mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 00:03:34 +08:00
initial commit of bmm150
This commit is contained in:
Sergej Scheiermann
committed by
Lorenz Meier
Lorenz Meier
parent
c5e841256a
commit
c3711efd27
@@ -180,42 +180,42 @@ fi
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if ver hwcmp PX4FMU_V4
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then
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# External I2C bus
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if hmc5883 -C -T -X start
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then
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fi
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#if hmc5883 -C -T -X start
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#then
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#fi
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if lis3mdl -R 2 start
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then
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fi
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#if lis3mdl -R 2 start
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#then
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#fi
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# Internal SPI bus is rotated 90 deg yaw
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if hmc5883 -C -T -S -R 2 start
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then
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fi
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#if hmc5883 -C -T -S -R 2 start
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#then
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#fi
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# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
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if mpu6000 -R 2 -T 20608 start
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then
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fi
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#if mpu6000 -R 2 -T 20608 start
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#then
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#fi
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# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
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if mpu6000 -R 2 -T 20602 start
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then
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fi
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#if mpu6000 -R 2 -T 20602 start
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#then
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#fi
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# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
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# chip select pin. There are different boards with either one of them and the WHO_AM_I register
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# will prevent the incorrect driver from a successful initialization.
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# Internal SPI bus mpu9250 is rotated 90 deg yaw
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if mpu9250 -R 2 start
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then
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fi
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#if mpu9250 -R 2 start
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#then
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#fi
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# Internal SPI bus BMI160
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if bmi160 start
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then
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fi
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#if bmi160 start
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#then
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#fi
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# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
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# chip select pin. There are different boards with either one of them and the WHO_AM_I register
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@@ -230,6 +230,11 @@ then
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if bmi055 -G start
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then
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fi
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# expansion i2c used for BMM150
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if bmm150 start
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then
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fi
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fi
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@@ -52,6 +52,7 @@ set(config_module_list
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drivers/bma180
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drivers/bmi160
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drivers/bmi055
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drivers/bmm150
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drivers/tap_esc
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drivers/iridiumsbd
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@@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2015 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__bmm150
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MAIN bmm150
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STACK_MAIN 1200
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COMPILE_FLAGS
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-Weffc++
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SRCS
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bmm150.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,364 @@
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#ifndef BMM150_HPP_
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#define BMM150_HPP_
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#include <px4_config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <getopt.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <nuttx/wqueue.h>
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#include <systemlib/conversions.h>
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#include <nuttx/arch.h>
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#include <nuttx/clock.h>
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#include <board_config.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/device/integrator.h>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_mag.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <lib/conversion/rotation.h>
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#define BMM150_DEVICE_PATH_MAG "/dev/bmm150_i2c_int"
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#define BMM150_DEVICE_PATH_MAG_EXT "/dev/bmm150_i2c_ext"
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#define BMM150_SLAVE_ADDRESS PX4_I2C_OBDEV_BMM150
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#define BMM150_BUS_SPEED 1000*100
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/* Chip Identification number */
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#define BMM150_CHIP_ID 0x32
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/* Chip Id Register */
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#define BMM150_CHIP_ID_REG 0x40
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/* Data Registers */
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#define BMM150_DATA_X_LSB_REG 0x42
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#define BMM150_DATA_X_MSB_REG 0x43
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#define BMM150_DATA_Y_LSB_REG 0x44
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#define BMM150_DATA_Y_MSB_REG 0x45
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#define BMM150_DATA_Z_LSB_REG 0x46
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#define BMM150_DATA_Z_MSB_REG 0x47
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#define BMM150_R_LSB 0x48
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#define BMM150_R_MSB 0x49
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/* Interrupt status registers */
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#define BMM150_INT_STATUS_REG 0x4A
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/* Control Registers */
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#define BMM150_POWER_CTRL_REG 0x4B
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#define BMM150_CTRL_REG 0x4C
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#define BMM150_INT_SETT_CTRL_REG 0x4D
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#define BMM150_AXES_EN_CTRL_REG 0x4E
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#define BMM150_LOW_THRES_SETT_REG 0x4F
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#define BMM150_HIGH_THERS_SETT_REG 0x50
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/* Repetitions control registers */
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#define BMM150_XY_REP_CTRL_REG 0x51
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#define BMM150_Z_REP_CTRL_REG 0x52
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/* Preset mode definitions */
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#define BMM150_PRESETMODE_LOWPOWER 1
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#define BMM150_PRESETMODE_REGULAR 2
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#define BMM150_PRESETMODE_HIGHACCURACY 3
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#define BMM150_PRESETMODE_ENHANCED 4
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/* Data rate value definitions */
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#define BMM150_DATA_RATE_10HZ 0x00
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#define BMM150_DATA_RATE_02HZ 0x08
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#define BMM150_DATA_RATE_06HZ 0x10
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#define BMM150_DATA_RATE_08HZ 0x18
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#define BMM150_DATA_RATE_15HZ 0x20
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#define BMM150_DATA_RATE_20HZ 0x28
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#define BMM150_DATA_RATE_25HZ 0x30
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#define BMM150_DATA_RATE_30HZ 0x38
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/* Advance self-test settings Definitions */
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#define BMM150_ADV_ST_OFF 0x00
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#define BMM150_ADV_ST_NEG 0x80
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#define BMM150_ADV_ST_POS 0xC0
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/* Interrupt settings and axes enable bits definitions */
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#define BMM150_CHANNEL_X_ENABLE 0x08
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#define BMM150_CHANNEL_Y_ENABLE 0x10
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/*Overflow Definitions */
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/* compensated output value returned if sensor had overflow */
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#define BMM150_OVERFLOW_OUTPUT -32768
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#define BMM150_OVERFLOW_OUTPUT_S32 ((int32_t)(-2147483647-1))
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#define BMM150_OVERFLOW_OUTPUT_FLOAT 0.0f
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#define BMM150_FLIP_OVERFLOW_ADCVAL -4096
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#define BMM150_HALL_OVERFLOW_ADCVAL -16384
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/* Preset modes - Repetitions-XY Rates */
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#define BMM150_LOWPOWER_REPXY 1
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#define BMM150_REGULAR_REPXY 4
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#define BMM150_HIGHACCURACY_REPXY 23
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#define BMM150_ENHANCED_REPXY 7
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/* Preset modes - Repetitions-Z Rates */
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#define BMM150_LOWPOWER_REPZ 2
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#define BMM150_REGULAR_REPZ 14
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#define BMM150_HIGHACCURACY_REPZ 82
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#define BMM150_ENHANCED_REPZ 26
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/* Preset modes - Data rates */
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#define BMM150_LOWPOWER_DR BMM150_DATA_RATE_30HZ
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#define BMM150_REGULAR_DR BMM150_DATA_RATE_30HZ
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#define BMM150_HIGHACCURACY_DR BMM150_DATA_RATE_25HZ
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#define BMM150_ENHANCED_DR BMM150_DATA_RATE_10HZ
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/* Power modes value definitions */
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#define BMM150_NORMAL_MODE 0x00
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#define BMM150_FORCED_MODE 0x02
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#define BMM150_SLEEP_MODE 0x06
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/* Default power mode */
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#define BMM150_DEFAULT_POWER_MODE BMM150_NORMAL_MODE
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/* Default output data rate */
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#define BMM150_DEFAULT_ODR BMM150_DATA_RATE_30HZ
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/* Maximum output data rate */
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#define BMM150_MAX_DATA_RATE 30
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/* Default BMM150_INT_SETT_CTRL_REG Value */
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#define BMM150_DEFAULT_INT_SETT 0x3F
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/* Trim Extended Registers */
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#define BMM150_DIG_X1 0x5D
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#define BMM150_DIG_Y1 0x5E
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#define BMM150_DIG_Z4_LSB 0x62
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#define BMM150_DIG_Z4_MSB 0x63
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#define BMM150_DIG_X2 0x64
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#define BMM150_DIG_Y2 0x65
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#define BMM150_DIG_Z2_LSB 0x68
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#define BMM150_DIG_Z2_MSB 0x69
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#define BMM150_DIG_Z1_LSB 0x6A
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#define BMM150_DIG_Z1_MSB 0x6B
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#define BMM150_DIG_XYZ1_LSB 0x6C
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#define BMM150_DIG_XYZ1_MSB 0x6D
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#define BMM150_DIG_Z3_LSB 0x6E
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#define BMM150_DIG_Z3_MSB 0x6F
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#define BMM150_DIG_XY2 0x70
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#define BMM150_DIG_XY1 0x71
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/* Mask definitions for power mode */
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#define BMM150_POWER_MASK 0x06
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/* Mask definitions for data rate */
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#define BMM150_OUTPUT_DATA_RATE_MASK 0x38
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#define BMM150_SOFT_RESET_VALUE 0x82
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/* Mask definitions for Soft-Reset */
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#define BMM150_SOFT_RESET_MASK 0x82
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/* This value is set based on Max output data rate value */
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#define BMM150_CONVERSION_INTERVAL (1000000 / 30) /* microseconds */
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struct bmm150_data {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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class BMM150 : public device::I2C
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{
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public:
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BMM150(int bus, const char *path, bool external, enum Rotation rotation);
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virtual ~BMM150();
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bool is_external();
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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void print_registers();
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protected:
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virtual int probe();
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private:
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work_s _work;
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bool _external;
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/* altitude conversion calibration */
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unsigned _call_interval;
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struct mag_report _report;
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ringbuffer::RingBuffer *_reports;
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struct mag_calibration_s _scale;
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float _range_scale;
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orb_advert_t _topic;
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int _orb_class_instance;
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int _class_instance;
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uint8_t _power;
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uint8_t _output_data_rate;
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bool _calibrated; /**< the calibration is valid */
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int8_t dig_x1;/**< trim x1 data */
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int8_t dig_y1;/**< trim y1 data */
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int8_t dig_x2;/**< trim x2 data */
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int8_t dig_y2;/**< trim y2 data */
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uint16_t dig_z1;/**< trim z1 data */
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int16_t dig_z2;/**< trim z2 data */
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int16_t dig_z3;/**< trim z3 data */
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int16_t dig_z4;/**< trim z4 data */
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uint8_t dig_xy1;/**< trim xy1 data */
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int8_t dig_xy2;/**< trim xy2 data */
|
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|
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uint16_t dig_xyz1;/**< trim xyz1 data */
|
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perf_counter_t _sample_perf;
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perf_counter_t _bad_transfers;
|
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perf_counter_t _good_transfers;
|
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perf_counter_t _duplicates;
|
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enum Rotation _rotation;
|
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bool _got_duplicate;
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struct mag_report _last_report; /**< used for info() */
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int init_trim_registers(void);
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/**
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* Start automatic measurement.
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*/
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void start();
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|
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/**
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* Stop automatic measurement.
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*/
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void stop();
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int collect(); //get results and publish
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static void cycle_trampoline(void *arg);
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void cycle(); //main execution
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|
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/**
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* Read the specified number of bytes from BMM150.
|
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*
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* @param reg The register to read.
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* @param data Pointer to buffer for bytes read.
|
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* @param len Number of bytes to read
|
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* @return OK if the transfer was successful, -errno otherwise.
|
||||
*/
|
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int get_data(uint8_t reg, uint8_t *data, unsigned len);
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|
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/**
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* Resets the chip.
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||||
*/
|
||||
int reset();
|
||||
|
||||
/**
|
||||
* Measurement self test
|
||||
*
|
||||
* @return 0 on success, 1 on failure
|
||||
*/
|
||||
int self_test();
|
||||
|
||||
/**
|
||||
* Read a register from the BMM150
|
||||
*
|
||||
* @param reg The register to read.
|
||||
* @return The value that was read.
|
||||
*/
|
||||
uint8_t read_reg(uint8_t reg);
|
||||
|
||||
/**
|
||||
* Write a register in the BMM150
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
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* @return OK if the transfer was successful, -errno otherwise.
|
||||
*/
|
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int write_reg(uint8_t reg, uint8_t value);
|
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|
||||
/**
|
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* Modify a register in the BMM150
|
||||
*
|
||||
* Bits are cleared before bits are set.
|
||||
*
|
||||
* @param reg The register to modify.
|
||||
* @param clearbits Bits in the register to clear.
|
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* @param setbits Bits in the register to set.
|
||||
*/
|
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void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
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|
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/*
|
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set the power mode of BMM150.
|
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*/
|
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int set_power_mode(uint8_t power);
|
||||
|
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/*
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Set the data rate of BMM150.
|
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*/
|
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int set_data_rate(uint8_t data_rate);
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|
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/*
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Set the XY-repetitions
|
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*/
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int set_rep_xy(uint8_t rep_xy);
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/*
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Set the Z- repetitions number
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||||
*/
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int set_rep_z(uint8_t rep_z);
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/*
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Set the preset modes for BMM150 sensor.The preset mode setting is
|
||||
depend on Data Rate, XY and Z repetitions
|
||||
*/
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int set_presetmode(uint8_t presetmode);
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||||
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||||
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/* do not allow to copy this class due to pointer data members */
|
||||
BMM150(const BMM150 &);
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BMM150 operator=(const BMM150 &);
|
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};
|
||||
|
||||
|
||||
|
||||
#endif /* BMM150_HPP_ */
|
||||
@@ -155,6 +155,7 @@
|
||||
/* I2C busses */
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
#define PX4_I2C_BUS_BMM150 PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* Devices on the external bus.
|
||||
*
|
||||
@@ -163,6 +164,7 @@
|
||||
#define PX4_I2C_OBDEV_LED 0x55
|
||||
#define PX4_I2C_OBDEV_HMC5883 0x1e
|
||||
#define PX4_I2C_OBDEV_LIS3MDL 0x1e
|
||||
#define PX4_I2C_OBDEV_BMM150 0x10
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
|
||||
@@ -88,6 +88,7 @@
|
||||
#define DRV_BARO_DEVTYPE_LPS25H 0x40
|
||||
#define DRV_ACC_DEVTYPE_BMI055 0x41
|
||||
#define DRV_GYR_DEVTYPE_BMI055 0x42
|
||||
#define DRV_MAG_DEVTYPE_BMM150 0x43
|
||||
|
||||
/*
|
||||
* ioctl() definitions
|
||||
|
||||
Reference in New Issue
Block a user