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Add support for IST8310 compass (#12917)
* Add support for IST8310 compass * fix read * Using states * Fixes after review
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/* | ||
* 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/>. | ||
*/ | ||
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#include <stdbool.h> | ||
#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" | ||
#include "common/maths.h" | ||
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#include "drivers/bus.h" | ||
#include "drivers/bus_i2c.h" | ||
#include "drivers/bus_i2c_busdev.h" | ||
#include "drivers/sensor.h" | ||
#include "drivers/time.h" | ||
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#include "compass.h" | ||
#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 | ||
* 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 | ||
*/ | ||
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#define IST8310_REG_DATA 0x03 | ||
#define IST8310_REG_WAI 0x00 | ||
#define IST8310_REG_WAI_VALID 0x10 | ||
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#define IST8310_REG_STAT1 0x02 | ||
#define IST8310_REG_STAT2 0x09 | ||
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#define IST8310_DRDY_MASK 0x01 | ||
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// I2C Control Register | ||
#define IST8310_REG_CNTRL1 0x0A | ||
#define IST8310_REG_CNTRL2 0x0B | ||
#define IST8310_REG_AVERAGE 0x41 | ||
#define IST8310_REG_PDCNTL 0x42 | ||
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// 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 | ||
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#define IST8310_AVG_16 0x24 | ||
#define IST8310_PULSE_DURATION_NORMAL 0xC0 | ||
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#define IST8310_CNTRL2_RESET 0x01 | ||
#define IST8310_CNTRL2_DRPOL 0x04 | ||
#define IST8310_CNTRL2_DRENA 0x08 | ||
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static bool ist8310Init(magDev_t *magDev) | ||
{ | ||
extDevice_t *dev = &magDev->dev; | ||
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busDeviceRegister(dev); | ||
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// 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); | ||
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return ack; | ||
} | ||
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static bool ist8310Read(magDev_t * magDev, int16_t *magData) | ||
{ | ||
extDevice_t *dev = &magDev->dev; | ||
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static uint8_t buf[6]; | ||
const int LSB2FSV = 3; // 3mG - 14 bit | ||
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static enum { | ||
STATE_REQUEST_DATA, | ||
STATE_FETCH_DATA, | ||
} state = STATE_REQUEST_DATA; | ||
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switch (state) { | ||
default: | ||
case STATE_REQUEST_DATA: | ||
busReadRegisterBufferStart(dev, IST8310_REG_DATA, buf, sizeof(buf)); | ||
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state = STATE_FETCH_DATA; | ||
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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; | ||
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// Force single measurement mode for next read | ||
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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// TODO: do cross axis compensation | ||
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return false; | ||
} | ||
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static bool deviceDetect(magDev_t * magDev) | ||
{ | ||
uint8_t result = 0; | ||
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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bool ist8310Detect(magDev_t * magDev) | ||
{ | ||
extDevice_t *dev = &magDev->dev; | ||
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if (dev->bus->busType == BUS_TYPE_I2C && dev->busType_u.i2c.address == 0) { | ||
dev->busType_u.i2c.address = IST8310_MAG_I2C_ADDRESS; | ||
} | ||
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if (deviceDetect(magDev)) { | ||
magDev->init = ist8310Init; | ||
magDev->read = ist8310Read; | ||
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return true; | ||
} | ||
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return false; | ||
} | ||
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#endif |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -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/>. | ||
*/ | ||
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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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