lis2mdl.h
4.98 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
/****************************************************************************
*
* 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 lis2mdl.h
*
* Shared defines for the LIS2MDL driver.
*/
#pragma once
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
/**
* LIS2MDL internal constants and data structures.
*/
/* Max measurement rate is 20Hz */
#define LIS2MDL_CONVERSION_INTERVAL (1000000 / 20)
#define ADDR_WHO_AM_I 0x4f
#define ID_WHO_AM_I 0x40
#define ADDR_CFG_REG_A 0x60
#define ADDR_CFG_REG_B 0x61
#define ADDR_CFG_REG_C 0x62
#define ADDR_INT_CTRL_REG 0x63
#define ADDR_STATUS_REG 0x67
#define ADDR_OUT_X_L 0x68
#define ADDR_OUT_X_H 0x69
#define ADDR_OUT_Y_L 0x6a
#define ADDR_OUT_Y_H 0x6b
#define ADDR_OUT_Z_L 0x6c
#define ADDR_OUT_Z_H 0x6d
#define ADDR_OUT_T_L 0x6e
#define ADDR_OUT_T_H 0x6f
#define CFG_REG_A_TEMP_COMP_EN (1 << 7)
#define CFG_REG_A_ODR (1 << 2) /* 20Hz (100Hz or 50Hz creates spikes randomly) */
#define CFG_REG_A_MD (0 << 0) /* continuous mode */
#define CFG_REG_B_LPF (1 << 0) /* LPF */
#define CFG_REG_C_BDU (1 << 4) /* avoids reading of incorrect data due to async reads */
/* interface factories */
extern device::Device *LIS2MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
extern device::Device *LIS2MDL_I2C_interface(int bus, int bus_frequency);
class LIS2MDL : public I2CSPIDriver<LIS2MDL>
{
public:
LIS2MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
virtual ~LIS2MDL();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
virtual int init();
void print_status() override;
/**
* Configures the device with default register values.
*/
int set_default_register_values();
void RunImpl();
private:
PX4Magnetometer _px4_mag;
device::Device *_interface;
perf_counter_t _comms_errors;
perf_counter_t _conf_errors;
perf_counter_t _range_errors;
perf_counter_t _sample_perf;
unsigned int _measure_interval;
/**
* Issue a measurement command & publish data.
*
* @return OK if the measurement command was successful.
*/
int measure();
/**
* @brief Initialises the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* @brief Reads a register.
*
* @param reg The register to read.
* @param val The value read.
* @return OK on read success.
*/
int read_reg(uint8_t reg, uint8_t &val);
/**
* @brief Writes a register.
*
* @param reg The register to write.
* @param val The value to write.
* @return OK on write success.
*/
int write_reg(uint8_t reg, uint8_t val);
};