BMM150.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 BMM150.hpp
*
* Driver for the Bosch BMM150 connected via I2C.
*
*/
#pragma once
#include "Bosch_BMM150_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 Bosch_BMM150;
class BMM150 : public device::I2C, public I2CSPIDriver<BMM150>
{
public:
BMM150(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
~BMM150() 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:
struct trim_registers {
int8_t dig_x1; // trim x1 data
int8_t dig_y1; // trim y1 data
int8_t dig_x2; // trim x2 data
int8_t dig_y2; // trim y2 data
uint16_t dig_z1; // trim z1 data
int16_t dig_z2; // trim z2 data
int16_t dig_z3; // trim z3 data
int16_t dig_z4; // trim z4 data
uint8_t dig_xy1; // trim xy1 data
int8_t dig_xy2; // trim xy2 data
uint16_t dig_xyz1; // trim xyz1 data
} _trim_data{};
// 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);
void RegisterClearBits(Register reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); };
void RegisterSetBits(Register reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); };
// obtain the compensated magnetometer data in micro-tesla.
float compensate_x(int16_t mag_data_x, uint16_t data_rhall);
float compensate_y(int16_t mag_data_y, uint16_t data_rhall);
float compensate_z(int16_t mag_data_z, uint16_t data_rhall);
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")};
perf_counter_t _overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": overflow")};
perf_counter_t _self_test_failed_perf{perf_alloc(PC_COUNT, MODULE_NAME": self test failed")};
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,
SELF_TEST_CHECK,
READ_TRIM,
CONFIGURE,
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::POWER_CONTROL, POWER_CONTROL_BIT::PowerControl, POWER_CONTROL_BIT::SoftReset },
{ Register::OP_MODE, OP_MODE_BIT::ODR_20Hz, OP_MODE_BIT::Opmode_Sleep | OP_MODE_BIT::Self_Test },
{ Register::REPXY, REPXY_BIT::XY_HA_SET, REPXY_BIT::XY_HA_CLEAR },
{ Register::REPZ, REPZ_BIT::Z_HA_SET, REPZ_BIT::Z_HA_CLEAR },
};
};