mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-12 07:13:33 +08:00
Add VCM5883 Magnetometer
Fix LSB/G
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
820a442fe3
commit
4acc18ca60
@@ -20,6 +20,7 @@ then
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else
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# Internal SPI bus ICM20649
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icm20649 -s -R 4 start
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vcm5883 -I -b 4 -R 6 start
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fi
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# Internal SPI bus ICM42688p
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@@ -42,6 +43,7 @@ else
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else
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# Internal SPI bus ICM20649
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icm20649 -s -R 6 start
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vcm5883 -I -b 4 start
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fi
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# Internal SPI bus ICM42688p
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@@ -59,6 +59,7 @@
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#define DRV_MAG_DEVTYPE_RM3100 0x07
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#define DRV_MAG_DEVTYPE_QMC5883L 0x08
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#define DRV_MAG_DEVTYPE_AK09916 0x09
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#define DRV_MAG_DEVTYPE_VCM5883 0x0A
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#define DRV_MAG_DEVTYPE_IST8308 0x0B
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#define DRV_MAG_DEVTYPE_LIS2MDL 0x0C
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@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2017 PX4 Development Team. All rights reserved.
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# Copyright (c) 2017, 2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -40,3 +40,4 @@ add_subdirectory(lis2mdl)
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add_subdirectory(lis3mdl)
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add_subdirectory(lsm303agr)
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add_subdirectory(rm3100)
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add_subdirectory(vtrantech)
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@@ -0,0 +1,34 @@
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_subdirectory(vcm5883)
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@@ -0,0 +1,46 @@
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__magnetometer__vcm5883
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MAIN vcm5883
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COMPILE_FLAGS
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SRCS
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VCM5883.cpp
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VCM5883.hpp
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vcm5883_main.cpp
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VTT_VCM5883_registers.hpp
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DEPENDS
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drivers_magnetometer
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px4_work_queue
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)
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@@ -0,0 +1,300 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "VCM5883.hpp"
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using namespace time_literals;
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static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
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{
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return (msb << 8u) | lsb;
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}
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VCM5883::VCM5883(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
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I2C(DRV_MAG_DEVTYPE_VCM5883, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
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_px4_mag(get_device_id(), rotation)
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{
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_px4_mag.set_external(external());
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}
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VCM5883::~VCM5883()
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{
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perf_free(_reset_perf);
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perf_free(_bad_register_perf);
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perf_free(_bad_transfer_perf);
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}
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int VCM5883::init()
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{
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int ret = I2C::init();
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if (ret != PX4_OK) {
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DEVICE_DEBUG("I2C::init failed (%i)", ret);
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return ret;
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}
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return Reset() ? 0 : -1;
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}
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bool VCM5883::Reset()
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{
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_state = STATE::RESET;
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ScheduleClear();
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ScheduleNow();
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return true;
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}
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void VCM5883::print_status()
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{
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I2CSPIDriverBase::print_status();
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perf_print_counter(_reset_perf);
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perf_print_counter(_bad_register_perf);
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perf_print_counter(_bad_transfer_perf);
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}
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int VCM5883::probe()
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{
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_retries = 1;
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for (int i = 0; i < 3; i++) {
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// first read 0x0 once
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const uint8_t cmd = 0;
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uint8_t buffer{};
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if (transfer(&cmd, 1, &buffer, 1) == PX4_OK) {
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const uint8_t CHIP_ID = RegisterRead(Register::CHIP_ID);
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if (CHIP_ID == Chip_ID) {
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return PX4_OK;
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}
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}
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}
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return PX4_ERROR;
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}
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void VCM5883::RunImpl()
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{
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const hrt_abstime now = hrt_absolute_time();
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switch (_state) {
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case STATE::RESET:
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// CNTL1: Software Reset
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RegisterWrite(Register::CNTL1, CNTL1_BIT::SOFT_RST);
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_reset_timestamp = now;
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_failure_count = 0;
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_state = STATE::WAIT_FOR_RESET;
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perf_count(_reset_perf);
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ScheduleDelayed(10_ms); // POR Completion Time (not documented)
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break;
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case STATE::WAIT_FOR_RESET:
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// SOFT_RST: This bit is automatically reset to zero after POR routine
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if ((RegisterRead(Register::CHIP_ID) == Chip_ID)
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&& (RegisterRead(Register::CNTL1) == 0)) {
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// if reset succeeded then configure
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_state = STATE::CONFIGURE;
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ScheduleDelayed(10_ms);
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} else {
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// RESET not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Reset failed, retrying");
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_state = STATE::RESET;
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ScheduleDelayed(100_ms);
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} else {
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PX4_DEBUG("Reset not complete, check again in 10 ms");
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ScheduleDelayed(10_ms);
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}
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}
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break;
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case STATE::CONFIGURE:
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if (Configure()) {
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// if configure succeeded then start reading every 20 ms (50 Hz)
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_state = STATE::READ;
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ScheduleOnInterval(20_ms, 20_ms);
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} else {
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// CONFIGURE not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Configure failed, resetting");
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_state = STATE::RESET;
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} else {
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PX4_DEBUG("Configure failed, retrying");
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}
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ScheduleDelayed(100_ms);
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}
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break;
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case STATE::READ: {
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struct TransferBuffer {
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uint8_t X_LSB;
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uint8_t X_MSB;
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uint8_t Y_LSB;
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uint8_t Y_MSB;
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uint8_t Z_LSB;
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uint8_t Z_MSB;
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} buffer{};
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bool success = false;
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uint8_t cmd = static_cast<uint8_t>(Register::X_LSB);
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if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
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int16_t x = combine(buffer.X_MSB, buffer.X_LSB);
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int16_t y = combine(buffer.Y_MSB, buffer.Y_LSB);
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int16_t z = combine(buffer.Z_MSB, buffer.Z_LSB);
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if (x != _prev_data[0] || y != _prev_data[1] || z != _prev_data[2]) {
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_prev_data[0] = x;
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_prev_data[1] = y;
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_prev_data[2] = z;
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// Data Sheet is incorrect
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y = (y == INT16_MIN) ? INT16_MAX : -y; // -y
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_px4_mag.update(now, x, y, z);
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success = true;
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if (_failure_count > 0) {
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_failure_count--;
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}
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}
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} else {
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perf_count(_bad_transfer_perf);
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}
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if (!success) {
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_failure_count++;
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// full reset if things are failing consistently
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if (_failure_count > 10) {
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Reset();
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return;
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}
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}
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if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
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// check configuration registers periodically or immediately following any failure
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if (RegisterCheck(_register_cfg[_checked_register])) {
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_last_config_check_timestamp = now;
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_checked_register = (_checked_register + 1) % size_register_cfg;
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} else {
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// register check failed, force reset
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perf_count(_bad_register_perf);
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Reset();
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}
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}
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}
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break;
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}
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}
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bool VCM5883::Configure()
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{
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// first set and clear all configured register bits
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for (const auto ®_cfg : _register_cfg) {
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RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
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}
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// now check that all are configured
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bool success = true;
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for (const auto ®_cfg : _register_cfg) {
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if (!RegisterCheck(reg_cfg)) {
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success = false;
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}
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}
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_px4_mag.set_scale(1.f / 3000.f); // 3000 LSB/Gauss (Field Range = ±8G)
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return success;
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}
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bool VCM5883::RegisterCheck(const register_config_t ®_cfg)
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{
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bool success = true;
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const uint8_t reg_value = RegisterRead(reg_cfg.reg);
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if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
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PX4_DEBUG("0x%02" PRIX8 ": 0x%02" PRIX8 "(0x%02" PRIX8 " not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
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success = false;
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}
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if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
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PX4_DEBUG("0x%02" PRIX8 ": 0x%02" PRIX8 " (0x%02" PRIX8 " not cleared)", (uint8_t)reg_cfg.reg, reg_value,
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reg_cfg.clear_bits);
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success = false;
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}
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return success;
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}
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uint8_t VCM5883::RegisterRead(Register reg)
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{
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const uint8_t cmd = static_cast<uint8_t>(reg);
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uint8_t buffer{};
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transfer(&cmd, 1, &buffer, 1);
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return buffer;
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}
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void VCM5883::RegisterWrite(Register reg, uint8_t value)
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{
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uint8_t buffer[2] { (uint8_t)reg, value };
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transfer(buffer, sizeof(buffer), nullptr, 0);
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}
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void VCM5883::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
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{
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const uint8_t orig_val = RegisterRead(reg);
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uint8_t val = (orig_val & ~clearbits) | setbits;
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if (orig_val != val) {
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RegisterWrite(reg, val);
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}
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}
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@@ -0,0 +1,114 @@
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/****************************************************************************
|
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*
|
||||
* Copyright (c) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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/**
|
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* @file VCM5883.hpp
|
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*
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* Driver for the VCM5883 connected via I2C.
|
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*
|
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*/
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|
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#pragma once
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|
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#include "VTT_VCM5883_registers.hpp"
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|
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#include <drivers/drv_hrt.h>
|
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#include <lib/drivers/device/i2c.h>
|
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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|
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using namespace VTT_VCM5883;
|
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|
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class VCM5883 : public device::I2C, public I2CSPIDriver<VCM5883>
|
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{
|
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public:
|
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VCM5883(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
|
||||
~VCM5883() 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:
|
||||
// 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);
|
||||
|
||||
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")};
|
||||
|
||||
hrt_abstime _reset_timestamp{0};
|
||||
hrt_abstime _last_config_check_timestamp{0};
|
||||
int _failure_count{0};
|
||||
|
||||
int16_t _prev_data[3] {};
|
||||
|
||||
enum class STATE : uint8_t {
|
||||
RESET,
|
||||
WAIT_FOR_RESET,
|
||||
CONFIGURE,
|
||||
READ,
|
||||
} _state{STATE::RESET};
|
||||
|
||||
uint8_t _checked_register{0};
|
||||
static constexpr uint8_t size_register_cfg{2};
|
||||
register_config_t _register_cfg[size_register_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::CNTL1, 0, CNTL1_BIT::SET_RESET | CNTL1_BIT::SOFT_RST},
|
||||
{ Register::CNTL2, CNTL2_BIT::ODR_50HZ | CNTL2_BIT::Mode_Normal | CNTL2_BIT::CTRL2_INIT, CNTL2_BIT::ODR2},
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,101 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 VTT_VCM5883_registers.hpp
|
||||
*
|
||||
* QST VCM5883 registers.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace VTT_VCM5883
|
||||
{
|
||||
|
||||
// TODO: move to a central header
|
||||
static constexpr uint8_t Bit0 = (1 << 0);
|
||||
static constexpr uint8_t Bit1 = (1 << 1);
|
||||
static constexpr uint8_t Bit2 = (1 << 2);
|
||||
static constexpr uint8_t Bit3 = (1 << 3);
|
||||
static constexpr uint8_t Bit4 = (1 << 4);
|
||||
static constexpr uint8_t Bit5 = (1 << 5);
|
||||
static constexpr uint8_t Bit6 = (1 << 6);
|
||||
static constexpr uint8_t Bit7 = (1 << 7);
|
||||
|
||||
static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
|
||||
static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0b0001100; // default I2C address
|
||||
|
||||
static constexpr uint8_t Chip_ID = 0x82;
|
||||
|
||||
enum class Register : uint8_t {
|
||||
X_LSB = 0x00, // Data Output X LSB Register XOUT[7:0]
|
||||
X_MSB = 0x01, // Data Output X MSB Register XOUT[15:8]
|
||||
Y_LSB = 0x02, // Data Output Y LSB Register YOUT[7:0]
|
||||
Y_MSB = 0x03, // Data Output Y MSB Register YOUT[15:8]
|
||||
Z_LSB = 0x04, // Data Output Z LSB Register ZOUT[7:0]
|
||||
Z_MSB = 0x05, // Data Output Z MSB Register ZOUT[15:8]
|
||||
|
||||
CNTL2 = 0x0a, // Control Register 2
|
||||
CNTL1 = 0x0b, // Control Register 1
|
||||
REG_ID = 0x0c, // Chip ID
|
||||
|
||||
CHIP_ID = 0x0c,
|
||||
};
|
||||
|
||||
|
||||
// CNTL2
|
||||
enum CNTL2_BIT : uint8_t {
|
||||
//
|
||||
// 0AH[7:4] Note : During initialization , register 0AH(bit7~bit4) must be written 0100b
|
||||
CTRL2_INIT = Bit7,
|
||||
|
||||
// ODR[3:2]
|
||||
ODR2 = Bit2,
|
||||
ODR_50HZ = Bit3, // 10
|
||||
|
||||
// MODE[0]
|
||||
Mode0 = Bit0, //
|
||||
Mode_Normal = Bit0, // 1
|
||||
};
|
||||
|
||||
// CNTL1
|
||||
|
||||
enum CNTL1_BIT : uint8_t {
|
||||
SOFT_RST = Bit7, // Soft reset, restore default value of all registers.
|
||||
SET_RESET = Bit1 | Bit0, // Set Reset (Cleared)
|
||||
};
|
||||
|
||||
} // namespace VCM5883
|
||||
@@ -0,0 +1,105 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include "VCM5883.hpp"
|
||||
|
||||
I2CSPIDriverBase *
|
||||
VCM5883::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, int runtime_instance)
|
||||
{
|
||||
VCM5883 *instance = new VCM5883(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 VCM5883::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("vcm5883", "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 vcm5883_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
using ThisDriver = VCM5883;
|
||||
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_VCM5883);
|
||||
|
||||
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;
|
||||
}
|
||||
Reference in New Issue
Block a user