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sensors: move mag aggregation to new VehicleMagnetometer WorkItem

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- purge all reminaing magnetometer IOCTL usage
 - mag calibration add off diagonal (soft iron) scale factors
This commit is contained in:
Daniel Agar
2020-08-21 10:12:13 -04:00
parent ad148af2fd
commit 971b1e4b4d
72 changed files with 870 additions and 1134 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/drv_mag.h
-26
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@@ -51,30 +51,4 @@
#include <uORB/topics/sensor_mag.h>
/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */
struct mag_calibration_s {
float x_offset;
float x_scale;
float y_offset;
float y_scale;
float z_offset;
float z_scale;
};
/*
* ioctl() definitions
*/
#define _MAGIOCBASE (0x2400)
#define _MAGIOC(_n) (_PX4_IOC(_MAGIOCBASE, _n))
/** set the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCSSCALE _MAGIOC(4)
/** copy the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCGSCALE _MAGIOC(5)
/** determine if mag is external or onboard */
#define MAGIOCGEXTERNAL _MAGIOC(11)
#endif /* _DRV_MAG_H */
src/drivers/imu/adis16448/ADIS16448.cpp
-2
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@@ -307,8 +307,6 @@ ADIS16448::print_status()
perf_print_counter(_perf_transfer);
perf_print_counter(_perf_bad_transfer);
perf_print_counter(_perf_crc_bad);
_px4_mag.print_status();
}
void
src/drivers/imu/invensense/icm20948/ICM20948_AK09916.cpp
-2
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@@ -75,8 +75,6 @@ void ICM20948_AK09916::PrintInfo()
{
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_magnetic_sensor_overflow_perf);
_px4_mag.print_status();
}
void ICM20948_AK09916::Run()
src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp
-2
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@@ -75,8 +75,6 @@ void MPU9250_AK8963::PrintInfo()
{
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_magnetic_sensor_overflow_perf);
_px4_mag.print_status();
}
void MPU9250_AK8963::Run()
src/drivers/imu/mpu9250/MPU9250_mag.h
-2
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@@ -124,8 +124,6 @@ public:
bool ak8963_check_id(uint8_t &id);
bool ak8963_read_adjustments();
void print_status() { _px4_mag.print_status(); }
protected:
device::Device *_interface;
src/drivers/imu/mpu9250/mpu9250.cpp
-2
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@@ -669,6 +669,4 @@ MPU9250::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_bad_registers);
perf_print_counter(_duplicates);
_mag.print_status();
}
src/drivers/magnetometer/akm/ak09916/AK09916.cpp
-2
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@@ -84,8 +84,6 @@ void AK09916::print_status()
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_magnetic_sensor_overflow_perf);
_px4_mag.print_status();
}
int AK09916::probe()
src/drivers/magnetometer/akm/ak8963/AK8963.cpp
-2
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@@ -84,8 +84,6 @@ void AK8963::print_status()
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_magnetic_sensor_overflow_perf);
_px4_mag.print_status();
}
int AK8963::probe()
src/drivers/magnetometer/bmm150/bmm150.cpp
-1
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@@ -549,7 +549,6 @@ void BMM150::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_bad_transfers);
perf_print_counter(_good_transfers);
_px4_mag.print_status();
}
int BMM150::self_test()
src/drivers/magnetometer/hmc5883/HMC5883.cpp
-1
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@@ -482,5 +482,4 @@ void HMC5883::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("interval: %u us\n", _measure_interval);
_px4_mag.print_status();
}
src/drivers/magnetometer/hmc5883/HMC5883.hpp
-1
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@@ -39,7 +39,6 @@
#include <drivers/device/i2c.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_device.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp
-1
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@@ -39,7 +39,6 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "hmc5883.h"
src/drivers/magnetometer/hmc5883/hmc5883_spi.cpp
-1
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@@ -39,7 +39,6 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/spi.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "hmc5883.h"
src/drivers/magnetometer/isentek/ist8308/IST8308.cpp
-1
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@@ -81,7 +81,6 @@ void IST8308::print_status()
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
_px4_mag.print_status();
}
int IST8308::probe()
src/drivers/magnetometer/ist8310/ist8310.cpp
-2
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@@ -49,7 +49,6 @@
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/perf/perf_counter.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_device.h>
@@ -581,7 +580,6 @@ void IST8310::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u interval\n", _measure_interval);
_px4_mag.print_status();
}
I2CSPIDriverBase *
src/drivers/magnetometer/lis2mdl/lis2mdl.cpp
-1
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@@ -163,7 +163,6 @@ LIS2MDL::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
PX4_INFO("poll interval: %u", _measure_interval);
_px4_mag.print_status();
}
void
src/drivers/magnetometer/lis2mdl/lis2mdl.h
-1
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@@ -41,7 +41,6 @@
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mag.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "board_config.h"
src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/spi.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "board_config.h"
src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
-1
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@@ -195,7 +195,6 @@ void LIS3MDL::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
PX4_INFO("poll interval: %u", _measure_interval);
_px4_mag.print_status();
}
int LIS3MDL::reset()
src/drivers/magnetometer/lis3mdl/lis3mdl.h
-1
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@@ -41,7 +41,6 @@
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mag.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "board_config.h"
src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/spi.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "board_config.h"
src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
-1
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@@ -334,5 +334,4 @@ void LSM303AGR::print_status()
perf_print_counter(_mag_sample_perf);
perf_print_counter(_bad_registers);
perf_print_counter(_bad_values);
_px4_mag.print_status();
}
src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp
-1
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@@ -35,7 +35,6 @@
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_mag.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.cpp
-1
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@@ -200,5 +200,4 @@ void LSM9DS1_MAG::print_status()
perf_print_counter(_interval_perf);
perf_print_counter(_transfer_perf);
perf_print_counter(_data_overrun_perf);
_px4_mag.print_status();
}
src/drivers/magnetometer/qmc5883/QMC5883.cpp
-1
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@@ -308,5 +308,4 @@ void QMC5883::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("interval: %u us\n", _measure_interval);
_px4_mag.print_status();
}
src/drivers/magnetometer/qmc5883/QMC5883.hpp
-1
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@@ -45,7 +45,6 @@
#include <drivers/device/i2c.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_device.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
src/drivers/magnetometer/qmc5883/QMC5883_I2C.cpp
-1
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@@ -39,7 +39,6 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "qmc5883.h"
src/drivers/magnetometer/rm3100/rm3100.cpp
-1
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@@ -267,7 +267,6 @@ void RM3100::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
PX4_INFO("poll interval: %u", _measure_interval);
_px4_mag.print_status();
}
int RM3100::reset()
src/drivers/magnetometer/rm3100/rm3100.h
-1
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@@ -41,7 +41,6 @@
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mag.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/i2c_spi_buses.h>
src/drivers/magnetometer/rm3100/rm3100_i2c.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "board_config.h"
src/drivers/magnetometer/rm3100/rm3100_spi.cpp
-1
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@@ -49,7 +49,6 @@
#include <unistd.h>
#include <drivers/device/spi.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "board_config.h"