drivers/magnetometer: Bosch BMM150 rewrite

- same pattern as other new drivers (state machine, checked register mechanism, no sleeps, etc) - self test has been rolled into regular startup sequence - still I2C only, but will be expanded in the future - configure to high accuracy preset
2026-10-28 07:43:34 +08:00 · 2021-02-06 12:50:23 -05:00
parent 8834741be8
commit 41b0f83c0c
10 changed files with 879 additions and 1062 deletions
@@ -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 "BMM150.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+I2CSPIDriverBase *BMM150::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				      int runtime_instance)
+{
+	BMM150 *instance = new BMM150(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 BMM150::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("bmm150", "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 bmm150_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = BMM150;
+	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_BMM150);
+
+	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;
+}