mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 14:33:34 +08:00
Julian Oes
00a7ac013c
This fixes spuriously occuring mag spikes in the external mag of Here2. The reason for the spikes was that the fact that the I2C registers were not read out correctly as suggested in the datasheet. Before we were reading out ST1, data, and ST2 in one pass and ignoring the data ready bit (DRDY) in ST1. This meant that we could run into race conditions where the data was not ready when we started reading and being updated as the registers are read. Instead, we need to check the read the ST1 register first to check the data ready bit and then read the data and ST2 if the data is ready. By reading ST2 we then trigger the next measurement in the chip.
123 lines
3.9 KiB
C++
123 lines
3.9 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2019 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
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <lib/perf/perf_counter.h>
|
|
#include <systemlib/conversions.h>
|
|
#include <drivers/drv_hrt.h>
|
|
#include <drivers/device/i2c.h>
|
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
|
|
|
|
static constexpr auto AK09916_DEVICE_PATH_MAG = "/dev/ak09916_i2c_int";
|
|
static constexpr auto AK09916_DEVICE_PATH_MAG_EXT = "/dev/ak09916_i2c_ext";
|
|
|
|
// in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit.
|
|
static constexpr float AK09916_MAG_RANGE_GA = 1.5e-3f;
|
|
|
|
static constexpr uint8_t AK09916_I2C_ADDR = 0x0C;
|
|
|
|
static constexpr uint8_t AK09916_DEVICE_ID_A = 0x48;
|
|
static constexpr uint8_t AK09916REG_WIA = 0x00;
|
|
|
|
static constexpr uint8_t AK09916REG_ST1 = 0x10;
|
|
static constexpr uint8_t AK09916REG_HXL = 0x11;
|
|
static constexpr uint8_t AK09916REG_CNTL2 = 0x31;
|
|
static constexpr uint8_t AK09916REG_CNTL3 = 0x32;
|
|
|
|
static constexpr uint8_t AK09916_RESET = 0x01;
|
|
static constexpr uint8_t AK09916_CNTL2_CONTINOUS_MODE_100HZ = 0x08;
|
|
|
|
static constexpr uint8_t AK09916_ST1_DRDY = 0x01;
|
|
static constexpr uint8_t AK09916_ST1_DOR = 0x02;
|
|
|
|
static constexpr uint8_t AK09916_ST2_HOFL = 0x08;
|
|
|
|
// Run at 100 Hz.
|
|
static constexpr unsigned AK09916_CONVERSION_INTERVAL_us = 1000000 / 100;
|
|
|
|
#pragma pack(push, 1)
|
|
struct ak09916_regs {
|
|
int16_t x;
|
|
int16_t y;
|
|
int16_t z;
|
|
uint8_t tmps;
|
|
uint8_t st2;
|
|
};
|
|
#pragma pack(pop)
|
|
|
|
|
|
class AK09916 : public device::I2C, px4::ScheduledWorkItem
|
|
{
|
|
public:
|
|
AK09916(int bus, const char *path, enum Rotation rotation);
|
|
~AK09916();
|
|
|
|
virtual int init() override;
|
|
void start();
|
|
void stop();
|
|
void print_info();
|
|
int probe();
|
|
|
|
protected:
|
|
int setup();
|
|
int setup_master_i2c();
|
|
bool check_id();
|
|
void Run();
|
|
void try_measure();
|
|
bool is_ready();
|
|
void measure();
|
|
int reset();
|
|
|
|
uint8_t read_reg(uint8_t reg);
|
|
void read_block(uint8_t reg, uint8_t *val, uint8_t count);
|
|
void write_reg(uint8_t reg, uint8_t value);
|
|
|
|
private:
|
|
|
|
PX4Magnetometer _px4_mag;
|
|
|
|
uint32_t _cycle_interval{0};
|
|
|
|
perf_counter_t _mag_reads;
|
|
perf_counter_t _mag_errors;
|
|
perf_counter_t _mag_overruns;
|
|
perf_counter_t _mag_overflows;
|
|
|
|
AK09916(const AK09916 &) = delete;
|
|
AK09916 operator=(const AK09916 &) = delete;
|
|
};
|