Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-23 16:25:26 +03:00
Code Issues Wiki Activity

Fix datasheet incompliance for IST8310 compass chip

Browse source
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2018-07-08 21:23:46 +02:00
parent 6b2d5546e6
commit c4401dbc1d
1 changed files with 10 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

15
src/main/drivers/compass/compass_ist8310.c
View file

@ -92,6 +92,7 @@
#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.
@ -103,7 +104,8 @@
// Device ID (ist8310 -> 0x10)
#define IST8310_CHIP_ID 0x10
#define IST8310_AVG_16 0x24
#define IST8310_AVG_16 0x24
#define IST8310_PULSE_DURATION_NORMAL 0xC0
#define IST8310_CNTRL2_RESET 0x01
#define IST8310_CNTRL2_DRPOL 0x04
@ -117,6 +119,9 @@ static bool ist8310Init(magDev_t * mag)
busWrite(mag->busDev, IST8310_REG_AVERAGE, IST8310_AVG_16);
delay(5);
busWrite(mag->busDev, IST8310_REG_PDCNTL, IST8310_PULSE_DURATION_NORMAL);
delay(5);
return true;
}
@ -135,10 +140,10 @@ static bool ist8310Read(magDev_t * mag)
return false;
}
// need to modify when confirming the pcb direction
mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV;
mag->magADCRaw[Y] = (int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV;
// Looks like datasheet is incorrect and we need to invert Y axis to conform to right hand rule
mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV;
mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV;
return true;
}