Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2018  Lucas De Marchi. All rights reserved.
       3             :  *
       4             :  * This file is free software: you can redistribute it and/or modify it
       5             :  * under the terms of the GNU General Public License as published by the
       6             :  * Free Software Foundation, either version 2 of the License, or
       7             :  * (at your option) any later version.
       8             :  *
       9             :  * This file is distributed in the hope that it will be useful, but
      10             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
      11             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      12             :  * See the GNU General Public License for more details.
      13             :  *
      14             :  * You should have received a copy of the GNU General Public License along
      15             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      16             :  */
      17             : #include "AP_Compass_IST8308.h"
      18             : 
      19             : #if AP_COMPASS_IST8308_ENABLED
      20             : 
      21             : #include <stdio.h>
      22             : #include <utility>
      23             : 
      24             : #include <AP_HAL/AP_HAL.h>
      25             : #include <AP_HAL/utility/sparse-endian.h>
      26             : #include <AP_Math/AP_Math.h>
      27             : 
      28             : #define WAI_REG 0x0
      29             : #define DEVICE_ID 0x08
      30             : 
      31             : #define STAT1_REG 0x10
      32             : #define STAT1_VAL_DRDY 0x1
      33             : #define STAT1_VAL_DOR 0x2
      34             : 
      35             : #define DATAX_L_REG 0x11
      36             : #define DATAX_H_REG 0x12
      37             : #define DATAY_L_REG 0x13
      38             : #define DATAY_H_REG 0x14
      39             : #define DATAZ_L_REG 0x15
      40             : #define DATAZ_H_REG 0x16
      41             : 
      42             : #define CNTL1_REG 0x30
      43             : 
      44             : #define CNTL2_REG 0x31
      45             : #define CNTL2_VAL_STANDBY_MODE      0x0
      46             : #define CNTL2_VAL_SINGLE_MODE       0x1
      47             : #define CNTL2_VAL_CONT_ODR10_MODE   0x2
      48             : #define CNTL2_VAL_CONT_ODR20_MODE   0x4
      49             : #define CNTL2_VAL_CONT_ODR50_MODE   0x6
      50             : #define CNTL2_VAL_CONT_ODR100_MODE  0x8
      51             : #define CNTL2_VAL_CONT_ODR200_MODE  0xA
      52             : #define CNTL2_VAL_CONT_ODR8_MODE    0xB
      53             : #define CNTL2_VAL_CONT_ODR1_MODE    0xC
      54             : #define CNTL2_VAL_CONT_ODR0P5_MODE  0xD
      55             : #define CNTL2_VAL_SINGLE_TEST_MODE  0x10
      56             : 
      57             : #define CNTL3_REG 0x32
      58             : #define CNTL3_VAL_SRST 1
      59             : #define CNTL3_VAL_DRDY_POLARITY_HIGH (1 << 2)
      60             : #define CNTL3_VAL_DRDY_EN (1 << 3)
      61             : 
      62             : #define CNTL4_REG 0x34
      63             : #define CNTL4_VAL_DYNAMIC_RANGE_500 0
      64             : #define CNTL4_VAL_DYNAMIC_RANGE_200 0x1
      65             : 
      66             : #define OSRCNTL_REG 0x41
      67             : #define OSRCNTL_VAL_XZ_1  (0)
      68             : #define OSRCNTL_VAL_XZ_2  (1)
      69             : #define OSRCNTL_VAL_XZ_4  (2)
      70             : #define OSRCNTL_VAL_XZ_8  (3)
      71             : #define OSRCNTL_VAL_XZ_16 (4)
      72             : #define OSRCNTL_VAL_XZ_32 (4)
      73             : #define OSRCNTL_VAL_Y_1  (0 << 3)
      74             : #define OSRCNTL_VAL_Y_2  (1 << 3)
      75             : #define OSRCNTL_VAL_Y_4  (2 << 3)
      76             : #define OSRCNTL_VAL_Y_8  (3 << 3)
      77             : #define OSRCNTL_VAL_Y_16 (4 << 3)
      78             : #define OSRCNTL_VAL_Y_32 (5 << 3)
      79             : 
      80             : #define SAMPLING_PERIOD_USEC (10 * AP_USEC_PER_MSEC)
      81             : 
      82             : extern const AP_HAL::HAL &hal;
      83             : 
      84           0 : AP_Compass_Backend *AP_Compass_IST8308::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
      85             :                                               bool force_external,
      86             :                                               enum Rotation rotation)
      87             : {
      88           0 :     if (!dev) {
      89           0 :         return nullptr;
      90             :     }
      91             : 
      92           0 :     AP_Compass_IST8308 *sensor = NEW_NOTHROW AP_Compass_IST8308(std::move(dev), force_external, rotation);
      93           0 :     if (!sensor || !sensor->init()) {
      94           0 :         delete sensor;
      95           0 :         return nullptr;
      96             :     }
      97             : 
      98           0 :     return sensor;
      99             : }
     100             : 
     101           0 : AP_Compass_IST8308::AP_Compass_IST8308(AP_HAL::OwnPtr<AP_HAL::Device> dev,
     102             :                                        bool force_external,
     103           0 :                                        enum Rotation rotation)
     104           0 :     : _dev(std::move(dev))
     105           0 :     , _rotation(rotation)
     106           0 :     , _force_external(force_external)
     107             : {
     108           0 : }
     109             : 
     110           0 : bool AP_Compass_IST8308::init()
     111             : {
     112           0 :     uint8_t reset_count = 0;
     113             : 
     114           0 :     _dev->get_semaphore()->take_blocking();
     115             : 
     116             :     // high retries for init
     117           0 :     _dev->set_retries(10);
     118             : 
     119             :     uint8_t whoami;
     120           0 :     if (!_dev->read_registers(WAI_REG, &whoami, 1) ||
     121           0 :         whoami != DEVICE_ID) {
     122             :         // not an IST8308
     123           0 :         goto fail;
     124             :     }
     125             : 
     126           0 :     for (; reset_count < 5; reset_count++) {
     127           0 :         if (!_dev->write_register(CNTL3_REG, CNTL3_VAL_SRST)) {
     128           0 :             hal.scheduler->delay(10);
     129           0 :             continue;
     130             :         }
     131             : 
     132           0 :         hal.scheduler->delay(20);
     133             : 
     134           0 :         uint8_t cntl3 = 0xFF;
     135           0 :         if (_dev->read_registers(CNTL3_REG, &cntl3, 1) &&
     136           0 :             (cntl3 & 0x01) == 0) {
     137           0 :             break;
     138             :         }
     139             :     }
     140             : 
     141           0 :     if (reset_count == 5) {
     142           0 :         printf("IST8308: failed to reset device\n");
     143           0 :         goto fail;
     144             :     }
     145             : 
     146             :     // DRDY enabled
     147             :     // Dynamic Range=±500 uT, Sensitivity=6.6 LSB/uT
     148             :     // OSR 16 (max 100Hz)
     149             :     // Start continuous mode at 100Hz
     150           0 :     if (!_dev->write_register(CNTL3_REG, CNTL3_VAL_DRDY_EN) ||
     151           0 :         !_dev->write_register(CNTL4_REG, CNTL4_VAL_DYNAMIC_RANGE_500) ||
     152           0 :         !_dev->write_register(OSRCNTL_REG, OSRCNTL_VAL_Y_16 | OSRCNTL_VAL_XZ_16) ||
     153           0 :         !_dev->write_register(CNTL2_REG, CNTL2_VAL_CONT_ODR100_MODE)) {
     154           0 :         printf("IST8308: found device but could not set it up\n");
     155           0 :         goto fail;
     156             :     }
     157             : 
     158             :     // lower retries for run
     159           0 :     _dev->set_retries(3);
     160             : 
     161           0 :     _dev->get_semaphore()->give();
     162             : 
     163             :     //register compass instance
     164           0 :     _dev->set_device_type(DEVTYPE_IST8308);
     165           0 :     if (!register_compass(_dev->get_bus_id())) {
     166           0 :         return false;
     167             :     }
     168             : 
     169           0 :     printf("%s found on bus %u id %u address 0x%02x\n", name,
     170           0 :            _dev->bus_num(), unsigned(_dev->get_bus_id()), _dev->get_bus_address());
     171             : 
     172           0 :     set_rotation(_rotation);
     173             : 
     174           0 :     if (_force_external) {
     175           0 :         set_external(true);
     176             :     }
     177             : 
     178           0 :     _dev->register_periodic_callback(SAMPLING_PERIOD_USEC,
     179             :                                      FUNCTOR_BIND_MEMBER(&AP_Compass_IST8308::timer, void));
     180             : 
     181           0 :     return true;
     182             : 
     183           0 : fail:
     184           0 :     _dev->get_semaphore()->give();
     185           0 :     return false;
     186             : }
     187             : 
     188           0 : void AP_Compass_IST8308::timer()
     189             : {
     190             :     struct PACKED {
     191             :         le16_t rx;
     192             :         le16_t ry;
     193             :         le16_t rz;
     194             :     } buffer;
     195             :     uint8_t stat;
     196             : 
     197           0 :     if (!_dev->read_registers(STAT1_REG, &stat, 1) ||
     198           0 :         !(stat & STAT1_VAL_DRDY)) {
     199           0 :         return;
     200             :     }
     201             : 
     202           0 :     if (!_dev->read_registers(DATAX_L_REG, (uint8_t *) &buffer,
     203             :                               sizeof(buffer))) {
     204           0 :         return;
     205             :     }
     206             : 
     207           0 :     auto x = static_cast<int16_t>(le16toh(buffer.rx));
     208           0 :     auto y = static_cast<int16_t>(le16toh(buffer.ry));
     209           0 :     auto z = static_cast<int16_t>(le16toh(buffer.rz));
     210             : 
     211             :     // flip Z to conform to right-hand rule convention
     212           0 :     z = -z;
     213             : 
     214             :     /* Resolution: 0.1515 µT/LSB - already convert to milligauss */
     215           0 :     Vector3f field = Vector3f{x * 1.515f, y * 1.515f, z * 1.515f};
     216             : 
     217           0 :     accumulate_sample(field);
     218             : }
     219             : 
     220             : #endif  // AP_COMPASS_IST8308_ENABLED