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128 lines
4.2 KiB
C++
128 lines
4.2 KiB
C++
/****************************************************************************
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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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/**
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* @file lis3mdl_main.h
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*/
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#pragma once
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#include "lis3mdl.h"
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namespace lis3mdl
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{
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/**
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* @struct List of supported bus configurations
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*/
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struct lis3mdl_bus_option {
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LIS3MDL_BUS bus_id;
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const char *devpath;
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LIS3MDL_constructor interface_constructor;
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uint8_t busnum;
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LIS3MDL *dev;
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} bus_options[] = {
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#ifdef PX4_I2C_BUS_EXPANSION
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{ LIS3MDL_BUS_I2C_EXTERNAL, "/dev/lis3mdl_ext", &LIS3MDL_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
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#endif /* PX4_I2C_BUS_EXPANSION */
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#ifdef PX4_I2C_BUS_ONBOARD
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{ LIS3MDL_BUS_I2C_INTERNAL, "/dev/lis3mdl_int", &LIS3MDL_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
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#endif /* PX4_I2C_BUS_ONBOARD */
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#ifdef PX4_SPIDEV_LIS
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{ LIS3MDL_BUS_SPI, "/dev/lis3mdl_spi", &LIS3MDL_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
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#endif /* PX4_SPIDEV_LIS */
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};
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/**
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* @brief Finds a bus structure for a bus_id
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*/
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lis3mdl_bus_option &find_bus(LIS3MDL_BUS bus_id);
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/**
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* @brief Calibrate and self test. Self test feature cannot be used to calculate scale.
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*
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* SELF TEST OPERATION
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* Note: To check the LIS3MDL for proper operation, a self test feature is incorporated :
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* sensor offset straps are excited to create a nominal field strength
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* (bias field) to be measured. To implement self test, the least significant bits
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* (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias).
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* A few measurements are taken and stored with and without the additional magnetic
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* field. According to ST datasheet, those values must stay between thresholds in order
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* to pass the self test.
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*/
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int calibrate(LIS3MDL_BUS bus_id);
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/**
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* @brief Prints info about the driver.
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*/
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int info(LIS3MDL_BUS bus_id);
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/**
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* @brief Initializes the driver -- sets defaults and starts a cycle
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*/
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bool init(LIS3MDL_BUS bus_id);
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/**
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* @brief Resets the driver.
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*/
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bool reset(LIS3MDL_BUS bus_id);
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/**
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* @brief Starts the driver for a specific bus option
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*/
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bool start_bus(struct lis3mdl_bus_option &bus, Rotation rotation);
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/**
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* @brief Starts the driver. This function call only returns once the driver
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* is either successfully up and running or failed to start.
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*/
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int start(LIS3MDL_BUS bus_id, Rotation rotation);
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/**
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* @brief Stop the driver.
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*/
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int stop();
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/**
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* @brief Perform some basic functional tests on the driver;
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* make sure we can collect data from the sensor in polled
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* and automatic modes.
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*/
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bool test(LIS3MDL_BUS bus_id);
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/**
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* @brief Prints info about the driver argument usage.
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*/
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void usage();
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} // namespace lis3mdl
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