Add support to IST8308 MAG

iNavFlight · Apr 12, 2018 · b811648 · b811648
1 parent 6f5801a
commit b811648
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Showing 83 changed files with 285 additions and 2 deletions.
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
@@ -98,6 +98,7 @@ typedef enum {
     DEVHW_AK8963,
     DEVHW_AK8975,
     DEVHW_IST8310,
+    DEVHW_IST8308,
     DEVHW_QMC5883,
     DEVHW_MAG3110,
 

diff --git a/src/main/drivers/compass/compass_ist8308.c b/src/main/drivers/compass/compass_ist8308.c
@@ -0,0 +1,160 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <math.h>
+
+#include "platform.h"
+
+#ifdef USE_MAG_IST8308
+
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "drivers/time.h"
+#include "drivers/nvic.h"
+#include "drivers/io.h"
+#include "drivers/exti.h"
+#include "drivers/bus.h"
+#include "drivers/light_led.h"
+
+#include "drivers/sensor.h"
+#include "drivers/compass/compass.h"
+
+#include "drivers/compass/compass_ist8308.h"
+
+#define IST8308_ADDRESS                                 0x0C
+
+#define IST8308_REG_WHOAMI                              0x00
+#define     IST8308_CHIP_ID                             0x08
+
+#define IST8308_REG_DATA                                0x11    // XYZ High&Low
+
+
+// Noise suppression filtering
+#define IST8308_REG_CNTRL1                              0x30    // Control setting register 1
+//bit6~bit5
+#define     IST8308_NSF_DISABLE                         0x00
+#define     IST8308_NSF_LOW                             0x20
+#define     IST8308_NSF_MIDDLE                          0x40
+#define     IST8308_NSF_HIGH                            0x60
+
+#define IST8308_REG_CNTRL2                              0x31    // Control setting register 2
+//bit4~bit0  Operation mode
+#define     IST8308_OPMODE_STANDBY_MODE                 0x00    // Default
+#define     IST8308_OPMODE_SINGLE_MODE                  0x01
+#define     IST8308_OPMODE_CONTINUOS_MODE_10HZ          0x02
+#define     IST8308_OPMODE_CONTINUOS_MODE_20HZ          0x04
+#define     IST8308_OPMODE_CONTINUOS_MODE_50HZ          0x06
+#define     IST8308_OPMODE_CONTINUOS_MODE_100HZ         0x08
+#define     IST8308_OPMODE_CONTINUOS_MODE_200HZ         0x0A
+#define     IST8308_OPMODE_CONTINUOS_MODE_8HZ           0x0B
+#define     IST8308_OPMODE_CONTINUOS_MODE_1HZ           0x0C
+#define     IST8308_OPMODE_CONTINUOS_MODE_0_5HZ         0x0D
+#define     IST8308_OPMODE_SELF_TEST_MODE               0x10
+
+// Over sampling ratio
+#define IST8308_REG_OSR_CNTRL                           0x41    //Average control register
+//bit2~bit0
+#define     IST8308_X_Z_SENSOR_OSR_1                    0x00
+#define     IST8308_X_Z_SENSOR_OSR_2                    0x01
+#define     IST8308_X_Z_SENSOR_OSR_4                    0x02
+#define     IST8308_X_Z_SENSOR_OSR_8                    0x03
+#define     IST8308_X_Z_SENSOR_OSR_16                   0x04    //Default (ODRmax=100Hz)
+#define     IST8308_X_Z_SENSOR_OSR_32                   0x05
+//bit5~bit3
+#define     IST8308_Y_SENSOR_OSR_1                      (0x00<<3)
+#define     IST8308_Y_SENSOR_OSR_2                      (0x01<<3)
+#define     IST8308_Y_SENSOR_OSR_4                      (0x02<<3)
+#define     IST8308_Y_SENSOR_OSR_8                      (0x03<<3)
+#define     IST8308_Y_SENSOR_OSR_16                     (0x04<<3)   //Default (ODRmax=100Hz)
+#define     IST8308_Y_SENSOR_OSR_32                     (0x05<<3)
+
+
+static bool ist8308Init(magDev_t * mag)
+{
+    bool ack =   busWrite(mag->busDev, IST8308_REG_OSR_CNTRL, IST8308_X_Z_SENSOR_OSR_16 | IST8308_Y_SENSOR_OSR_16);
+    ack = ack && busWrite(mag->busDev, IST8308_REG_CNTRL1,    IST8308_NSF_LOW);
+    ack = ack && busWrite(mag->busDev, IST8308_REG_CNTRL2,    IST8308_OPMODE_CONTINUOS_MODE_50HZ);
+    delay(5);
+
+    return true;
+}
+
+static bool ist8308Read(magDev_t * mag)
+{
+    const int LSB2FSV = 3; // 3mG - 14 bit
+
+    uint8_t buf[6];
+
+    bool ack = busReadBuf(mag->busDev, IST8308_REG_DATA, buf, 6);
+    if (!ack) {
+        // set magData to zero for case of failed read
+        mag->magADCRaw[X] = 0;
+        mag->magADCRaw[Y] = 0;
+        mag->magADCRaw[Z] = 0;
+
+        return false;
+    }
+
+    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;
+}
+
+#define DETECTION_MAX_RETRY_COUNT   5
+static bool deviceDetect(magDev_t * mag)
+{
+    for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) {
+        delay(10);
+
+        uint8_t sig = 0;
+        bool ack = busRead(mag->busDev, IST8308_REG_WHOAMI, &sig);
+
+        if (ack && sig == IST8308_CHIP_ID) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool ist8308Detect(magDev_t * mag)
+{
+    mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_IST8308, mag->magSensorToUse, OWNER_COMPASS);
+    if (mag->busDev == NULL) {
+        return false;
+    }
+
+    if (!deviceDetect(mag)) {
+        busDeviceDeInit(mag->busDev);
+        return false;
+    }
+
+    mag->init = ist8308Init;
+    mag->read = ist8308Read;
+
+    return true;
+}
+
+#endif
diff --git a/src/main/drivers/compass/compass_ist8308.h b/src/main/drivers/compass/compass_ist8308.h
@@ -0,0 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+bool ist8308Detect(magDev_t* mag);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -10,7 +10,7 @@ tables:
     values: ["NONE", "HCSR04", "SRF10", "HCSR04I2C", "VL53L0X", "UIB"]
     enum: rangefinderType_e
   - name: mag_hardware
-    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "FAKE"]
+    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "FAKE"]
     enum: magSensor_e
   - name: opflow_hardware
     values: ["NONE", "FAKE", "CXOF", "PMW3901"]

diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
@@ -36,6 +36,7 @@
 #include "drivers/compass/compass_hmc5883l.h"
 #include "drivers/compass/compass_mag3110.h"
 #include "drivers/compass/compass_ist8310.h"
+#include "drivers/compass/compass_ist8308.h"
 #include "drivers/compass/compass_qmc5883l.h"
 #include "drivers/compass/compass_mpu9250.h"
 #include "drivers/io.h"
@@ -206,6 +207,22 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
         }
         FALLTHROUGH;
 
+    case MAG_IST8308:
+#ifdef USE_MAG_IST8308
+        if (ist8308Detect(dev)) {
+#ifdef MAG_IST8308_ALIGN
+            dev->magAlign.onBoard = MAG_IST8308_ALIGN;
+#endif
+            magHardware = MAG_IST8308;
+            break;
+        }
+#endif
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+
     case MAG_MPU9250:
 #ifdef USE_MAG_MPU9250
         if (mpu9250CompassDetect(dev)) {

diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
@@ -39,7 +39,8 @@ typedef enum {
     MAG_IST8310 = 7,
     MAG_QMC5883 = 8,
     MAG_MPU9250 = 9,
-    MAG_FAKE = 10,
+    MAG_IST8308 = 10,
+    MAG_FAKE = 11,
     MAG_MAX = MAG_FAKE
 } magSensor_e;
 

diff --git a/src/main/target/AIRBOTF4/target.h b/src/main/target/AIRBOTF4/target.h
@@ -61,6 +61,7 @@
 #define USE_MAG_MAG3110
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
+#define USE_MAG_IST8308
 
 #define USE_BARO
 #define BARO_I2C_BUS             BUS_I2C2

diff --git a/src/main/target/AIRBOTF4/target.mk b/src/main/target/AIRBOTF4/target.mk
@@ -13,6 +13,7 @@ TARGET_SRC = \
             drivers/compass/compass_mag3110.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
             drivers/pitotmeter_ms4525.c \
             drivers/pitotmeter_adc.c \
             drivers/light_ws2811strip.c \

diff --git a/src/main/target/AIRHEROF3/target.h b/src/main/target/AIRHEROF3/target.h
@@ -112,6 +112,7 @@
     #define USE_MAG_MAG3110
     #define USE_MAG_QMC5883
     #define USE_MAG_IST8310
+    #define USE_MAG_IST8308
 
     #define MAX_PWM_OUTPUT_PORTS        8
     #define TARGET_MOTOR_COUNT          4

diff --git a/src/main/target/AIRHEROF3/target.mk b/src/main/target/AIRHEROF3/target.mk
@@ -9,6 +9,7 @@ TARGET_SRC = \
             drivers/compass/compass_mag3110.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
             drivers/rangefinder/rangefinder_hcsr04.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_stdperiph.c \

diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
@@ -74,6 +74,7 @@
 #define USE_MAG_MAG3110
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
+#define USE_MAG_IST8308
 
 #define USE_VCP
 #define USE_UART1 // Not connected - TX (PB6) RX PB7 (AF7)

diff --git a/src/main/target/ALIENFLIGHTF3/target.mk b/src/main/target/ALIENFLIGHTF3/target.mk
@@ -15,5 +15,6 @@ TARGET_SRC = \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
             drivers/compass/compass_mag3110.c
 
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
@@ -65,6 +65,7 @@
 #define USE_MAG_MAG3110
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
+#define USE_MAG_IST8308
 
 #define MAG_MPU9250_ALIGN       CW180_DEG_FLIP
 

diff --git a/src/main/target/ALIENFLIGHTF4/target.mk b/src/main/target/ALIENFLIGHTF4/target.mk
@@ -9,6 +9,7 @@ TARGET_SRC = \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
             drivers/compass/compass_mag3110.c \
             drivers/compass/compass_mpu9250.c \
             drivers/light_ws2811strip.c \

diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -63,6 +63,7 @@
 #define USE_MAG_MAG3110
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
+#define USE_MAG_IST8308
 
 #define MAG_AK9863_ALIGN        CW180_DEG_FLIP
 #define MAG_MPU9250_ALIGN       CW180_DEG_FLIP

diff --git a/src/main/target/ALIENFLIGHTNGF7/target.mk b/src/main/target/ALIENFLIGHTNGF7/target.mk
@@ -12,5 +12,6 @@ TARGET_SRC = \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_mag3110.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c
diff --git a/src/main/target/ANYFC/target.h b/src/main/target/ANYFC/target.h
@@ -52,6 +52,7 @@
 #define USE_MAG_MAG3110
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
+#define USE_MAG_IST8308
 #define MAG_HMC5883_ALIGN       CW270_DEG_FLIP
 
 #define USE_RANGEFINDER

diff --git a/src/main/target/ANYFC/target.mk b/src/main/target/ANYFC/target.mk
@@ -8,6 +8,7 @@ TARGET_SRC = \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_mag3110.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_stdperiph.c \
             drivers/pitotmeter_ms4525.c

diff --git a/src/main/target/ANYFCF7/target.h b/src/main/target/ANYFCF7/target.h
@@ -49,6 +49,7 @@
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
+#define USE_MAG_IST8308
 #define USE_MAG_MAG3110
 
 #define USE_BARO

diff --git a/src/main/target/ANYFCF7/target.mk b/src/main/target/ANYFCF7/target.mk
@@ -9,6 +9,8 @@ TARGET_SRC = \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
+            drivers/compass/compass_ist8308.c \
             drivers/compass/compass_mag3110.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c \

diff --git a/src/main/target/ANYFCM7/target.h b/src/main/target/ANYFCM7/target.h
@@ -49,6 +49,7 @@
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
+#define USE_MAG_IST8308
 #define USE_MAG_MAG3110
 
 #define USE_BARO

diff --git a/src/main/target/ANYFCM7/target.mk b/src/main/target/ANYFCM7/target.mk
@@ -7,6 +7,7 @@ TARGET_SRC = \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
             drivers/compass/compass_mag3110.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c \

diff --git a/src/main/target/BEEROTORF4/target.h b/src/main/target/BEEROTORF4/target.h
@@ -54,6 +54,7 @@
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
+#define USE_MAG_IST8308
 #define USE_MAG_MAG3110
 
 #define USE_OSD

diff --git a/src/main/target/BEEROTORF4/target.mk b/src/main/target/BEEROTORF4/target.mk
@@ -11,6 +11,7 @@ TARGET_SRC = \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
             drivers/compass/compass_mag3110.c \
             drivers/max7456.c \
             drivers/light_ws2811strip.c \

diff --git a/src/main/target/BETAFLIGHTF4/target.h b/src/main/target/BETAFLIGHTF4/target.h
@@ -130,6 +130,7 @@
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
+#define USE_MAG_IST8308
 #define USE_MAG_MAG3110
 
 #define USE_BARO

diff --git a/src/main/target/BETAFLIGHTF4/target.mk b/src/main/target/BETAFLIGHTF4/target.mk
@@ -14,6 +14,7 @@ TARGET_SRC = \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
             drivers/compass/compass_mag3110.c \
             drivers/pitotmeter_ms4525.c \
             drivers/pitotmeter_adc.c \