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60a40ec131790164471e2d2527effff04b7fd312
PX4-Autopilot/src/drivers/magnetometer/bmm150/bmm150.cpp
T
Daniel Agar 60a40ec131 delete unused IOCTL MAGIOCSSAMPLERATE
2018-11-06 07:43:43 +08:00

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/****************************************************************************
*
* Copyright (c) 2012-2014 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 bmm150.cpp
* Driver for the Bosch BMM 150 MEMS magnetometer connected via I2C.
*/
#include "bmm150.hpp"
#include <px4_getopt.h>
/** driver 'main' command */
extern "C" { __EXPORT int bmm150_main(int argc, char *argv[]); }
namespace bmm150
{
BMM150 *g_dev_ext;
BMM150 *g_dev_int;
void start(bool, enum Rotation);
void test(bool);
void reset(bool);
void info(bool);
void regdump(bool external_bus);
void usage();
/**
* Start the driver.
*
* This function only returns if the driver is up and running
* or failed to detect the sensor.
*/
void start(bool external_bus, enum Rotation rotation)
{
int fd;
BMM150 **g_dev_ptr = (external_bus ? &g_dev_ext : &g_dev_int);
const char *path = (external_bus ? BMM150_DEVICE_PATH_MAG_EXT : BMM150_DEVICE_PATH_MAG);
if (*g_dev_ptr != nullptr)
/* if already started, the still command succeeded */
{
PX4_ERR("already started");
exit(0);
}
/* create the driver */
if (external_bus) {
#if defined(PX4_I2C_BUS_EXPANSION)
*g_dev_ptr = new BMM150(PX4_I2C_BUS_EXPANSION, path, rotation);
#else
PX4_ERR("External I2C not available");
exit(0);
#endif
} else {
PX4_ERR("Internal I2C not available");
exit(0);
}
if (*g_dev_ptr == nullptr) {
goto fail;
}
if (OK != (*g_dev_ptr)->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(path, O_RDONLY);
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
close(fd);
exit(0);
fail:
if (*g_dev_ptr != nullptr) {
delete (*g_dev_ptr);
*g_dev_ptr = nullptr;
}
PX4_ERR("driver start failed");
exit(1);
}
void test(bool external_bus)
{
int fd = -1;
const char *path = (external_bus ? BMM150_DEVICE_PATH_MAG_EXT : BMM150_DEVICE_PATH_MAG);
struct mag_report m_report;
ssize_t sz;
/* get the driver */
fd = open(path, O_RDONLY);
if (fd < 0) {
PX4_ERR("%s open failed (try 'bmm150 start' if the driver is not running)",
path);
exit(1);
}
/* reset to Max polling rate*/
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) {
PX4_ERR("reset to Max polling rate");
exit(1);
}
/* do a simple demand read */
sz = read(fd, &m_report, sizeof(m_report));
if (sz != sizeof(m_report)) {
PX4_ERR("immediate mag read failed");
exit(1);
}
PX4_WARN("single read");
PX4_WARN("time: %lld", m_report.timestamp);
PX4_WARN("mag x: \t%8.4f\t", (double)m_report.x);
PX4_WARN("mag y: \t%8.4f\t", (double)m_report.y);
PX4_WARN("mag z: \t%8.4f\t", (double)m_report.z);
PX4_WARN("mag x: \t%d\traw 0x%0x", (short)m_report.x_raw, (unsigned short)m_report.x_raw);
PX4_WARN("mag y: \t%d\traw 0x%0x", (short)m_report.y_raw, (unsigned short)m_report.y_raw);
PX4_WARN("mag z: \t%d\traw 0x%0x", (short)m_report.z_raw, (unsigned short)m_report.z_raw);
PX4_ERR("PASS");
exit(0);
}
void
reset(bool external_bus)
{
const char *path = external_bus ? BMM150_DEVICE_PATH_MAG_EXT : BMM150_DEVICE_PATH_MAG;
int fd = open(path, O_RDONLY);
if (fd < 0) {
PX4_ERR("failed");
exit(1);
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
PX4_ERR("driver reset failed");
exit(1);
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
PX4_ERR("driver poll restart failed");
exit(1);
}
exit(0);
}
void
info(bool external_bus)
{
BMM150 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
if (*g_dev_ptr == nullptr) {
PX4_ERR("driver not running");
exit(1);
}
printf("state @ %p\n", *g_dev_ptr);
(*g_dev_ptr)->print_info();
exit(0);
}
/**
* Dump the register information
*/
void
regdump(bool external_bus)
{
BMM150 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
if (*g_dev_ptr == nullptr) {
PX4_ERR("driver not running");
exit(1);
}
printf("regdump @ %p\n", *g_dev_ptr);
(*g_dev_ptr)->print_registers();
exit(0);
}
void
usage()
{
PX4_WARN("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump'");
PX4_WARN("options:");
PX4_WARN(" -X (external bus)");
}
} // namespace bmm150
BMM150 :: BMM150(int bus, const char *path, enum Rotation rotation) :
I2C("BMM150", path, bus, BMM150_SLAVE_ADDRESS, BMM150_BUS_SPEED),
_running(false),
_call_interval(0),
_reports(nullptr),
_collect_phase(false),
_scale{},
_range_scale(0.01), /* default range scale from from uT to gauss */
_topic(nullptr),
_orb_class_instance(-1),
_class_instance(-1),
_power(BMM150_DEFAULT_POWER_MODE),
_output_data_rate(BMM150_DATA_RATE_30HZ),
_calibrated(false),
dig_x1(0),
dig_y1(0),
dig_x2(0),
dig_y2(0),
dig_z1(0),
dig_z2(0),
dig_z3(0),
dig_z4(0),
dig_xy1(0),
dig_xy2(0),
dig_xyz1(0),
_sample_perf(perf_alloc(PC_ELAPSED, "bmm150_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmm150_bad_transfers")),
_good_transfers(perf_alloc(PC_COUNT, "bmm150_good_transfers")),
_measure_perf(perf_alloc(PC_ELAPSED, "bmp280_measure")),
_comms_errors(perf_alloc(PC_COUNT, "bmp280_comms_errors")),
_duplicates(perf_alloc(PC_COUNT, "bmm150_duplicates")),
_rotation(rotation),
_got_duplicate(false)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_BMM150;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
// default scaling
_scale.x_offset = 0;
_scale.x_scale = 1.0f;
_scale.y_offset = 0;
_scale.y_scale = 1.0f;
_scale.z_offset = 0;
_scale.z_scale = 1.0f;
}
BMM150 :: ~BMM150()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_instance);
}
if (_topic != nullptr) {
orb_unadvertise(_topic);
}
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_bad_transfers);
perf_free(_good_transfers);
perf_free(_measure_perf);
perf_free(_comms_errors);
perf_free(_duplicates);
}
int BMM150::init()
{
int ret = OK;
/* do I2C init (and probe) first */
ret = I2C::init();
/* if probe/setup failed, bail now */
if (ret != OK) {
DEVICE_DEBUG("I2C setup failed");
return ret;
}
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
if (_reports == nullptr) {
goto out;
}
/* Bring the device to sleep mode */
modify_reg(BMM150_POWER_CTRL_REG, 1, 1);
up_udelay(10000);
/* check id*/
if (read_reg(BMM150_CHIP_ID_REG) != BMM150_CHIP_ID) {
PX4_WARN("id of magnetometer is not: 0x%02x", BMM150_CHIP_ID);
return -EIO;
}
if (reset() != OK) {
goto out;
}
init_trim_registers();
_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
if (measure()) {
return -EIO;
}
up_udelay(10000);
if (collect()) {
return -EIO;
}
/* advertise sensor topic, measure manually to initialize valid report */
struct mag_report mrb;
_reports->get(&mrb);
/* measurement will have generated a report, publish */
_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrb,
&_orb_class_instance, (external()) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_topic == nullptr) {
PX4_WARN("ADVERT FAIL");
}
out:
return ret;
}
int
BMM150::probe()
{
/* During I2C Initialization, sensor is in suspend mode
* and chip Id will return 0x00, hence returning OK. After
* I2C initialization, sensor is brought to sleep mode
* and Chip Id is verified. In sleep mode, we can read
* chip id. */
/* @Note: Please read BMM150 Datasheet for more details */
return OK;
}
void
BMM150::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_running = true;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&BMM150::cycle_trampoline, this, 1);
}
void
BMM150::stop()
{
_running = false;
work_cancel(HPWORK, &_work);
}
ssize_t
BMM150::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(mag_report);
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_call_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(mag_buf)) {
ret += sizeof(struct mag_report);
mag_buf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(BMM150_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
if (_reports->get(mag_buf)) {
ret = sizeof(struct mag_report);
}
} while (0);
/* return the number of bytes transferred */
return ret;
}
void
BMM150::cycle_trampoline(void *arg)
{
BMM150 *dev = reinterpret_cast<BMM150 *>(arg);
/* make measurement */
dev->cycle();
}
void
BMM150::cycle()
{
if (_collect_phase) {
collect();
unsigned wait_gap = _call_interval - USEC2TICK(BMM150_CONVERSION_INTERVAL);
if ((wait_gap != 0) && (_running)) {
work_queue(HPWORK, &_work, (worker_t)&BMM150::cycle_trampoline, this,
wait_gap); //need to wait some time before new measurement
return;
}
}
measure();
if ((_running)) {
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&BMM150::cycle_trampoline,
this,
USEC2TICK(BMM150_CONVERSION_INTERVAL));
}
}
int
BMM150::measure()
{
_collect_phase = true;
perf_begin(_measure_perf);
/* start measure */
int ret = set_power_mode(BMM150_FORCED_MODE);
if (ret != OK) {
perf_count(_comms_errors);
perf_cancel(_measure_perf);
return -EIO;
}
perf_end(_measure_perf);
return OK;
}
int
BMM150::collect()
{
_collect_phase = false;
bool mag_notify = true;
uint8_t mag_data[8], status;
uint16_t resistance, lsb, msb, msblsb;
mag_report mrb;
/* start collecting data */
perf_begin(_sample_perf);
status = read_reg(BMM150_R_LSB);
/* Read Magnetometer data*/
if (OK != get_data(BMM150_DATA_X_LSB_REG, mag_data, sizeof(mag_data))) {
return -EIO;
}
/* Array holding the mag XYZ and R data
mag_data[0] - X LSB
mag_data[1] - X MSB
mag_data[2] - Y LSB
mag_data[3] - Y MSB
mag_data[4] - Z LSB
mag_data[5] - Z MSB
mag_data[6] - R LSB
mag_data[7] - R MSB
*/
/* Extract X axis data */
lsb = ((mag_data[0] & 0xF8) >> 3);
msb = (((int8_t)mag_data[1]) << 5);
msblsb = (msb | lsb);
mrb.x_raw = (int16_t)msblsb;
/* Extract Y axis data */
lsb = ((mag_data[2] & 0xF8) >> 3);
msb = (((int8_t)mag_data[3]) << 5);
msblsb = (msb | lsb);
mrb.y_raw = (int16_t)msblsb;
/* Extract Z axis data */
lsb = ((mag_data[4] & 0xFE) >> 1);
msb = (((int8_t)mag_data[5]) << 7);
msblsb = (msb | lsb);
mrb.z_raw = (int16_t)msblsb;
/* Extract Resistance data */
lsb = ((mag_data[6] & 0xFC) >> 2);
msb = (mag_data[7] << 6);
msblsb = (msb | lsb);
resistance = (uint16_t)msblsb;
/* Check whether data is new or old */
if (!(status & 0x01)) {
perf_end(_sample_perf);
perf_count(_duplicates);
_got_duplicate = true;
return -EIO;
}
_got_duplicate = false;
if (mrb.x_raw == 0 &&
mrb.y_raw == 0 &&
mrb.z_raw == 0 &&
resistance == 0) {
// all zero data - probably a I2C bus error
perf_count(_comms_errors);
perf_count(_bad_transfers);
perf_end(_sample_perf);
return -EIO;
}
perf_count(_good_transfers);
/* Compensation for X axis */
if (mrb.x_raw != BMM150_FLIP_OVERFLOW_ADCVAL) {
/* no overflow */
if ((resistance != 0) && (dig_xyz1 != 0)) {
mrb.x = ((dig_xyz1 * 16384.0 / resistance) - 16384.0);
mrb.x = (((mrb.x_raw * ((((dig_xy2 * ((float)(mrb.x * mrb.x / (float)268435456.0)) + mrb.x * dig_xy1 /
(float)16384.0)) + (float)256.0) * (dig_x2 + (float)160.0))) / (float)8192.0) + (dig_x1 * (float)8.0)) / (float)16.0;
} else {
mrb.x = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
} else {
mrb.x = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
/* Compensation for Y axis */
if (mrb.y_raw != BMM150_FLIP_OVERFLOW_ADCVAL) {
/* no overflow */
if ((resistance != 0) && (dig_xyz1 != 0)) {
mrb.y = ((((float)dig_xyz1) * (float)16384.0 / resistance) - (float)16384.0);
mrb.y = (((mrb.y_raw * ((((dig_xy2 * (mrb.y * mrb.y / (float)268435456.0) + mrb.y * dig_xy1 / (float)16384.0)) +
(float)256.0) * (dig_y2 + (float)160.0))) / (float)8192.0) + (dig_y1 * (float)8.0)) / (float)16.0;
} else {
mrb.y = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
} else {
/* overflow, set output to 0.0f */
mrb.y = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
/* Compensation for Z axis */
if (mrb.z_raw != BMM150_HALL_OVERFLOW_ADCVAL) {
/* no overflow */
if ((dig_z2 != 0) && (dig_z1 != 0) && (dig_xyz1 != 0) && (resistance != 0)) {
mrb.z = ((((mrb.z_raw - dig_z4) * (float)131072.0) - (dig_z3 * (resistance - dig_xyz1))) / ((
dig_z2 + dig_z1 * resistance / (float)32768.0) * (float)4.0)) / (float)16.0;
}
} else {
/* overflow, set output to 0.0f */
mrb.z = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
mrb.timestamp = hrt_absolute_time();
mrb.is_external = external();
// report the error count as the number of bad transfers.
// This allows the higher level code to decide if it
// should use this sensor based on whether it has had failures
mrb.error_count = perf_event_count(_bad_transfers);
// apply user specified rotation
rotate_3f(_rotation, mrb.x, mrb.y, mrb.z);
/* Scaling the data */
mrb.x = ((mrb.x * _range_scale) - _scale.x_offset) * _scale.x_scale;
mrb.y = ((mrb.y * _range_scale) - _scale.y_offset) * _scale.y_scale;
mrb.z = ((mrb.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
mrb.scaling = _range_scale;
mrb.device_id = _device_id.devid;
_last_report.x = mrb.x;
_last_report.y = mrb.y;
_last_report.z = mrb.z;
_reports->force(&mrb);
/* notify anyone waiting for data */
if (mag_notify) {
poll_notify(POLLIN);
}
if (mag_notify && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _topic, &mrb);
}
perf_end(_sample_perf);
return OK;
}
int
BMM150::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, BMM150_MAX_DATA_RATE);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_interval == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(BMM150_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_call_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_interval == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCRESET:
return reset();
case MAGIOCSSCALE:
return OK;
case MAGIOCGSCALE:
return OK;
case MAGIOCCALIBRATE:
return OK;
case MAGIOCEXSTRAP:
return OK;
case MAGIOCGSAMPLERATE:
return 1000000 / _call_interval;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
int BMM150::reset()
{
int ret = OK;
/* Soft-reset */
modify_reg(BMM150_POWER_CTRL_REG, BMM150_SOFT_RESET_MASK, BMM150_SOFT_RESET_VALUE);
up_udelay(5000);
/* Enable Magnetometer in normal mode */
ret += set_power_mode(BMM150_DEFAULT_POWER_MODE);
up_udelay(1000);
/* Set the data rate to default */
ret += set_data_rate(BMM150_DEFAULT_ODR);
/* set the preset mode as regular*/
ret += set_presetmode(BMM150_PRESETMODE_REGULAR);
return OK;
}
int
BMM150::self_test()
{
if (perf_event_count(_sample_perf) == 0) {
collect();
}
/* return 0 on success, 1 else */
return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
}
uint8_t
BMM150::read_reg(uint8_t reg)
{
const uint8_t cmd = reg;
uint8_t ret;
transfer(&cmd, 1, &ret, 1);
return ret;
}
int
BMM150::write_reg(uint8_t reg, uint8_t value)
{
const uint8_t cmd[2] = { reg, value};
return transfer(cmd, 2, nullptr, 0);
}
int
BMM150::get_data(uint8_t reg, uint8_t *data, unsigned len)
{
const uint8_t cmd = reg;
return transfer(&cmd, 1, data, len);
}
void
BMM150::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
{
uint8_t val;
val = read_reg(reg);
val &= ~clearbits;
val |= setbits;
write_reg(reg, val);
}
int BMM150 :: set_power_mode(uint8_t power_mode)
{
uint8_t setbits = 0;
uint8_t clearbits = BMM150_POWER_MASK;
switch (power_mode) {
case BMM150_NORMAL_MODE:
_power = 0;
break;
case BMM150_FORCED_MODE:
_power = 1;
break;
case BMM150_SLEEP_MODE:
_power = 3;
break;
default:
return -EINVAL;
}
setbits |= power_mode;
modify_reg(BMM150_CTRL_REG, clearbits, setbits);
return OK;
}
int BMM150 :: set_data_rate(uint8_t data_rate)
{
uint8_t setbits = 0;
uint8_t clearbits = BMM150_OUTPUT_DATA_RATE_MASK;
switch (data_rate) {
case BMM150_DATA_RATE_10HZ:
_output_data_rate = 10;
break;
case BMM150_DATA_RATE_02HZ:
_output_data_rate = 2;
break;
case BMM150_DATA_RATE_06HZ:
_output_data_rate = 6;
break;
case BMM150_DATA_RATE_08HZ:
_output_data_rate = 8;
break;
case BMM150_DATA_RATE_15HZ:
_output_data_rate = 15;
break;
case BMM150_DATA_RATE_20HZ:
_output_data_rate = 20;
break;
case BMM150_DATA_RATE_25HZ:
_output_data_rate = 25;
break;
case BMM150_DATA_RATE_30HZ:
_output_data_rate = 30;
break;
default:
return -EINVAL;
}
setbits |= data_rate;
modify_reg(BMM150_CTRL_REG, clearbits, setbits);
return OK;
}
int BMM150 :: init_trim_registers(void)
{
int ret = OK;
uint8_t data[2] = {0};
uint16_t msb, lsb, msblsb;
dig_x1 = read_reg(BMM150_DIG_X1);
dig_y1 = read_reg(BMM150_DIG_Y1);
dig_x2 = read_reg(BMM150_DIG_X2);
dig_y2 = read_reg(BMM150_DIG_Y2);
dig_xy1 = read_reg(BMM150_DIG_XY1);
dig_xy2 = read_reg(BMM150_DIG_XY2);
ret += get_data(BMM150_DIG_Z1_LSB, data, 2);
lsb = data[0];
msb = (data[1] << 8);
msblsb = (msb | lsb);
dig_z1 = (uint16_t)msblsb;
ret += get_data(BMM150_DIG_Z2_LSB, data, 2);
lsb = data[0];
msb = ((int8_t)data[1] << 8);
msblsb = (msb | lsb);
dig_z2 = (int16_t)msblsb;
ret += get_data(BMM150_DIG_Z3_LSB, data, 2);
lsb = data[0];
msb = ((int8_t)data[1] << 8);
msblsb = (msb | lsb);
dig_z3 = (int16_t)msblsb;
ret += get_data(BMM150_DIG_Z4_LSB, data, 2);
lsb = data[0];
msb = ((int8_t)data[1] << 8);
msblsb = (msb | lsb);
dig_z4 = (int16_t)msblsb;
ret += get_data(BMM150_DIG_XYZ1_LSB, data, 2);
lsb = data[0];
msb = ((data[1] & 0x7F) << 8);
msblsb = (msb | lsb);
dig_xyz1 = (uint16_t)msblsb;
return ret;
}
int BMM150::set_rep_xy(uint8_t rep_xy)
{
uint8_t cmd[2] = {BMM150_XY_REP_CTRL_REG, rep_xy};
return transfer((const uint8_t *)cmd, sizeof(cmd), nullptr, 0);
}
int BMM150::set_rep_z(uint8_t rep_z)
{
uint8_t cmd[2] = {BMM150_Z_REP_CTRL_REG, rep_z};
return transfer((const uint8_t *)cmd, sizeof(cmd), nullptr, 0);
}
int BMM150::set_presetmode(uint8_t presetmode)
{
int ret = OK;
uint8_t data_rate, rep_xy, rep_z;
if (presetmode == 1) {
data_rate = BMM150_LOWPOWER_DR;
rep_xy = BMM150_LOWPOWER_REPXY;
rep_z = BMM150_LOWPOWER_REPZ;
} else if (presetmode == 2) {
data_rate = BMM150_REGULAR_DR;
rep_xy = BMM150_REGULAR_REPXY;
rep_z = BMM150_REGULAR_REPZ;
} else if (presetmode == 3) {
data_rate = BMM150_HIGHACCURACY_DR;
rep_xy = BMM150_HIGHACCURACY_REPXY;
rep_z = BMM150_HIGHACCURACY_REPZ;
} else if (presetmode == 4) {
data_rate = BMM150_ENHANCED_DR;
rep_xy = BMM150_ENHANCED_REPXY;
rep_z = BMM150_ENHANCED_REPZ;
} else {
return -EINVAL;
}
ret = set_data_rate(data_rate);
ret += set_rep_xy(rep_xy);
ret += set_rep_z(rep_z);
return ret;
}
void
BMM150::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_bad_transfers);
perf_print_counter(_good_transfers);
_reports->print_info("mag queue");
printf("output (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f ",
(double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
(double)(1.0f / _range_scale));
printf("\n");
}
void
BMM150::print_registers()
{
printf("BMM150 registers\n");
uint8_t reg = BMM150_CHIP_ID_REG;
uint8_t v = read_reg(reg);
printf("Chip Id: %02x:%02x ", (unsigned)reg, (unsigned)v);
printf("\n");
reg = BMM150_INT_SETT_CTRL_REG;
v = read_reg(reg);
printf("Int sett Ctrl reg: %02x:%02x ", (unsigned)reg, (unsigned)v);
printf("\n");
reg = BMM150_AXES_EN_CTRL_REG;
v = read_reg(reg);
printf("Axes En Ctrl reg: %02x:%02x ", (unsigned)reg, (unsigned)v);
printf("\n");
}
int
bmm150_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
bool external_bus = false;
enum Rotation rotation = ROTATION_NONE;
while ((ch = px4_getopt(argc, argv, "XR:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
break;
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
break;
default:
bmm150::usage();
return 0;
}
}
if (myoptind >= argc) {
bmm150::usage();
return -1;
}
const char *verb = argv[myoptind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
bmm150::start(external_bus, rotation);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test")) {
bmm150::test(external_bus);
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset")) {
bmm150::reset(external_bus);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
bmm150::info(external_bus);
}
/*
* Print register information.
*/
if (!strcmp(verb, "regdump")) {
bmm150::regdump(external_bus);
}
bmm150::usage();
return -1;
}
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