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compass_ist8310.c
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compass_ist8310.c
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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/>.
*/
#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