QMC5883 Magnetometer Driver (#11140)

src/drivers/drv_sensor.h

@@ -59,6 +59,7 @@
 #define DRV_MAG_DEVTYPE_LIS3MDL  0x05
 #define DRV_MAG_DEVTYPE_IST8310  0x06
 #define DRV_MAG_DEVTYPE_RM3100   0x07
+#define DRV_MAG_DEVTYPE_QMC5883  0x08
 #define DRV_ACC_DEVTYPE_LSM303D  0x11
 #define DRV_ACC_DEVTYPE_BMA180   0x12
 #define DRV_ACC_DEVTYPE_MPU6000  0x13

src/drivers/magnetometer/CMakeLists.txt

@@ -33,6 +33,7 @@
 
 add_subdirectory(bmm150)
 add_subdirectory(hmc5883)
+add_subdirectory(qmc5883)
 add_subdirectory(ist8310)
 add_subdirectory(lis3mdl)
 add_subdirectory(lsm303agr)

src/drivers/magnetometer/qmc5883/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2019 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__qmc5883
+	MAIN qmc5883
+	STACK_MAIN 1500
+	COMPILE_FLAGS
+	SRCS
+		qmc5883_i2c.cpp
+		qmc5883_spi.cpp
+		qmc5883.cpp
+	DEPENDS
+	)
+

src/drivers/magnetometer/qmc5883/qmc5883.h

@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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 qmc5883.h
+ *
+ * Shared defines for the qmc5883 driver.
+ */
+
+#pragma once
+
+#define ADDR_ID_A			0x0C
+#define ADDR_ID_B			0x0D
+
+#define ID_A_WHO_AM_I			0x01
+#define ID_B_WHO_AM_I			0xFF
+
+
+/* interface factories */
+extern device::Device *QMC5883_SPI_interface(int bus);
+extern device::Device *QMC5883_I2C_interface(int bus);
+typedef device::Device *(*QMC5883_constructor)(int);

src/drivers/magnetometer/qmc5883/qmc5883_i2c.cpp

@@ -0,0 +1,180 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2019 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 QMC5883_I2C.cpp
+ *
+ * I2C interface for QMC5883
+ */
+
+/* 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 "qmc5883.h"
+
+#include "board_config.h"
+
+#define QMC5883L_ADDRESS		0x0D
+
+device::Device *QMC5883_I2C_interface(int bus);
+
+class QMC5883_I2C : public device::I2C
+{
+public:
+	QMC5883_I2C(int bus);
+	virtual ~QMC5883_I2C() = default;
+
+	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 *
+QMC5883_I2C_interface(int bus)
+{
+	return new QMC5883_I2C(bus);
+}
+
+QMC5883_I2C::QMC5883_I2C(int bus) :
+	I2C("QMC5883_I2C", nullptr, bus, QMC5883L_ADDRESS, 400000)
+{
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_QMC5883;
+}
+
+int
+QMC5883_I2C::ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+
+	case MAGIOCGEXTERNAL:
+		return external();
+
+	case DEVIOCGDEVICEID:
+		return CDev::ioctl(nullptr, operation, arg);
+
+	default:
+		ret = -EINVAL;
+	}
+
+	return ret;
+}
+
+int
+QMC5883_I2C::probe()
+{
+	uint8_t data[2] = {0, 0};
+
+	// must read registers 0x00 once or reset to read ID registers reliably
+	read(0x00, &data[0], 1);
+	read(0x00, &data[0], 1);
+	read(0x00, &data[0], 1);
+
+	_retries = 10;
+
+	bool read_valid = false;
+	bool id_valid = false;
+
+	for (unsigned i = 0; i < _retries; i++) {
+		//attempt read
+		if (!read(ADDR_ID_A, &data[0], 1) &&
+		    !read(ADDR_ID_B, &data[1], 1)) {
+			read_valid = true;
+		}
+
+		if (read_valid && data[0] == ID_A_WHO_AM_I &&
+		    data[1] == ID_B_WHO_AM_I) {
+			id_valid = true;
+		}
+
+		if (read_valid && id_valid) {
+			return OK;
+		}
+
+		// wait 100 usec
+		usleep(100);
+	}
+
+	if (!read_valid) {
+		DEVICE_DEBUG("read_reg fail");
+	}
+
+	if (!id_valid) {
+		DEVICE_DEBUG("ID byte mismatch (%02x,%02x)", data[0], data[1]);
+	}
+
+	return -EIO;
+}
+
+int
+QMC5883_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
+QMC5883_I2C::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t cmd = address;
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}

src/drivers/magnetometer/qmc5883/qmc5883_spi.cpp

@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2019 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 QMC5883_SPI.cpp
+ *
+ * SPI interface for HMC5983
+ */
+
+/* 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 "qmc5883.h"
+#include <board_config.h>
+
+#ifdef PX4_SPIDEV_HMC
+
+/* SPI protocol address bits */
+#define DIR_READ			(1<<7)
+#define DIR_WRITE			(0<<7)
+#define ADDR_INCREMENT			(1<<6)
+
+#define HMC_MAX_SEND_LEN		4
+#define HMC_MAX_RCV_LEN			8
+
+device::Device *QMC5883_SPI_interface(int bus);
+
+class QMC5883_SPI : public device::SPI
+{
+public:
+	QMC5883_SPI(int bus, uint32_t device);
+	virtual ~QMC5883_SPI() = default;
+
+	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 *
+QMC5883_SPI_interface(int bus)
+{
+	return new QMC5883_SPI(bus, PX4_SPIDEV_HMC);
+}
+
+QMC5883_SPI::QMC5883_SPI(int bus, uint32_t device) :
+	SPI("QMC5883_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */)
+{
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_QMC5883;
+}
+
+int
+QMC5883_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[2] = {0, 0};
+
+	if (read(ADDR_ID_A, &data[0], 1) ||
+	    read(ADDR_ID_B, &data[1], 1)) {
+		DEVICE_DEBUG("read_reg fail");
+	}
+
+	if ((data[0] != ID_A_WHO_AM_I) ||
+	    (data[1] != ID_B_WHO_AM_I)) {
+		DEVICE_DEBUG("ID byte mismatch (%02x,%02x)", data[0], data[1]);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int
+QMC5883_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
+QMC5883_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
+QMC5883_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_HMC */