IST8310.hpp
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/****************************************************************************
*
* Copyright (c) 2020 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.
*
****************************************************************************/
/**
* @file IST8310.hpp
*
* Driver for the iSentek IST8310 connected via I2C.
*
*/
#pragma once
#include "iSentek_IST8310_registers.hpp"
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/i2c.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
using namespace iSentek_IST8310;
class IST8310 : public device::I2C, public I2CSPIDriver<IST8310>
{
public:
IST8310(I2CSPIBusOption bus_option, int bus, uint8_t addr, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
~IST8310() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
void print_status() override;
private:
// Sensor Configuration
struct register_config_t {
Register reg;
uint8_t set_bits{0};
uint8_t clear_bits{0};
};
int probe() override;
bool Reset();
bool Configure();
bool RegisterCheck(const register_config_t ®_cfg);
uint8_t RegisterRead(Register reg);
void RegisterWrite(Register reg, uint8_t value);
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
PX4Magnetometer _px4_mag;
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
int _failure_count{0};
enum class STATE : uint8_t {
RESET,
WAIT_FOR_RESET,
CONFIGURE,
MEASURE,
READ,
} _state{STATE::RESET};
uint8_t _checked_register{0};
static constexpr uint8_t size_register_cfg{4};
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ Register::CNTL2, 0, CNTL2_BIT::SRST },
{ Register::CNTL3, CNTL3_BIT::Z_16BIT | CNTL3_BIT::Y_16BIT | CNTL3_BIT::X_16BIT, 0 },
{ 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 },
};
};