src/main/drivers/compass/compass_ist8310.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include <math.h>
  22
  23 #include "platform.h"
  24
  25 #ifdef USE_MAG_IST8310
  26
  27 #include "build/debug.h"
  28
  29 #include "common/axis.h"
  30 #include "common/maths.h"
  31
  32 #include "drivers/time.h"
  33 #include "drivers/nvic.h"
  34 #include "drivers/io.h"
  35 #include "drivers/bus.h"
  36 #include "drivers/light_led.h"
  37
  38 #include "drivers/sensor.h"
  39 #include "drivers/compass/compass.h"
  40
  41 #include "drivers/compass/compass_ist8310.h"
  42
  43 #define IST8310_ADDRESS 0x0C
  44
  45 // Hardware descriptor
  46 #if defined(MAG_I2C_BUS)
  47 #endif
  48
  49 /* ist8310 Slave Address Select : default address 0x0C
  50  *        CAD1  |  CAD0   |  Address
  51  *    ------------------------------
  52  *         VSS   |   VSS  |  0CH
  53  *         VSS   |   VDD  |  0DH
  54  *         VDD   |   VSS  |  0EH
  55  *         VDD   |   VDD  |  0FH
  56  * if CAD1 and CAD0 are floating, I2C address will be 0EH
  57  *
  58  *
  59  * CTRL_REGA: Control Register 1
  60  * Read Write
  61  * Default value: 0x0A
  62  * 7:4  0   Reserved.
  63  * 3:0  DO2-DO0: Operating mode setting
  64  *        DO3  |  DO2 |  DO1 |  DO0 |   mode
  65  *    ------------------------------------------------------
  66  *         0   |   0  |  0   |  0   |   Stand-By mode
  67  *         0   |   0  |  0   |  1   |   Single measurement mode
  68  *                                       Others: Reserved
  69  *
  70  * CTRL_REGB: Control Register 2
  71  * Read Write
  72  * Default value: 0x0B
  73  * 7:4  0   Reserved.
  74  * 3    DREN : Data ready enable control:
  75  *      0: disable
  76  *      1: enable
  77  * 2    DRP: DRDY pin polarity control
  78  *      0: active low
  79  *      1: active high
  80  * 1    0   Reserved.
  81  * 0    SRST: Soft reset, perform Power On Reset (POR) routine
  82  *      0: no action
  83  *      1: start immediately POR routine
  84  *      This bit will be set to zero after POR routine
  85  */
  86
  87 #define IST8310_REG_DATA 0x03
  88 #define IST8310_REG_WHOAMI 0x00
  89
  90 // I2C Contorl Register
  91 #define IST8310_REG_CNTRL1 0x0A
  92 #define IST8310_REG_CNTRL2 0x0B
  93 #define IST8310_REG_AVERAGE 0x41
  94 #define IST8310_REG_PDCNTL 0x42
  95
  96 // Parameter
  97 // ODR = Output Data Rate, we use single measure mode for getting more data.
  98 #define IST8310_ODR_SINGLE 0x01
  99 #define IST8310_ODR_10_HZ 0x03
 100 #define IST8310_ODR_20_HZ 0x05
 101 #define IST8310_ODR_50_HZ 0x07
 102 #define IST8310_ODR_100_HZ 0x06
 103
 104 // Device ID (ist8310 -> 0x10)
 105 #define IST8310_CHIP_ID 0x10
 106 #define IST8310_AVG_16  0x24
 107 #define IST8310_PULSE_DURATION_NORMAL 0xC0
 108
 109 #define IST8310_CNTRL2_RESET 0x01
 110 #define IST8310_CNTRL2_DRPOL 0x04
 111 #define IST8310_CNTRL2_DRENA 0x08
 112
 113 static bool ist8310Init(magDev_t * mag)
 114 {
 115     busWrite(mag->busDev, IST8310_REG_CNTRL1, IST8310_ODR_50_HZ);
 116     delay(5);
 117
 118     busWrite(mag->busDev, IST8310_REG_AVERAGE, IST8310_AVG_16);
 119     delay(5);
 120
 121     busWrite(mag->busDev, IST8310_REG_PDCNTL, IST8310_PULSE_DURATION_NORMAL);
 122     delay(5);
 123
 124     return true;
 125 }
 126
 127 static bool ist8310Read(magDev_t * mag)
 128 {
 129     uint8_t buf[6];
 130     uint8_t LSB2FSV = 3; // 3mG - 14 bit
 131
 132     // set magData to zero for case of failed read
 133     mag->magADCRaw[X] = 0;
 134     mag->magADCRaw[Y] = 0;
 135     mag->magADCRaw[Z] = 0;
 136
 137     bool ack = busReadBuf(mag->busDev, IST8310_REG_DATA, buf, 6);
 138     if (!ack) {
 139         return false;
 140     }
 141
 142     // Invert Y axis to co convert from left to right coordinate system
 143     mag->magADCRaw[X] =  (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV;
 144     mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
 145     mag->magADCRaw[Z] =  (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV;
 146
 147     return true;
 148 }
 149
 150 #define DETECTION_MAX_RETRY_COUNT   5
 151 static bool deviceDetect(magDev_t * mag)
 152 {
 153     for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) {
 154         delay(10);
 155
 156         uint8_t sig = 0;
 157         bool ack = busRead(mag->busDev, IST8310_REG_WHOAMI, &sig);
 158
 159         if (ack && sig == IST8310_CHIP_ID) {
 160             return true;
 161         }
 162     }
 163
 164     return false;
 165 }
 166
 167 bool ist8310Detect(magDev_t * mag)
 168 {
 169     for (uint8_t index = 0; index < 2; ++index) {
 170         mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_IST8310_0 + index, mag->magSensorToUse, OWNER_COMPASS);
 171         if (mag->busDev == NULL) {
 172             continue;
 173         }
 174
 175         if (deviceDetect(mag)) {
 176             mag->init = ist8310Init;
 177             mag->read = ist8310Read;
 178             return true;
 179         } else {
 180             busDeviceDeInit(mag->busDev);
 181         }
 182     }
 183
 184     return false;
 185 }
 186
 187 #endif