WIP: ist8310 self test

src/drivers/magnetometer/isentek/ist8310/IST8310.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -117,7 +117,7 @@ void IST8310::RunImpl()
 		    && ((RegisterRead(Register::CNTL2) & CNTL2_BIT::SRST) == 0)) {
 
 			// if reset succeeded then configure
-			_state = STATE::CONFIGURE;
+			_state = STATE::SELF_TEST_CHECK;
 			ScheduleDelayed(10_ms);
 
 		} else {
@@ -135,6 +135,129 @@ void IST8310::RunImpl()
 
 		break;
 
+	case STATE::SELF_TEST_CHECK: {
+
+			// Self-Test mode is used to check if the 3-axis outputs read in Single Measurement Mode are correct.
+			// It is activated by setting Self-Test Register, STR(0x0Ch) to 0x40h; then all 3-axis outputs will change their polarity.
+			RegisterWrite(Register::TCCNTL, 0x0);
+			RegisterWrite(Register::CNTL2, CNTL2_BIT::DREN);
+
+
+
+			// User can check the 3-axis output values before and after activating Self-Test Mode;
+			// if the absolute values are the same, then the IC is working correctly.
+			RegisterWrite(Register::CNTL1, CNTL1_BIT::MODE_SINGLE_MEASUREMENT);
+
+			px4_usleep(5000);
+
+
+			// read STAT1 until DRDY?
+
+			int16_t read_0[3] {};
+
+			{
+				struct TransferBuffer {
+					uint8_t STAT1;
+					uint8_t DATAXL;
+					uint8_t DATAXH;
+					uint8_t DATAYL;
+					uint8_t DATAYH;
+					uint8_t DATAZL;
+					uint8_t DATAZH;
+				} buffer{};
+
+				uint8_t cmd = static_cast<uint8_t>(Register::STAT1);
+
+				if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
+					if (buffer.STAT1 & STAT1_BIT::DRDY) {
+						read_0[0] = combine(buffer.DATAXH, buffer.DATAXL);
+						read_0[1] = combine(buffer.DATAYH, buffer.DATAYL);
+						read_0[2] = combine(buffer.DATAZH, buffer.DATAZL);
+
+					} else {
+						PX4_ERR("read 0 data not ready");
+					}
+
+				}
+			}
+
+
+			// activate self test
+			RegisterSetAndClearBits(Register::STR, STR_BIT::SELF_TEST, 0);
+
+
+
+			// read again
+
+
+
+			// read 2
+			RegisterWrite(Register::CNTL1, CNTL1_BIT::MODE_SINGLE_MEASUREMENT);
+
+			px4_usleep(5000);
+
+			int16_t read_1[3] {};
+
+			{
+				struct TransferBuffer {
+					uint8_t STAT1;
+					uint8_t DATAXL;
+					uint8_t DATAXH;
+					uint8_t DATAYL;
+					uint8_t DATAYH;
+					uint8_t DATAZL;
+					uint8_t DATAZH;
+				} buffer{};
+
+				uint8_t cmd = static_cast<uint8_t>(Register::STAT1);
+
+				if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
+
+					if (buffer.STAT1 & STAT1_BIT::DRDY) {
+						read_1[0] = combine(buffer.DATAXH, buffer.DATAXL);
+						read_1[1] = combine(buffer.DATAYH, buffer.DATAYL);
+						read_1[2] = combine(buffer.DATAZH, buffer.DATAZL);
+
+					} else {
+						PX4_ERR("read 1 data not ready");
+					}
+				}
+			}
+
+
+
+			PX4_INFO("self test X %d -> %d", read_0[0], read_1[0]);
+			PX4_INFO("self test Y %d -> %d", read_0[1], read_1[1]);
+			PX4_INFO("self test Z %d -> %d", read_0[2], read_1[2]);
+
+
+
+
+
+
+
+			// It can be turned off by setting STR(0x0Ch) to 0x00h.
+			RegisterSetAndClearBits(Register::STR, 0, STR_BIT::SELF_TEST);
+
+
+			// Please set Temperature Compensation Control Register, TCCNTL (0x40h) to 0x01h to disable temperature
+			// compensation function to avoid wrong compensation while using this self-test function and set it back to 0x00h in real measurement.
+
+
+			// User can check the 3-axis output values before and after activating Self-Test Mode
+
+			// 0x01h into Control register 1, CNTL1(0x0Ah), IST8310 enters Single Measurement
+
+
+			//  the minimum waiting time between two measurements is 5ms (ODR=200Hz)
+
+
+			_state = STATE::CONFIGURE;
+			ScheduleDelayed(10_ms);
+
+		}
+		break;
+
 	case STATE::CONFIGURE:
 		if (Configure()) {
 			// if configure succeeded then start measurement cycle
@@ -184,7 +307,7 @@ void IST8310::RunImpl()
 					int16_t z = combine(buffer.DATAZH, buffer.DATAZL);
 
 					// sensor's frame is +x forward, +y right, +z up
-					z = (z == INT16_MIN) ? INT16_MAX : -z; // flip z
+					z = math::negate(z); // flip z
 
 					_px4_mag.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf));
 					_px4_mag.update(now, x, y, z);

src/drivers/magnetometer/isentek/ist8310/IST8310.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -96,17 +96,20 @@ private:
 	enum class STATE : uint8_t {
 		RESET,
 		WAIT_FOR_RESET,
+		SELF_TEST_CHECK,
 		CONFIGURE,
 		MEASURE,
 		READ,
 	} _state{STATE::RESET};
 
 	uint8_t _checked_register{0};
-	static constexpr uint8_t size_register_cfg{4};
+	static constexpr uint8_t size_register_cfg{6};
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register               | Set bits, Clear bits
-		{ Register::CNTL2,        0, CNTL2_BIT::SRST },
+		{ Register::CNTL2,        CNTL2_BIT::DREN, CNTL2_BIT::SRST },
+		{ Register::STR,          0, STR_BIT::SELF_TEST },
 		{ Register::CNTL3,        CNTL3_BIT::Z_16BIT | CNTL3_BIT::Y_16BIT | CNTL3_BIT::X_16BIT, 0 },
+		{ Register::TCCNTL,       0, TCCNTL_BIT::TEMP_COMP_DIS },
 		{ Register::AVGCNTL,      AVGCNTL_BIT::Y_16TIMES_SET | AVGCNTL_BIT::XZ_16TIMES_SET, AVGCNTL_BIT::Y_16TIMES_CLEAR | AVGCNTL_BIT::XZ_16TIMES_CLEAR },
 		{ Register::PDCNTL,       PDCNTL_BIT::PULSE_NORMAL, 0 },
 	};

src/drivers/magnetometer/isentek/ist8310/iSentek_IST8310_registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -116,6 +116,7 @@ enum CNTL1_BIT : uint8_t {
 
 // CNTL2
 enum CNTL2_BIT : uint8_t {
+	DREN = Bit3, // Data ready enable control
 	SRST = Bit0, // Soft reset, perform the same routine as POR
 };
 
@@ -131,6 +132,11 @@ enum CNTL3_BIT : uint8_t {
 	X_16BIT = Bit4, // Sensor output resolution adjustment for X axis: 16-bit (Sensitivity: 1320 LSB/Gauss)
 };
 
+// TCCNTL
+enum TCCNTL_BIT : uint8_t {
+	TEMP_COMP_DIS = Bit0, // Set to ‘1’ to disable temperature compensation function
+};
+
 // AVGCNTL
 enum AVGCNTL_BIT : uint8_t {
 	// 5:3 Average times for y sensor data. Times of average will be done before switch to next channel