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Add support for IST8310 compass (#12917)
* Add support for IST8310 compass * fix read * Using states * Fixes after review
This commit is contained in:
Mark Haslinghuis
GitHub
parent
214946bc3f
commit
949181e084
9 changed files with 252 additions and 6 deletions
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@ -365,6 +365,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
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drivers/compass/compass_hmc5883l.c \
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drivers/compass/compass_qmc5883l.c \
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drivers/compass/compass_lis3mdl.c \
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drivers/compass/compass_ist8310.c \
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drivers/display_ug2864hsweg01.c \
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drivers/inverter.c \
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drivers/light_ws2811strip.c \
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@ -157,7 +157,7 @@ const char * const lookupTableBaroHardware[] = {
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#if defined(USE_SENSOR_NAMES) || defined(USE_MAG)
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// sync with magSensor_e
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const char * const lookupTableMagHardware[] = {
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"AUTO", "NONE", "HMC5883", "AK8975", "AK8963", "QMC5883", "LIS3MDL", "MAG_MPU925X_AK8963"
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"AUTO", "NONE", "HMC5883", "AK8975", "AK8963", "QMC5883", "LIS3MDL", "MPU925X_AK8963", "IST8310"
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};
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#endif
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#if defined(USE_SENSOR_NAMES) || defined(USE_RANGEFINDER)
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198
src/main/drivers/compass/compass_ist8310.c
Normal file
198
src/main/drivers/compass/compass_ist8310.c
Normal file
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@ -0,0 +1,198 @@
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/*
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* This file is part of Betaflight.
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*
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* Betaflight is free software. You can redistribute this software
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* and/or modify this software under the terms of the GNU General
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* Public License as published by the Free Software Foundation,
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* either version 3 of the License, or (at your option) any later
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* version.
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*
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* Betaflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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*
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public
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* License along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include "platform.h"
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#ifdef USE_MAG_IST8310
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#include "build/debug.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "drivers/bus.h"
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#include "drivers/bus_i2c.h"
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#include "drivers/bus_i2c_busdev.h"
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#include "drivers/sensor.h"
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#include "drivers/time.h"
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#include "compass.h"
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#include "compass_ist8310.h"
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//#define DEBUG_MAG_DATA_READY_INTERRUPT
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#define IST8310_MAG_I2C_ADDRESS 0x0C
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/* ist8310 Slave Address Select : default address 0x0C
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* CAD1 | CAD0 | Address
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* ------------------------------
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* VSS | VSS | 0CH
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* VSS | VDD | 0DH
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* VDD | VSS | 0EH
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* VDD | VDD | 0FH
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* if CAD1 and CAD0 are floating, I2C address will be 0EH
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*
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*
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* CTRL_REGA: Control Register 1
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* Read Write
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* Default value: 0x0A
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* 7:4 0 Reserved.
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* 3:0 DO2-DO0: Operating mode setting
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* DO3 | DO2 | DO1 | DO0 | mode
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* ------------------------------------------------------
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* 0 | 0 | 0 | 0 | Stand-By mode
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* 0 | 0 | 0 | 1 | Single measurement mode
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* Others: Reserved
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*
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* CTRL_REGB: Control Register 2
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* Read Write
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* Default value: 0x0B
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* 7:4 0 Reserved.
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* 3 DREN : Data ready enable control:
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* 0: disable
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* 1: enable
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* 2 DRP: DRDY pin polarity control
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* 0: active low
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* 1: active high
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* 1 0 Reserved.
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* 0 SRST: Soft reset, perform Power On Reset (POR) routine
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* 0: no action
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* 1: start immediately POR routine
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* This bit will be set to zero after POR routine
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*/
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#define IST8310_REG_DATA 0x03
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#define IST8310_REG_WAI 0x00
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#define IST8310_REG_WAI_VALID 0x10
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#define IST8310_REG_STAT1 0x02
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#define IST8310_REG_STAT2 0x09
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#define IST8310_DRDY_MASK 0x01
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// I2C Control Register
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#define IST8310_REG_CNTRL1 0x0A
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#define IST8310_REG_CNTRL2 0x0B
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#define IST8310_REG_AVERAGE 0x41
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#define IST8310_REG_PDCNTL 0x42
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// Parameter
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// ODR = Output Data Rate, we use single measure mode for getting more data.
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#define IST8310_ODR_SINGLE 0x01
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#define IST8310_ODR_10_HZ 0x03
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#define IST8310_ODR_20_HZ 0x05
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#define IST8310_ODR_50_HZ 0x07
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#define IST8310_ODR_100_HZ 0x06
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#define IST8310_AVG_16 0x24
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#define IST8310_PULSE_DURATION_NORMAL 0xC0
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#define IST8310_CNTRL2_RESET 0x01
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#define IST8310_CNTRL2_DRPOL 0x04
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#define IST8310_CNTRL2_DRENA 0x08
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static bool ist8310Init(magDev_t *magDev)
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{
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extDevice_t *dev = &magDev->dev;
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busDeviceRegister(dev);
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// Init setting
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bool ack = busWriteRegister(dev, IST8310_REG_AVERAGE, IST8310_AVG_16);
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delay(6);
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ack = ack && busWriteRegister(dev, IST8310_REG_PDCNTL, IST8310_PULSE_DURATION_NORMAL);
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delay(6);
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ack = ack && busWriteRegister(dev, IST8310_REG_CNTRL1, IST8310_ODR_SINGLE);
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return ack;
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}
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static bool ist8310Read(magDev_t * magDev, int16_t *magData)
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{
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extDevice_t *dev = &magDev->dev;
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static uint8_t buf[6];
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const int LSB2FSV = 3; // 3mG - 14 bit
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static enum {
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STATE_REQUEST_DATA,
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STATE_FETCH_DATA,
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} state = STATE_REQUEST_DATA;
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switch (state) {
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default:
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case STATE_REQUEST_DATA:
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busReadRegisterBufferStart(dev, IST8310_REG_DATA, buf, sizeof(buf));
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state = STATE_FETCH_DATA;
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return false;
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case STATE_FETCH_DATA:
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// Looks like datasheet is incorrect and we need to invert Y axis to conform to right hand rule
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magData[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV;
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magData[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
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magData[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV;
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// Force single measurement mode for next read
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busWriteRegisterStart(dev, IST8310_REG_CNTRL1, IST8310_ODR_SINGLE);
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state = STATE_REQUEST_DATA;
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return true;
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}
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// TODO: do cross axis compensation
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return false;
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}
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static bool deviceDetect(magDev_t * magDev)
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{
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uint8_t result = 0;
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bool ack = busReadRegisterBuffer(&magDev->dev, IST8310_REG_WAI, &result, 1);
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return ack && result == IST8310_REG_WAI_VALID;
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}
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bool ist8310Detect(magDev_t * magDev)
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{
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extDevice_t *dev = &magDev->dev;
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if (dev->bus->busType == BUS_TYPE_I2C && dev->busType_u.i2c.address == 0) {
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dev->busType_u.i2c.address = IST8310_MAG_I2C_ADDRESS;
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}
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if (deviceDetect(magDev)) {
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magDev->init = ist8310Init;
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magDev->read = ist8310Read;
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return true;
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}
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return false;
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}
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#endif
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26
src/main/drivers/compass/compass_ist8310.h
Normal file
26
src/main/drivers/compass/compass_ist8310.h
Normal file
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@ -0,0 +1,26 @@
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/*
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* This file is part of Betaflight.
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*
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* Betaflight is free software. You can redistribute this software
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* and/or modify this software under the terms of the GNU General
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* Public License as published by the Free Software Foundation,
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* either version 3 of the License, or (at your option) any later
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* version.
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*
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* Betaflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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*
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public
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* License along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "drivers/io_types.h"
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bool ist8310Detect(magDev_t *mag);
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@ -42,6 +42,7 @@
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#include "drivers/compass/compass_lis3mdl.h"
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#include "drivers/compass/compass_mpu925x_ak8963.h"
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#include "drivers/compass/compass_qmc5883l.h"
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#include "drivers/compass/compass_ist8310.h"
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#include "drivers/io.h"
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#include "drivers/light_led.h"
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@ -92,7 +93,7 @@ void pgResetFn_compassConfig(compassConfig_t *compassConfig)
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compassConfig->mag_spi_csn = IO_TAG(MAG_CS_PIN);
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compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
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compassConfig->mag_i2c_address = 0;
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#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)))
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#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)))
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compassConfig->mag_busType = BUS_TYPE_I2C;
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compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(MAG_I2C_INSTANCE);
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compassConfig->mag_i2c_address = MAG_I2C_ADDRESS;
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@ -271,6 +272,22 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
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#endif
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FALLTHROUGH;
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case MAG_IST8310:
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#ifdef USE_MAG_IST8310
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if (dev->bus->busType == BUS_TYPE_I2C) {
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dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
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}
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if (ist8310Detect(magDev)) {
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#ifdef MAG_IST8310_ALIGN
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*alignment = MAG_IST8310_ALIGN;
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#endif
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magHardware = MAG_IST8310;
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break;
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}
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#endif
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FALLTHROUGH;
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case MAG_NONE:
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magHardware = MAG_NONE;
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break;
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@ -37,7 +37,8 @@ typedef enum {
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MAG_AK8963 = 4,
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MAG_QMC5883 = 5,
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MAG_LIS3MDL = 6,
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MAG_MPU925X_AK8963 = 7
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MAG_MPU925X_AK8963 = 7,
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MAG_IST8310 = 8
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} magSensor_e;
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typedef struct mag_s {
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@ -114,6 +114,9 @@
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#ifndef USE_MAG_AK8975
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#define USE_MAG_AK8975
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#endif
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#ifndef USE_MAG_IST8310
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#define USE_MAG_IST8310
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#endif
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#endif // END MAG HW defines
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