iSentek IST8310 magnetometer rewrite

- simple state machine to reset, configure, etc
 - checked register mechanism (sensor will reset itself on configuration error)
 - configured in 16 bit mode (1320 LSB/Gauss instead of 330 LSB/Gauss)
 - adjusted orientation handling in driver to match datasheet as closely as possible
     - in many external compass units the rotation was wrong and very difficult to actual determine how to set correctly

boards/cuav/nora/init/rc.board_sensors

@@ -16,3 +16,6 @@ ms5611 -s -b 4 start
 # SPI6 (internal)
 icm20649 -s -b 6 -R 2 start
 ms5611 -s -b 6 start
+
+# External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start

boards/cuav/x7pro/init/rc.board_sensors

@@ -17,3 +17,6 @@ ms5611 -s -b 4 start
 # SPI6 (internal)
 icm20649 -s -b 6 -R 2 start
 ms5611 -s -b 6 start
+
+# External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start

boards/holybro/durandal-v1/init/rc.board_sensors

@@ -12,7 +12,10 @@ bmi088 -A -R 2 -s start
 bmi088 -G -R 2 -s start
 
 # internal compass
-ist8310 -I start
+ist8310 -I -R 10 start
 
 # Baro on internal SPI
 ms5611 -s start
+
+# External compass on GPS1/I2C1: standard Holybro GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start

boards/holybro/durandal-v1/stackcheck.cmake

@@ -39,7 +39,7 @@ px4_add_board(
 		#lights/rgbled
 		lights/rgbled_ncp5623c
 		#magnetometer # all available magnetometer drivers
-		magnetometer/ist8310
+		magnetometer/isentek/ist8310
 		#mkblctrl
 		#optical_flow # all available optical flow drivers
 		#osd

boards/holybro/pix32v5/init/rc.board_sensors

@@ -16,7 +16,10 @@ bmi055 -A -R 2 -s start
 bmi055 -G -R 2 -s start
 
 # internal compass
-ist8310 -I start
+ist8310 -I -R 10 start
 
 # Baro on internal SPI
 ms5611 -s start
+
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 3 -R 10 start

boards/intel/aerofc-v1/default.cmake

@@ -21,7 +21,7 @@ px4_add_board(
 		#irlock
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
-		magnetometer/ist8310
+		magnetometer/isentek/ist8310
 		#optical_flow/px4flow
 		#protocol_splitter
 		pwm_out_sim

boards/intel/aerofc-v1/init/rc.board_sensors

@@ -12,7 +12,7 @@ fi
 
 mpu9250 -s -R 0 start
 
-ist8310 -I -R 4 start
+ist8310 -I -R 14 start
 
 ll40ls start -X
 

boards/intel/aerofc-v1/rtps.cmake

@@ -21,7 +21,7 @@ px4_add_board(
 		#irlock
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
-		magnetometer/ist8310
+		magnetometer/isentek/ist8310
 		#optical_flow/px4flow
 		protocol_splitter
 		pwm_out_sim

boards/nxp/fmurt1062-v1/init/rc.board_sensors

@@ -28,7 +28,7 @@ bmi055 -A -R 2 -s start
 bmi055 -G -R 2 -s start
 
 # internal compass
-ist8310 -I start
+ist8310 -I -R 10 start
 
 # Baro on internal SPI
 ms5611 -s start

boards/px4/fmu-v5/init/rc.board_sensors

@@ -15,8 +15,11 @@ icm20689 -s -R 2 start
 bmi055 -A -R 2 -s start
 bmi055 -G -R 2 -s start
 
-# internal compass
-ist8310 -I start
-
 # Baro on internal SPI
 ms5611 -s start
+
+# internal compass
+ist8310 -I -R 10 start
+
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 3 -R 10 start

boards/px4/fmu-v5/optimized.cmake

@@ -40,7 +40,7 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		#lights/rgbled_pwm
 		#magnetometer # all available magnetometer drivers
-		magnetometer/ist8310
+		magnetometer/isentek/ist8310
 		optical_flow # all available optical flow drivers
 		#pwm_input
 		pwm_out_sim

boards/uvify/core/default.cmake

@@ -29,7 +29,7 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		magnetometer/bmm150
 		magnetometer/lis3mdl
-		magnetometer/ist8310
+		magnetometer/isentek/ist8310
 		optical_flow # all available optical flow drivers
 		pca9685
 		pwm_input

cmake/px4_add_board.cmake

@@ -101,7 +101,7 @@
 #				gps
 #				imu/bmi055
 #				imu/mpu6000
-#				magnetometer/ist8310
+#				magnetometer/isentek/ist8310
 #				pwm_out
 #				px4io
 #				rgbled

src/drivers/magnetometer/CMakeLists.txt

@@ -36,7 +36,6 @@ add_subdirectory(bmm150)
 add_subdirectory(hmc5883)
 add_subdirectory(qmc5883)
 add_subdirectory(isentek)
-add_subdirectory(ist8310)
 add_subdirectory(lis2mdl)
 add_subdirectory(lis3mdl)
 add_subdirectory(lsm303agr)

src/drivers/magnetometer/isentek/CMakeLists.txt

@@ -32,3 +32,4 @@
 ############################################################################
 
 add_subdirectory(ist8308)
+add_subdirectory(ist8310)

src/drivers/magnetometer/isentek/ist8310/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#   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
@@ -30,11 +30,16 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
 px4_add_module(
-	MODULE drivers__ist8310
+	MODULE drivers__magnetometer__isentek__ist8310
 	MAIN ist8310
+	COMPILE_FLAGS
 	SRCS
-		ist8310.cpp
+		IST8310.cpp
+		IST8310.hpp
+		ist8310_main.cpp
+		iSentek_IST8310_registers.hpp
 	DEPENDS
 		drivers_magnetometer
 		px4_work_queue

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

@@ -0,0 +1,299 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include "IST8310.hpp"
+
+using namespace time_literals;
+
+static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
+{
+	return (msb << 8u) | lsb;
+}
+
+IST8310::IST8310(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
+	I2C(DRV_MAG_DEVTYPE_IST8310, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
+	_px4_mag(get_device_id(), rotation)
+{
+	_px4_mag.set_external(external());
+}
+
+IST8310::~IST8310()
+{
+	perf_free(_reset_perf);
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
+}
+
+int IST8310::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("I2C::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool IST8310::Reset()
+{
+	_state = STATE::RESET;
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void IST8310::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	perf_print_counter(_reset_perf);
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
+}
+
+int IST8310::probe()
+{
+	const uint8_t WAI = RegisterRead(Register::WAI);
+
+	if (WAI != Device_ID) {
+		DEVICE_DEBUG("unexpected WAI 0x%02x", WAI);
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+void IST8310::RunImpl()
+{
+	const hrt_abstime now = hrt_absolute_time();
+
+	switch (_state) {
+	case STATE::RESET:
+		// CNTL2: Software Reset
+		RegisterWrite(Register::CNTL2, CNTL2_BIT::SRST);
+		_reset_timestamp = now;
+		_failure_count = 0;
+		_state = STATE::WAIT_FOR_RESET;
+		perf_count(_reset_perf);
+		ScheduleDelayed(50_ms); // Power On Reset: max 50ms
+		break;
+
+	case STATE::WAIT_FOR_RESET:
+
+		// SRST: This bit is automatically reset to zero after POR routine
+		if ((RegisterRead(Register::WAI) == Device_ID)
+		    && ((RegisterRead(Register::CNTL2) & CNTL2_BIT::SRST) == 0)) {
+
+			// if reset succeeded then configure
+			_state = STATE::CONFIGURE;
+			ScheduleDelayed(10_ms);
+
+		} else {
+			// RESET not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Reset failed, retrying");
+				_state = STATE::RESET;
+				ScheduleDelayed(100_ms);
+
+			} else {
+				PX4_DEBUG("Reset not complete, check again in 10 ms");
+				ScheduleDelayed(10_ms);
+			}
+		}
+
+		break;
+
+	case STATE::CONFIGURE:
+		if (Configure()) {
+			// if configure succeeded then start measurement cycle
+			_state = STATE::MEASURE;
+			ScheduleDelayed(20_ms);
+
+		} else {
+			// CONFIGURE not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Configure failed, resetting");
+				_state = STATE::RESET;
+
+			} else {
+				PX4_DEBUG("Configure failed, retrying");
+			}
+
+			ScheduleDelayed(100_ms);
+		}
+
+		break;
+
+	case STATE::MEASURE:
+		RegisterWrite(Register::CNTL1, CNTL1_BIT::MODE_SINGLE_MEASUREMENT);
+		_state = STATE::READ;
+		ScheduleDelayed(20_ms); // Wait at least 6ms. (minimum waiting time for 16 times internal average setup)
+		break;
+
+	case STATE::READ: {
+			struct TransferBuffer {
+				uint8_t STAT1;
+				uint8_t DATAXL;
+				uint8_t DATAXH;
+				uint8_t DATAYL;
+				uint8_t DATAYH;
+				uint8_t DATAZL;
+				uint8_t DATAZH;
+			} buffer{};
+
+			bool success = false;
+			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) {
+					int16_t x = combine(buffer.DATAXH, buffer.DATAXL);
+					int16_t y = combine(buffer.DATAYH, buffer.DATAYL);
+					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
+
+					_px4_mag.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf));
+					_px4_mag.update(now, x, y, z);
+
+					success = true;
+
+					if (_failure_count > 0) {
+						_failure_count--;
+					}
+				}
+
+			} else {
+				perf_count(_bad_transfer_perf);
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
+				// check configuration registers periodically or immediately following any failure
+				if (RegisterCheck(_register_cfg[_checked_register])) {
+					_last_config_check_timestamp = now;
+					_checked_register = (_checked_register + 1) % size_register_cfg;
+
+				} else {
+					// register check failed, force reset
+					perf_count(_bad_register_perf);
+					Reset();
+					return;
+				}
+			}
+
+			// initiate next measurement
+			RegisterWrite(Register::CNTL1, CNTL1_BIT::MODE_SINGLE_MEASUREMENT);
+			ScheduleDelayed(20_ms); // Wait at least 6ms. (minimum waiting time for 16 times internal average setup)
+		}
+
+		break;
+	}
+}
+
+bool IST8310::Configure()
+{
+	// first set and clear all configured register bits
+	for (const auto &reg_cfg : _register_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	// now check that all are configured
+	bool success = true;
+
+	for (const auto &reg_cfg : _register_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	_px4_mag.set_scale(1.f / 1320.f); // 1320 LSB/Gauss
+
+	return success;
+}
+
+bool IST8310::RegisterCheck(const register_config_t &reg_cfg)
+{
+	bool success = true;
+
+	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
+
+	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
+		success = false;
+	}
+
+	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
+		success = false;
+	}
+
+	return success;
+}
+
+uint8_t IST8310::RegisterRead(Register reg)
+{
+	const uint8_t cmd = static_cast<uint8_t>(reg);
+	uint8_t buffer{};
+	transfer(&cmd, 1, &buffer, 1);
+	return buffer;
+}
+
+void IST8310::RegisterWrite(Register reg, uint8_t value)
+{
+	uint8_t buffer[2] { (uint8_t)reg, value };
+	transfer(buffer, sizeof(buffer), nullptr, 0);
+}
+
+void IST8310::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
+{
+	const uint8_t orig_val = RegisterRead(reg);
+	uint8_t val = (orig_val & ~clearbits) | setbits;
+
+	if (orig_val != val) {
+		RegisterWrite(reg, val);
+	}
+}

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

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   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, 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 &reg_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 | AVGCNTL_BIT::XZ_16TIMES, 0 },
+		{ Register::PDCNTL,       PDCNTL_BIT::PULSE_NORMAL, 0 },
+	};
+};

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

@@ -0,0 +1,149 @@
+/****************************************************************************
+ *
+ *   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 iSentek_IST8310_registers.hpp
+ *
+ * iSentek IST8310 registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+namespace iSentek_IST8310
+{
+static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
+static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x0E;
+
+static constexpr uint8_t Device_ID = 0x10;
+
+enum class Register : uint8_t {
+	WAI        = 0x00, // Who Am I Register
+
+	STAT1      = 0x02, // Status Register 1
+	DATAXL     = 0x03,
+	DATAXH     = 0x04,
+	DATAYL     = 0x05,
+	DATAYH     = 0x06,
+	DATAZL     = 0x07,
+	DATAZH     = 0x08,
+	STAT2      = 0x09, // Status Register 2
+	CNTL1      = 0x0A, // Control Setting Register 1
+	CNTL2      = 0x0B, // Control Setting Register 2
+	STR        = 0x0C, // Self-Test Register
+	CNTL3      = 0x0D, // Control Setting Register 3
+
+	TEMPL      = 0x1C, // Temperature Sensor Output Register (Low Byte)
+	TEMPH      = 0x1D, // Temperature Sensor Output Register (High Byte)
+
+	TCCNTL     = 0x40, // Temperature Compensation Control register
+	AVGCNTL    = 0x41, // Average Control Register
+	PDCNTL     = 0x42, // Pulse Duration Control Register
+
+	XX_CROSS_L = 0x9C, // cross axis xx low byte
+	XX_CROSS_H = 0x9D, // cross axis xx high byte
+	XY_CROSS_L = 0x9E, // cross axis xy low byte
+	XY_CROSS_H = 0x9F, // cross axis xy high byte
+	XZ_CROSS_L = 0xA0, // cross axis xz low byte
+	XZ_CROSS_H = 0xA1, // cross axis xz high byte
+	YX_CROSS_L = 0xA2, // cross axis yx low byte
+	YX_CROSS_H = 0xA3, // cross axis yx high byte
+	YY_CROSS_L = 0xA4, // cross axis yy low byte
+	YY_CROSS_H = 0xA5, // cross axis yy high byte
+	YZ_CROSS_L = 0xA6, // cross axis yz low byte
+	YZ_CROSS_H = 0xA7, // cross axis yz high byte
+	ZX_CROSS_L = 0xA8, // cross axis zx low byte
+	ZX_CROSS_H = 0xA9, // cross axis zx high byte
+	ZY_CROSS_L = 0xAA, // cross axis zy low byte
+	ZY_CROSS_H = 0xAB, // cross axis zy high byte
+	ZZ_CROSS_L = 0xAC, // cross axis zz low byte
+	ZZ_CROSS_H = 0xAD, // cross axis zz high byte
+};
+
+// STAT1
+enum STAT1_BIT : uint8_t {
+	DOR  = Bit1, // Data overrun bit
+	DRDY = Bit0, // Data ready
+};
+
+// CNTL1
+enum CNTL1_BIT : uint8_t {
+	// 3:0 Mode: Operating mode setting
+	MODE_SINGLE_MEASUREMENT = Bit0,
+};
+
+// CNTL2
+enum CNTL2_BIT : uint8_t {
+	SRST = Bit0, // Soft reset, perform the same routine as POR
+};
+
+// STR
+enum STR_BIT : uint8_t {
+	SELF_TEST = Bit6,
+};
+
+// CNTL3
+enum CNTL3_BIT : uint8_t {
+	Z_16BIT = Bit6, // Sensor output resolution adjustment for Z axis: 16-bit (Sensitivity: 1320 LSB/Gauss)
+	Y_16BIT = Bit5, // Sensor output resolution adjustment for Y axis: 16-bit (Sensitivity: 1320 LSB/Gauss)
+	X_16BIT = Bit4, // Sensor output resolution adjustment for X axis: 16-bit (Sensitivity: 1320 LSB/Gauss)
+};
+
+// 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
+	Y_16TIMES  = Bit5, // 3’b100 average by 16 times (ODRmax=166Hz)
+
+	// 2:0 Average times for x & z sensor data. Times of average will be done before switch to next channel
+	XZ_16TIMES = Bit2, // average by 16 times (ODRmax=166Hz)
+};
+
+// PDCNTL
+enum PDCNTL_BIT : uint8_t {
+	// 7:6 Pulse duration
+	PULSE_NORMAL = Bit7 | Bit6, // Normal (please use this setting)
+};
+
+} // namespace iSentek_IST8310

src/drivers/magnetometer/isentek/ist8310/ist8310_main.cpp

@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include "IST8310.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+I2CSPIDriverBase *IST8310::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				       int runtime_instance)
+{
+	IST8310 *instance = new IST8310(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (instance->init() != PX4_OK) {
+		delete instance;
+		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
+		return nullptr;
+	}
+
+	return instance;
+}
+
+void IST8310::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("ist8310", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int ist8310_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = IST8310;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = I2C_SPEED;
+
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
+		switch (ch) {
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optarg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_IST8310);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}