New driver for the LIS3MDL magnetometer.

2026-10-28 21:23:33 +08:00 · 2016-04-22 10:30:19 +02:00
parent ff800a4c97
commit 45a601b9c1
12 changed files with 2235 additions and 1 deletions
@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__lis3mdl
+	MAIN lis3mdl
+
+	STACK 1200
+	COMPILE_FLAGS
+		-Weffc++
+		-Os
+	SRCS
+		lis3mdl_i2c.cpp
+		lis3mdl_spi.cpp
+		lis3mdl.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 lis3mdl.h
+ *
+ * Shared defines for the LIS3MDL driver.
+ */
+
+#pragma once
+
+#define ADDR_WHO_AM_I			0x0f
+#define ID_WHO_AM_I				0x3d
+
+/* interface factories */
+extern device::Device *LIS3MDL_SPI_interface(int bus);
+extern device::Device *LIS3MDL_I2C_interface(int bus);
+typedef device::Device *(*LIS3MDL_constructor)(int);
@@ -0,0 +1,186 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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 lis3mdl_i2c.cpp
+ *
+ * I2C interface for LIS3MDL
+ */
+
+/* XXX trim includes */
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/i2c.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_device.h>
+
+#include "lis3mdl.h"
+#include "board_config.h"
+
+#undef DEVICE_DEBUG
+#define DEVICE_DEBUG printf
+
+#ifdef PX4_I2C_OBDEV_LIS3MDL
+
+#define LIS3MDLL_ADDRESS		PX4_I2C_OBDEV_LIS3MDL
+
+device::Device *LIS3MDL_I2C_interface(int bus);
+
+class LIS3MDL_I2C : public device::I2C
+{
+public:
+	LIS3MDL_I2C(int bus);
+	virtual ~LIS3MDL_I2C();
+
+	virtual int	init();
+	virtual int	read(unsigned address, void *data, unsigned count);
+	virtual int	write(unsigned address, void *data, unsigned count);
+
+	virtual int	ioctl(unsigned operation, unsigned &arg);
+
+protected:
+	virtual int	probe();
+
+};
+
+device::Device *
+LIS3MDL_I2C_interface(int bus)
+{
+	return new LIS3MDL_I2C(bus);
+}
+
+LIS3MDL_I2C::LIS3MDL_I2C(int bus) :
+	I2C("LIS3MDL_I2C", nullptr, bus, LIS3MDLL_ADDRESS, 400000)
+{
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LIS3MDL;
+}
+
+LIS3MDL_I2C::~LIS3MDL_I2C()
+{
+}
+
+int
+LIS3MDL_I2C::init()
+{
+	/* this will call probe() */
+	return I2C::init();
+}
+
+int
+LIS3MDL_I2C::ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+
+	case MAGIOCGEXTERNAL:
+// On PX4v1 the MAG can be on an internal I2C
+// On everything else its always external
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+		if (_bus == PX4_I2C_BUS_EXPANSION) {
+			return 1;
+
+		} else {
+			return 0;
+		}
+
+#else
+		return 1;
+#endif
+
+	case DEVIOCGDEVICEID:
+		return CDev::ioctl(nullptr, operation, arg);
+
+	default:
+		ret = -EINVAL;
+	}
+
+	return ret;
+}
+
+int
+LIS3MDL_I2C::probe()
+{
+	uint8_t data = 0;
+
+	_retries = 10;
+
+	if (read(ADDR_WHO_AM_I, &data, 1)) {
+		DEVICE_DEBUG("read_reg fail");
+		return -EIO;
+	}
+
+	_retries = 2;
+
+	if (data != ID_WHO_AM_I) {
+		DEVICE_DEBUG("LIS3MDL bad ID: %02x", data);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int
+LIS3MDL_I2C::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], count + 1, nullptr, 0);
+}
+
+int
+LIS3MDL_I2C::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t cmd = address;
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}
+
+#endif /* PX4_I2C_OBDEV_LIS3MDL */
@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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 lis3mdl_spi.cpp
+ *
+ * SPI interface for LIS3MDL
+ */
+
+/* XXX trim includes */
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_device.h>
+
+#include "lis3mdl.h"
+#include "board_config.h"
+
+#undef DEVICE_DEBUG
+#define DEVICE_DEBUG printf
+
+#ifdef PX4_SPIDEV_LIS
+
+/* SPI protocol address bits */
+#define DIR_READ			(1<<7)
+#define DIR_WRITE			(0<<7)
+#define ADDR_INCREMENT			(1<<6)
+
+device::Device *LIS3MDL_SPI_interface(int bus);
+
+class LIS3MDL_SPI : public device::SPI
+{
+public:
+	LIS3MDL_SPI(int bus, spi_dev_e device);
+	virtual ~LIS3MDL_SPI();
+
+	virtual int	init();
+	virtual int	read(unsigned address, void *data, unsigned count);
+	virtual int	write(unsigned address, void *data, unsigned count);
+	virtual int	ioctl(unsigned operation, unsigned &arg);
+};
+
+device::Device *
+LIS3MDL_SPI_interface(int bus)
+{
+	return new LIS3MDL_SPI(bus, (spi_dev_e)PX4_SPIDEV_LIS);
+}
+
+LIS3MDL_SPI::LIS3MDL_SPI(int bus, spi_dev_e device) :
+	SPI("LIS3MDL_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */)
+{
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LIS3MDL;
+}
+
+LIS3MDL_SPI::~LIS3MDL_SPI()
+{
+}
+
+int
+LIS3MDL_SPI::init()
+{
+	int ret;
+
+	ret = SPI::init();
+
+	if (ret != OK) {
+		DEVICE_DEBUG("SPI init failed");
+		return -EIO;
+	}
+
+	// read WHO_AM_I value
+	uint8_t data = 0;
+
+	if (read(ADDR_WHO_AM_I, &data, 1)) {
+		DEVICE_DEBUG("LIS3MDL read_reg fail");
+	}
+
+	if (data != ID_WHO_AM_I) {
+		DEVICE_DEBUG("LIS3MDL bad ID: %02x", data);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int
+LIS3MDL_SPI::ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+
+	case MAGIOCGEXTERNAL:
+		/*
+		 * Even if this sensor is on the external SPI
+		 * bus it is still internal to the autopilot
+		 * assembly, so always return 0 for internal.
+		 */
+		return 0;
+
+	case DEVIOCGDEVICEID:
+		return CDev::ioctl(nullptr, operation, arg);
+
+	default: {
+			ret = -EINVAL;
+		}
+	}
+
+	return ret;
+}
+
+int
+LIS3MDL_SPI::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address | DIR_WRITE;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], &buf[0], count + 1);
+}
+
+int
+LIS3MDL_SPI::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address | DIR_READ | ADDR_INCREMENT;
+
+	int ret = transfer(&buf[0], &buf[0], count + 1);
+	memcpy(data, &buf[1], count);
+	return ret;
+}
+
+#endif /* PX4_SPIDEV_LIS */