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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
isentek/ist8308: small style and consistency cleanup
This commit is contained in:
Daniel Agar
GitHub
parent
fb149045e3
commit
60a7f7f9f2
@ -40,7 +40,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
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return (msb << 8u) | lsb;
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}
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IST8308::IST8308(I2CSPIBusOption bus_option, int bus, enum Rotation rotation, int bus_frequency) :
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IST8308::IST8308(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
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I2C(DRV_MAG_DEVTYPE_IST8308, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
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_px4_mag(get_device_id(), rotation)
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@ -50,7 +50,7 @@ IST8308::IST8308(I2CSPIBusOption bus_option, int bus, enum Rotation rotation, in
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IST8308::~IST8308()
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{
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perf_free(_transfer_perf);
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perf_free(_reset_perf);
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perf_free(_bad_register_perf);
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perf_free(_bad_transfer_perf);
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}
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@ -78,17 +78,18 @@ bool IST8308::Reset()
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void IST8308::print_status()
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{
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I2CSPIDriverBase::print_status();
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perf_print_counter(_transfer_perf);
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perf_print_counter(_reset_perf);
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perf_print_counter(_bad_register_perf);
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perf_print_counter(_bad_transfer_perf);
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}
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int IST8308::probe()
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{
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const uint8_t whoami = RegisterRead(Register::WAI);
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const uint8_t WAI = RegisterRead(Register::WAI);
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if (whoami != Device_ID) {
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DEVICE_DEBUG("unexpected WAI 0x%02x", whoami);
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if (WAI != Device_ID) {
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DEVICE_DEBUG("unexpected WAI 0x%02x", WAI);
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return PX4_ERROR;
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}
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@ -97,13 +98,17 @@ int IST8308::probe()
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void IST8308::RunImpl()
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{
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const hrt_abstime now = hrt_absolute_time();
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switch (_state) {
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case STATE::RESET:
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// CNTL3: Software Reset
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RegisterSetAndClearBits(Register::CNTL3, CNTL3_BIT::SRST, 0);
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_reset_timestamp = hrt_absolute_time();
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RegisterWrite(Register::CNTL3, CNTL3_BIT::SRST);
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_reset_timestamp = now;
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_failure_count = 0;
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_state = STATE::WAIT_FOR_RESET;
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ScheduleDelayed(50_ms); // Power On Reset: max:50ms
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perf_count(_reset_perf);
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ScheduleDelayed(50_ms); // Power On Reset: max 50ms
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break;
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case STATE::WAIT_FOR_RESET:
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@ -114,18 +119,18 @@ void IST8308::RunImpl()
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// if reset succeeded then configure
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_state = STATE::CONFIGURE;
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ScheduleNow();
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ScheduleDelayed(10_ms);
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} else {
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// RESET not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
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PX4_ERR("Reset failed, retrying");
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Reset failed, retrying");
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_state = STATE::RESET;
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ScheduleNow();
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ScheduleDelayed(100_ms);
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} else {
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PX4_DEBUG("Reset not complete, check again in 50 ms");
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ScheduleDelayed(50_ms);
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PX4_DEBUG("Reset not complete, check again in 10 ms");
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ScheduleDelayed(10_ms);
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}
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}
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@ -138,9 +143,16 @@ void IST8308::RunImpl()
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ScheduleOnInterval(20_ms, 20_ms);
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} else {
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PX4_DEBUG("Configure failed, retrying");
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// try again in 50 ms
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ScheduleDelayed(50_ms);
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// CONFIGURE not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Configure failed, resetting");
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_state = STATE::RESET;
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} else {
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PX4_DEBUG("Configure failed, retrying");
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}
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ScheduleDelayed(100_ms);
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}
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break;
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@ -156,41 +168,52 @@ void IST8308::RunImpl()
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uint8_t DATAZH;
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} buffer{};
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perf_begin(_transfer_perf);
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bool success = false;
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uint8_t cmd = static_cast<uint8_t>(Register::STAT);
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bool failure = false;
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const hrt_abstime timestamp_sample = hrt_absolute_time();
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const uint8_t cmd = static_cast<uint8_t>(Register::STAT);
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if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
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if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
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if (buffer.STAT && STAT_BIT::DRDY) {
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int16_t x = combine(buffer.DATAXH, buffer.DATAXL);
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int16_t y = combine(buffer.DATAYH, buffer.DATAYL);
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int16_t z = combine(buffer.DATAZH, buffer.DATAZL);
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// sensor's frame is +x forward, +y right, +z up
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z = (z == INT16_MIN) ? INT16_MAX : -z; // flip z
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_px4_mag.update(now, x, y, z);
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success = true;
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if (_failure_count > 0) {
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_failure_count--;
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}
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}
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} else {
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perf_count(_bad_transfer_perf);
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failure = true;
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}
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perf_end(_transfer_perf);
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if (!success) {
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_failure_count++;
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if (!failure && (buffer.STAT && STAT_BIT::DRDY)) {
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float x = combine(buffer.DATAXH, buffer.DATAXL);
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float y = combine(buffer.DATAYH, buffer.DATAYL);
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float z = combine(buffer.DATAZH, buffer.DATAZL);
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// sensor's frame is +x forward, +y right, +z up
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z = (z == INT16_MIN) ? INT16_MAX : -z; // flip z
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_px4_mag.update(timestamp_sample, x, y, z);
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// full reset if things are failing consistently
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if (_failure_count > 10) {
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Reset();
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return;
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}
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}
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if (failure || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
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// check registers incrementally
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if (RegisterCheck(_register_cfg[_checked_register], true)) {
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_last_config_check_timestamp = timestamp_sample;
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if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
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// check configuration registers periodically or immediately following any failure
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if (RegisterCheck(_register_cfg[_checked_register])) {
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_last_config_check_timestamp = now;
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_checked_register = (_checked_register + 1) % size_register_cfg;
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} else {
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// register check failed, force reconfigure
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PX4_DEBUG("Health check failed, reconfiguring");
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_state = STATE::CONFIGURE;
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ScheduleNow();
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// register check failed, force reset
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perf_count(_bad_register_perf);
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Reset();
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}
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}
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}
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@ -201,10 +224,16 @@ void IST8308::RunImpl()
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bool IST8308::Configure()
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{
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// first set and clear all configured register bits
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for (const auto ®_cfg : _register_cfg) {
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RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
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}
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// now check that all are configured
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bool success = true;
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for (const auto ® : _register_cfg) {
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if (!RegisterCheck(reg)) {
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for (const auto ®_cfg : _register_cfg) {
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if (!RegisterCheck(reg_cfg)) {
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success = false;
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}
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}
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@ -215,7 +244,7 @@ bool IST8308::Configure()
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return success;
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}
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bool IST8308::RegisterCheck(const register_config_t ®_cfg, bool notify)
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bool IST8308::RegisterCheck(const register_config_t ®_cfg)
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{
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bool success = true;
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@ -231,15 +260,6 @@ bool IST8308::RegisterCheck(const register_config_t ®_cfg, bool notify)
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success = false;
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}
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if (!success) {
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RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
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if (notify) {
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perf_count(_bad_register_perf);
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_px4_mag.increase_error_count();
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}
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}
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return success;
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}
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@ -260,15 +280,9 @@ void IST8308::RegisterWrite(Register reg, uint8_t value)
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void IST8308::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
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{
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const uint8_t orig_val = RegisterRead(reg);
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uint8_t val = orig_val;
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uint8_t val = (orig_val & ~clearbits) | setbits;
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if (setbits) {
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val |= setbits;
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if (orig_val != val) {
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RegisterWrite(reg, val);
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}
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if (clearbits) {
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val &= ~clearbits;
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}
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RegisterWrite(reg, val);
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}
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@ -46,7 +46,6 @@
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#include <lib/drivers/device/i2c.h>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/atomic.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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using namespace iSentek_IST8308;
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@ -54,25 +53,19 @@ using namespace iSentek_IST8308;
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class IST8308 : public device::I2C, public I2CSPIDriver<IST8308>
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{
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public:
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IST8308(I2CSPIBusOption bus_option, int bus, enum Rotation rotation, int bus_frequency);
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IST8308(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
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~IST8308() override;
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static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance);
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static void print_usage();
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void print_status();
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void RunImpl();
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int init() override;
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void Start();
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bool Reset();
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void RunImpl();
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void print_status() override;
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private:
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void custom_method(const BusCLIArguments &cli) override;
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// Sensor Configuration
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struct register_config_t {
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Register reg;
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@ -82,9 +75,11 @@ private:
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int probe() override;
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bool Reset();
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bool Configure();
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bool RegisterCheck(const register_config_t ®_cfg, bool notify = false);
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bool RegisterCheck(const register_config_t ®_cfg);
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uint8_t RegisterRead(Register reg);
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void RegisterWrite(Register reg, uint8_t value);
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@ -92,24 +87,22 @@ private:
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PX4Magnetometer _px4_mag;
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perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
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perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
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perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
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perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
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hrt_abstime _reset_timestamp{0};
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hrt_abstime _last_config_check_timestamp{0};
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uint8_t _checked_register{0};
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int _failure_count{0};
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enum class STATE : uint8_t {
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RESET,
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WAIT_FOR_RESET,
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CONFIGURE,
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READ,
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};
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STATE _state{STATE::RESET};
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} _state{STATE::RESET};
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uint8_t _checked_register{0};
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static constexpr uint8_t size_register_cfg{5};
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register_config_t _register_cfg[size_register_cfg] {
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// Register | Set bits, Clear bits
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@ -36,39 +36,33 @@
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/module.h>
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void
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IST8308::print_usage()
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{
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PRINT_MODULE_USAGE_NAME("ist8308", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
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PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
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PRINT_MODULE_USAGE_COMMAND("reset");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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I2CSPIDriverBase *IST8308::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance)
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{
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IST8308 *instance = new IST8308(iterator.configuredBusOption(), iterator.bus(), cli.rotation, cli.bus_frequency);
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IST8308 *instance = new IST8308(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
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if (!instance) {
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PX4_ERR("alloc failed");
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return nullptr;
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}
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if (OK != instance->init()) {
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if (instance->init() != PX4_OK) {
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delete instance;
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PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
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return nullptr;
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}
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return instance;
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}
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void IST8308::custom_method(const BusCLIArguments &cli)
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void IST8308::print_usage()
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{
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Reset();
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PRINT_MODULE_USAGE_NAME("ist8308", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
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PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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extern "C" int ist8308_main(int argc, char *argv[])
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@ -107,10 +101,6 @@ extern "C" int ist8308_main(int argc, char *argv[])
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return ThisDriver::module_status(iterator);
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}
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if (!strcmp(verb, "reset")) {
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return ThisDriver::module_custom_method(cli, iterator);
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}
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ThisDriver::print_usage();
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return -1;
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}
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