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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,181 @@ | ||
| /* | ||
| * 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/>. | ||
| * | ||
| */ | ||
| #include "AP_Compass_IIS2MDC.h" | ||
|
|
||
| #include <stdio.h> | ||
|
|
||
| #include <AP_HAL/AP_HAL.h> | ||
| #include <AP_Math/AP_Math.h> | ||
|
|
||
| #if AP_COMPASS_IIS2MDC_ENABLED | ||
|
|
||
| // IIS2MDC Registers | ||
| #define IIS2MDC_ADDR_CFG_REG_A 0x60 | ||
| #define IIS2MDC_ADDR_CFG_REG_B 0x61 | ||
| #define IIS2MDC_ADDR_CFG_REG_C 0x62 | ||
| #define IIS2MDC_ADDR_STATUS_REG 0x67 | ||
| #define IIS2MDC_ADDR_OUTX_L_REG 0x68 | ||
| #define IIS2MDC_ADDR_WHO_AM_I 0x4F | ||
|
|
||
| // IIS2MDC Definitions | ||
| #define IIS2MDC_WHO_AM_I 0b01000000 | ||
| #define IIS2MDC_STATUS_REG_READY 0b00001111 | ||
| // CFG_REG_A | ||
| #define COMP_TEMP_EN (1 << 7) | ||
| #define MD_CONTINUOUS (0 << 0) | ||
| #define ODR_100 ((1 << 3) | (1 << 2)) | ||
| // CFG_REG_B | ||
| #define OFF_CANC (1 << 1) | ||
| // CFG_REG_C | ||
| #define BDU (1 << 4) | ||
|
|
||
| extern const AP_HAL::HAL &hal; | ||
|
|
||
| AP_Compass_Backend *AP_Compass_IIS2MDC::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, | ||
| bool force_external, | ||
| enum Rotation rotation) | ||
| { | ||
| if (!dev) { | ||
| return nullptr; | ||
| } | ||
|
|
||
| AP_Compass_IIS2MDC *sensor = NEW_NOTHROW AP_Compass_IIS2MDC(std::move(dev),force_external,rotation); | ||
|
|
||
| if (!sensor || !sensor->init()) { | ||
| delete sensor; | ||
| return nullptr; | ||
| } | ||
|
|
||
| return sensor; | ||
| } | ||
|
|
||
| AP_Compass_IIS2MDC::AP_Compass_IIS2MDC(AP_HAL::OwnPtr<AP_HAL::Device> dev, | ||
| bool force_external, | ||
| enum Rotation rotation) | ||
| : _dev(std::move(dev)) | ||
| , _rotation(rotation) | ||
| , _force_external(force_external) | ||
| { | ||
| } | ||
|
|
||
| bool AP_Compass_IIS2MDC::init() | ||
| { | ||
| _dev->get_semaphore()->take_blocking(); | ||
|
|
||
| _dev->set_retries(10); | ||
|
|
||
| if (!check_whoami()) { | ||
| goto fail; | ||
| } | ||
|
|
||
| if (!_dev->write_register(IIS2MDC_ADDR_CFG_REG_A, MD_CONTINUOUS | ODR_100 | COMP_TEMP_EN)) { | ||
| goto fail; | ||
| } | ||
|
|
||
| if (!_dev->write_register(IIS2MDC_ADDR_CFG_REG_B, OFF_CANC)) { | ||
| goto fail; | ||
| } | ||
|
|
||
| if (!_dev->write_register(IIS2MDC_ADDR_CFG_REG_C, BDU)) { | ||
| goto fail; | ||
| } | ||
|
|
||
| // lower retries for run | ||
| _dev->set_retries(3); | ||
|
|
||
| _dev->get_semaphore()->give(); | ||
|
|
||
| // register compass instance | ||
| _dev->set_device_type(DEVTYPE_IIS2MDC); | ||
|
|
||
| if (!register_compass(_dev->get_bus_id(), _instance)) { | ||
| return false; | ||
| } | ||
|
|
||
| set_dev_id(_instance, _dev->get_bus_id()); | ||
|
|
||
| printf("%s found on bus %u id %u address 0x%02x\n", name, | ||
| _dev->bus_num(), unsigned(_dev->get_bus_id()), _dev->get_bus_address()); | ||
|
|
||
| set_rotation(_instance, _rotation); | ||
|
|
||
| if (_force_external) { | ||
| set_external(_instance, true); | ||
| } | ||
|
|
||
| // Enable 100HZ | ||
| _dev->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_IIS2MDC::timer, void)); | ||
|
|
||
| return true; | ||
|
|
||
| fail: | ||
| _dev->get_semaphore()->give(); | ||
| return false; | ||
| } | ||
|
|
||
| bool AP_Compass_IIS2MDC::check_whoami() | ||
| { | ||
| uint8_t whoami = 0; | ||
| if (!_dev->read_registers(IIS2MDC_ADDR_WHO_AM_I, &whoami, 1)){ | ||
| return false; | ||
| } | ||
|
|
||
| return whoami == IIS2MDC_WHO_AM_I; | ||
| } | ||
|
|
||
| void AP_Compass_IIS2MDC::timer() | ||
| { | ||
| struct PACKED { | ||
| uint8_t xout0; | ||
| uint8_t xout1; | ||
| uint8_t yout0; | ||
| uint8_t yout1; | ||
| uint8_t zout0; | ||
| uint8_t zout1; | ||
| uint8_t tout0; | ||
| uint8_t tout1; | ||
| } buffer; | ||
|
|
||
| const float range_scale = 100.f / 65535.f; // +/- 50 Gauss, 16bit | ||
|
|
||
| uint8_t status = 0; | ||
| if (!_dev->read_registers(IIS2MDC_ADDR_STATUS_REG, &status, 1)) { | ||
| return; | ||
| } | ||
|
|
||
| if (!(status & IIS2MDC_STATUS_REG_READY)) { | ||
| return; | ||
| } | ||
|
|
||
| if (!_dev->read_registers(IIS2MDC_ADDR_OUTX_L_REG, (uint8_t *) &buffer, sizeof(buffer))) { | ||
| return; | ||
| } | ||
|
|
||
| int16_t x = int16_t((buffer.xout1 << 8) | buffer.xout0); | ||
| int16_t y = int16_t((buffer.yout1 << 8) | buffer.yout0); | ||
| int16_t z = -int16_t((buffer.zout1 << 8) | buffer.zout0); | ||
|
|
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| Vector3f field = Vector3f{x * range_scale, y * range_scale, z * range_scale }; | ||
|
|
||
| accumulate_sample(field, _instance, 20); | ||
| } | ||
|
|
||
| void AP_Compass_IIS2MDC::read() | ||
| { | ||
| drain_accumulated_samples(_instance); | ||
| } | ||
|
|
||
| #endif //AP_COMPASS_IIS2MDC_ENABLED |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,68 @@ | ||
| /* | ||
| * 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/>. | ||
| * | ||
| */ | ||
| #pragma once | ||
|
|
||
| #include <AP_HAL/AP_HAL.h> | ||
| #include <AP_HAL/I2CDevice.h> | ||
| #include <AP_Math/AP_Math.h> | ||
|
|
||
| #include "AP_Compass_config.h" | ||
|
|
||
| #ifdef AP_COMPASS_IIS2MDC_ENABLED | ||
|
|
||
| #include "AP_Compass.h" | ||
| #include "AP_Compass_Backend.h" | ||
|
|
||
| #ifndef HAL_COMPASS_IIS2MDC_I2C_ADDR | ||
| #define HAL_COMPASS_IIS2MDC_I2C_ADDR 0x1E | ||
| #endif | ||
|
|
||
| #ifndef HAL_COMPASS_IIS2MDC_ORIENTATION_EXTERNAL | ||
| #define HAL_COMPASS_IIS2MDC_ORIENTATION_EXTERNAL ROTATION_NONE | ||
| #endif | ||
|
|
||
| #ifndef HAL_COMPASS_IIS2MDC_ORIENTATION_INTERNAL | ||
| #define HAL_COMPASS_IIS2MDC_ORIENTATION_INTERNAL ROTATION_NONE | ||
| #endif | ||
|
|
||
| class AP_Compass_IIS2MDC : public AP_Compass_Backend | ||
| { | ||
| public: | ||
| static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, | ||
| bool force_external, | ||
| enum Rotation rotation); | ||
|
|
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| void read() override; | ||
|
|
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| static constexpr const char *name = "IIS2MDC"; | ||
|
|
||
| private: | ||
| AP_Compass_IIS2MDC(AP_HAL::OwnPtr<AP_HAL::Device> dev, | ||
| bool force_external, | ||
| enum Rotation rotation); | ||
|
|
||
| bool check_whoami(); | ||
| void timer(); | ||
| bool init(); | ||
|
|
||
| AP_HAL::OwnPtr<AP_HAL::Device> _dev; | ||
|
|
||
| enum Rotation _rotation; | ||
| uint8_t _instance; | ||
| bool _force_external:1; | ||
| }; | ||
|
|
||
| #endif // AP_COMPASS_IIS2MDC_ENABLED |
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