |
|
#define RM3100_MY0_REG 0x29 |
|
#define RM3100_MZ2_REG 0x2A |
|
#define RM3100_MZ1_REG 0x2B |
|
#define RM3100_MZ0_REG 0x2C |
|
|
|
#define RM3100_BIST_REG 0x33 |
|
#define RM3100_STATUS_REG 0x34 |
|
#define RM3100_HSHAKE_REG 0x34 |
|
#define RM3100_REVID_REG 0x36 |
|
|
|
#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 |
|
#define UTESLA_TO_MGAUSS 10.0f // uT to mGauss conversion |
|
|
|
#define TMRC 0x94 // Update rate 150Hz |
|
#define CMM 0x71 // read 3 axes and set data ready if 3 axes are ready |
|
|
|
extern const AP_HAL::HAL &hal; |
|
|
|
AP_Compass_Backend *AP_Compass_RM3100::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev, |
|
bool force_external, |
|
enum Rotation rotation) |
|
{ |
|
if (!dev) { |
|
return nullptr; |
|
} |
|
AP_Compass_RM3100 *sensor = new AP_Compass_RM3100(std::move(dev), force_external, rotation); |
|
if (!sensor || !sensor->init()) { |
|
delete sensor; |
|
return nullptr; |
|
} |
|
|
|
return sensor; |
|
} |
|
|
|
AP_Compass_RM3100::AP_Compass_RM3100(AP_HAL::OwnPtr<AP_HAL::Device> _dev, |
|
bool _force_external, |
|
enum Rotation _rotation) |
|
: dev(std::move(_dev)) |
|
, force_external(_force_external) |
|
, rotation(_rotation) |
|
{ |
|
} |
|
|
|
bool AP_Compass_RM3100::init() |
|
{ |
|
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { |
|
return false; |
|
} |
|
|
|
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) { |
|
// read has high bit set for SPI |
|
dev->set_read_flag(0x80); |
|
} |
|
|
|
// high retries for init |
|
dev->set_retries(10); |
|
|
|
// 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 |
|
dev->get_semaphore()->give(); |
|
return false; |
|
} |
|
|
|
dev->setup_checked_registers(8); |
|
|
|
dev->write_register(RM3100_TMRC_REG, TMRC, true); // CMM data rate |
|
dev->write_register(RM3100_CMM_REG, CMM, true); // CMM configuration |
|
dev->write_register(RM3100_CCX1_REG, CCP1, true); // cycle count x |
|
dev->write_register(RM3100_CCX0_REG, CCP0, true); // cycle count x |
|
dev->write_register(RM3100_CCY1_REG, CCP1, true); // cycle count y |
|
dev->write_register(RM3100_CCY0_REG, CCP0, true); // cycle count y |
|
dev->write_register(RM3100_CCZ1_REG, CCP1, true); // cycle count z |
|
dev->write_register(RM3100_CCZ0_REG, CCP0, true); // cycle count z |
|
|
|
_scaler = (1 / GAIN_CC200) * UTESLA_TO_MGAUSS; // has to be changed if using a different cycle count |
|
|
|
// lower retries for run |
|
dev->set_retries(3); |
|
|
|
dev->get_semaphore()->give(); |
|
|
|
/* register the compass instance in the frontend */ |
|
compass_instance = register_compass(); |
|
|
|
hal.console->printf("RM3100: Found at address 0x%x as compass %u\n", dev->get_bus_address(), compass_instance); |
|
|
|
set_rotation(compass_instance, rotation); |
|
|
|
if (force_external) { |
|
set_external(compass_instance, true); |
|
} |
|
|
|
dev->set_device_type(DEVTYPE_RM3100); |
|
set_dev_id(compass_instance, dev->get_bus_id()); |
|
|
|
// call timer() at 80Hz |
|
dev->register_periodic_callback(1000000U/80U, |
|
FUNCTOR_BIND_MEMBER(&AP_Compass_RM3100::timer, void)); |
|
|
|
return true; |
|
} |
|
|
|
void AP_Compass_RM3100::timer() |
|
{ |
|
struct PACKED { |
|
uint8_t magx_2; |
|
uint8_t magx_1; |
|
uint8_t magx_0; |
|
uint8_t magy_2; |
|
uint8_t magy_1; |
|
uint8_t magy_0; |
|
uint8_t magz_2; |
|
uint8_t magz_1; |
|
uint8_t magz_0; |
|
} data; |
|
Vector3f field; |
|
|
|
int32_t magx = 0; |
|
int32_t magy = 0; |
|
int32_t magz = 0; |
|
|
|
// check data ready on 3 axis |
|
uint8_t status; |
|
if (!dev->read_registers(RM3100_STATUS_REG, (uint8_t *)&status, 1)) { |
|
goto check_registers; |
|
} |
|
|
|
if (!(status & 0x80)) { |
|
// data not available yet |
|
goto check_registers; |
|
} |
|
|
|
if (!dev->read_registers(RM3100_MX2_REG, (uint8_t *)&data, sizeof(data))) { |
|
goto check_registers; |
|
} |
|
|
|
// the 24 bits of data for each axis are in 2s complement representation |
|
// each byte is shifted to its position in a 24-bit unsigned integer and from 8 more bits to be left-aligned in a 32-bit integer |
|
magx = ((uint32_t)data.magx_2 << 24) | ((uint32_t)data.magx_1 << 16) | ((uint32_t)data.magx_0 << 8); |
|
magy = ((uint32_t)data.magy_2 << 24) | ((uint32_t)data.magy_1 << 16) | ((uint32_t)data.magy_0 << 8); |
|
magz = ((uint32_t)data.magz_2 << 24) | ((uint32_t)data.magz_1 << 16) | ((uint32_t)data.magz_0 << 8); |
|
|
|
// right-shift signed integer back to get correct measurement value |
|
magx >>= 8; |
|
magy >>= 8; |
|
magz >>= 8; |
|
|
|
// apply scaler and store in field vector |
|
field(magx * _scaler, magy * _scaler, magz * _scaler); |
|
|
|
accumulate_sample(field, compass_instance); |
|
|
|
check_registers: |
|
dev->check_next_register(); |
|
} |
|
|
|
void AP_Compass_RM3100::read() |
|
{ |
|
drain_accumulated_samples(compass_instance); |
|
}
|
|
|