Add support for IST8310 compass (#12917)

* Add support for IST8310 compass

* fix read

* Using states

* Fixes after review

mk/source.mk

@@ -365,6 +365,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_lis3mdl.c \
+            drivers/compass/compass_ist8310.c \
             drivers/display_ug2864hsweg01.c \
             drivers/inverter.c \
             drivers/light_ws2811strip.c \

src/main/cli/settings.c

@@ -157,7 +157,7 @@ const char * const lookupTableBaroHardware[] = {
 #if defined(USE_SENSOR_NAMES) || defined(USE_MAG)
 // sync with magSensor_e
 const char * const lookupTableMagHardware[] = {
-    "AUTO", "NONE", "HMC5883", "AK8975", "AK8963", "QMC5883", "LIS3MDL", "MAG_MPU925X_AK8963"
+    "AUTO", "NONE", "HMC5883", "AK8975", "AK8963", "QMC5883", "LIS3MDL", "MPU925X_AK8963", "IST8310"
 };
 #endif
 #if defined(USE_SENSOR_NAMES) || defined(USE_RANGEFINDER)

src/main/drivers/at32/bus_i2c_atbsp.c

@@ -219,7 +219,7 @@ bool i2cReadBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, u
 
     i2c_status_type status;
 
-    status = i2c_memory_read_int(pHandle,I2C_MEM_ADDR_WIDIH_8, addr_ << 1, reg_,buf, len,I2C_TIMEOUT);
+    status = i2c_memory_read_int(pHandle, I2C_MEM_ADDR_WIDIH_8, addr_ << 1, reg_, buf, len, I2C_TIMEOUT);
 
     if (status !=  I2C_OK) {
         i2c_wait_flag(pHandle, I2C_STOPF_FLAG, I2C_EVENT_CHECK_NONE, I2C_TIMEOUT);

src/main/drivers/compass/compass_ist8310.c

@@ -0,0 +1,198 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * Betaflight 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <math.h>
+
+#include "platform.h"
+
+#ifdef USE_MAG_IST8310
+
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "drivers/bus.h"
+#include "drivers/bus_i2c.h"
+#include "drivers/bus_i2c_busdev.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+#include "compass.h"
+#include "compass_ist8310.h"
+
+//#define DEBUG_MAG_DATA_READY_INTERRUPT
+
+#define IST8310_MAG_I2C_ADDRESS 0x0C
+
+/* ist8310 Slave Address Select : default address 0x0C
+ *        CAD1  |  CAD0   |  Address
+ *    ------------------------------
+ *         VSS   |   VSS  |  0CH
+ *         VSS   |   VDD  |  0DH
+ *         VDD   |   VSS  |  0EH
+ *         VDD   |   VDD  |  0FH
+ * if CAD1 and CAD0 are floating, I2C address will be 0EH
+ *
+ *
+ * CTRL_REGA: Control Register 1
+ * Read Write
+ * Default value: 0x0A
+ * 7:4  0   Reserved.
+ * 3:0  DO2-DO0: Operating mode setting
+ *        DO3  |  DO2 |  DO1 |  DO0 |   mode
+ *    ------------------------------------------------------
+ *         0   |   0  |  0   |  0   |   Stand-By mode
+ *         0   |   0  |  0   |  1   |   Single measurement mode
+ *                                       Others: Reserved
+ *
+ * CTRL_REGB: Control Register 2
+ * Read Write
+ * Default value: 0x0B
+ * 7:4  0   Reserved.
+ * 3    DREN : Data ready enable control:
+ *      0: disable
+ *      1: enable
+ * 2    DRP: DRDY pin polarity control
+ *      0: active low
+ *      1: active high
+ * 1    0   Reserved.
+ * 0    SRST: Soft reset, perform Power On Reset (POR) routine
+ *      0: no action
+ *      1: start immediately POR routine
+ *      This bit will be set to zero after POR routine
+ */
+
+#define IST8310_REG_DATA 0x03
+#define IST8310_REG_WAI 0x00
+#define IST8310_REG_WAI_VALID 0x10
+
+#define IST8310_REG_STAT1 0x02
+#define IST8310_REG_STAT2 0x09
+
+#define IST8310_DRDY_MASK 0x01
+
+// I2C Control Register
+#define IST8310_REG_CNTRL1 0x0A
+#define IST8310_REG_CNTRL2 0x0B
+#define IST8310_REG_AVERAGE 0x41
+#define IST8310_REG_PDCNTL 0x42
+
+// Parameter
+// ODR = Output Data Rate, we use single measure mode for getting more data.
+#define IST8310_ODR_SINGLE 0x01
+#define IST8310_ODR_10_HZ 0x03
+#define IST8310_ODR_20_HZ 0x05
+#define IST8310_ODR_50_HZ 0x07
+#define IST8310_ODR_100_HZ 0x06
+
+#define IST8310_AVG_16  0x24
+#define IST8310_PULSE_DURATION_NORMAL 0xC0
+
+#define IST8310_CNTRL2_RESET 0x01
+#define IST8310_CNTRL2_DRPOL 0x04
+#define IST8310_CNTRL2_DRENA 0x08
+
+static bool ist8310Init(magDev_t *magDev)
+{
+    extDevice_t *dev = &magDev->dev;
+
+    busDeviceRegister(dev);
+
+    // Init setting
+    bool ack = busWriteRegister(dev, IST8310_REG_AVERAGE, IST8310_AVG_16);
+    delay(6);
+    ack = ack && busWriteRegister(dev, IST8310_REG_PDCNTL, IST8310_PULSE_DURATION_NORMAL);
+    delay(6); 
+    ack = ack && busWriteRegister(dev, IST8310_REG_CNTRL1, IST8310_ODR_SINGLE);
+
+    return ack;
+}
+
+static bool ist8310Read(magDev_t * magDev, int16_t *magData)
+{
+    extDevice_t *dev = &magDev->dev;
+
+    static uint8_t buf[6];
+    const int LSB2FSV = 3; // 3mG - 14 bit
+
+    static enum {
+        STATE_REQUEST_DATA,
+        STATE_FETCH_DATA,
+    } state = STATE_REQUEST_DATA;
+
+    switch (state) {
+        default:
+        case STATE_REQUEST_DATA:
+            busReadRegisterBufferStart(dev, IST8310_REG_DATA, buf, sizeof(buf));
+
+            state = STATE_FETCH_DATA;
+
+            return false;
+        case STATE_FETCH_DATA:
+            // Looks like datasheet is incorrect and we need to invert Y axis to conform to right hand rule
+            magData[X] =  (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV;
+            magData[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
+            magData[Z] =  (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV;
+
+            // Force single measurement mode for next read
+            busWriteRegisterStart(dev, IST8310_REG_CNTRL1, IST8310_ODR_SINGLE);
+
+            state = STATE_REQUEST_DATA;
+
+            return true;
+    }
+
+    // TODO: do cross axis compensation
+
+    return false;
+}
+
+static bool deviceDetect(magDev_t * magDev)
+{
+    uint8_t result = 0;
+    bool ack = busReadRegisterBuffer(&magDev->dev, IST8310_REG_WAI, &result, 1);
+
+    return ack && result == IST8310_REG_WAI_VALID;
+}
+
+bool ist8310Detect(magDev_t * magDev)
+{
+    extDevice_t *dev = &magDev->dev;
+
+    if (dev->bus->busType == BUS_TYPE_I2C && dev->busType_u.i2c.address == 0) {
+        dev->busType_u.i2c.address = IST8310_MAG_I2C_ADDRESS;
+    }
+
+    if (deviceDetect(magDev)) {
+        magDev->init = ist8310Init;
+        magDev->read = ist8310Read;
+
+        return true;
+    }
+
+    return false;
+}
+
+#endif

src/main/drivers/compass/compass_ist8310.h

@@ -0,0 +1,26 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * Betaflight 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/io_types.h"
+
+bool ist8310Detect(magDev_t *mag);

src/main/drivers/stm32/bus_i2c_hal.c

@@ -196,7 +196,7 @@ bool i2cReadBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, u
 
     HAL_StatusTypeDef status;
 
-    status = HAL_I2C_Mem_Read_IT(pHandle, addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT,buf, len);
+    status = HAL_I2C_Mem_Read_IT(pHandle, addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT, buf, len);
 
     if (status == HAL_BUSY) {
         return false;

src/main/sensors/compass.c

@@ -42,6 +42,7 @@
 #include "drivers/compass/compass_lis3mdl.h"
 #include "drivers/compass/compass_mpu925x_ak8963.h"
 #include "drivers/compass/compass_qmc5883l.h"
+#include "drivers/compass/compass_ist8310.h"
 
 #include "drivers/io.h"
 #include "drivers/light_led.h"
@@ -92,7 +93,7 @@ void pgResetFn_compassConfig(compassConfig_t *compassConfig)
     compassConfig->mag_spi_csn = IO_TAG(MAG_CS_PIN);
     compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
     compassConfig->mag_i2c_address = 0;
-#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_QMC5883) || defined(USE_MAG_AK8975) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
+#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_QMC5883) || defined(USE_MAG_AK8975) || defined(USE_MAG_IST8310) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
     compassConfig->mag_busType = BUS_TYPE_I2C;
     compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(MAG_I2C_INSTANCE);
     compassConfig->mag_i2c_address = MAG_I2C_ADDRESS;
@@ -271,6 +272,22 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
 #endif
         FALLTHROUGH;
 
+    case MAG_IST8310:
+#ifdef USE_MAG_IST8310
+        if (dev->bus->busType == BUS_TYPE_I2C) {
+            dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
+        }
+
+        if (ist8310Detect(magDev)) {
+#ifdef MAG_IST8310_ALIGN
+            *alignment = MAG_IST8310_ALIGN;
+#endif
+            magHardware = MAG_IST8310;
+            break;
+        }
+#endif
+        FALLTHROUGH;
+
     case MAG_NONE:
         magHardware = MAG_NONE;
         break;
@@ -279,7 +296,7 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
     // MAG_MPU925X_AK8963 is an MPU925x configured as I2C passthrough to the built-in AK8963 magnetometer
     // Passthrough mode disables the gyro/acc part of the MPU, so we only want to detect this sensor if mag_hardware was explicitly set to MAG_MPU925X_AK8963
 #ifdef USE_MAG_MPU925X_AK8963
-    if(compassConfig()->mag_hardware == MAG_MPU925X_AK8963){
+    if (compassConfig()->mag_hardware == MAG_MPU925X_AK8963){
         if (mpu925Xak8963CompassDetect(magDev)) {
             magHardware = MAG_MPU925X_AK8963;
         } else {

src/main/sensors/compass.h

@@ -37,7 +37,8 @@ typedef enum {
     MAG_AK8963 = 4,
     MAG_QMC5883 = 5,
     MAG_LIS3MDL = 6,
-    MAG_MPU925X_AK8963 = 7
+    MAG_MPU925X_AK8963 = 7,
+    MAG_IST8310 = 8
 } magSensor_e;
 
 typedef struct mag_s {

src/main/target/common_post.h

@@ -114,6 +114,9 @@
 #ifndef USE_MAG_AK8975
 #define USE_MAG_AK8975
 #endif
+#ifndef USE_MAG_IST8310
+#define USE_MAG_IST8310
+#endif
 
 #endif // END MAG HW defines