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RM3100: enable I2C (#11038)

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Kevin Lopez Alvarez 2019-01-09 14:57:19 +01:00 committed by Daniel Agar
parent 1699c577c3
commit 490eeeb9d9
3 changed files with 18 additions and 8 deletions
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3
src/drivers/magnetometer/rm3100/rm3100.h
View File

@ -59,7 +59,8 @@
* RM3100 internal constants and data structures.
*/
#define RM3100_CONVERSION_INTERVAL 6850 // Microseconds, corresponds to 146 Hz (cycle count 200 on 3 axis)
/* At 146 Hz we encounter errors, 100 Hz is safer */
#define RM3100_CONVERSION_INTERVAL 10000 // Microseconds, corresponds to 100 Hz (cycle count 200 on 3 axis)
#define UTESLA_TO_GAUSS 100.0f
#define RM3100_SENSITIVITY 75.0f

21
src/drivers/magnetometer/rm3100/rm3100_i2c.cpp
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@ -61,9 +61,6 @@
#define RM3100_ADDRESS 0x20
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
class RM3100_I2C : public device::I2C
{
public:
@ -143,8 +140,20 @@ RM3100_I2C::probe()
int
RM3100_I2C::read(unsigned address, void *data, unsigned count)
{
uint8_t cmd = address | DIR_READ;
return transfer(&cmd, 1, (uint8_t *)data, count);
uint8_t cmd = address;
int ret;
/* We need a first transfer where we write the register to read */
ret = transfer(&cmd, 1, nullptr, 0);
if (ret != OK) {
return ret;
}
/* Now we read the previously selected register */
ret = transfer(nullptr, 0, (uint8_t *)data, count);
return ret;
}
int
@ -156,7 +165,7 @@ RM3100_I2C::write(unsigned address, void *data, unsigned count)
return -EIO;
}
buf[0] = address | DIR_WRITE;
buf[0] = address;
memcpy(&buf[1], data, count);
return transfer(&buf[0], count + 1, nullptr, 0);

2
src/drivers/magnetometer/rm3100/rm3100_main.cpp
View File

@ -73,7 +73,7 @@ rm3100::init(RM3100_BUS bus_id)
return false;
} else {
PX4_INFO("Poll rate set to max (146 Hz)");
PX4_INFO("Poll rate set to 100 Hz");
}
close(fd);