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365 lines
10 KiB
C++
365 lines
10 KiB
C++
#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 100
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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 / 100) /* 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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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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* 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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* 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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*/
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int get_data(uint8_t reg, uint8_t *data, unsigned len);
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/**
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* Resets the chip.
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*/
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int reset();
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/**
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* Measurement self test
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*
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* @return 0 on success, 1 on failure
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*/
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int self_test();
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/**
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* Read a register from the BMM150
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*
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* @param reg The register to read.
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* @return The value that was read.
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*/
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uint8_t read_reg(uint8_t reg);
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/**
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* Write a register in the BMM150
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*
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* @param reg The register to write.
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* @param value The new value to write.
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* @return OK if the transfer was successful, -errno otherwise.
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*/
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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
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*
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* Bits are cleared before bits are set.
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*
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* @param reg The register to modify.
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* @param clearbits Bits in the register to clear.
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* @param setbits Bits in the register to set.
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*/
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void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
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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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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
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depend on Data Rate, XY and Z repetitions
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*/
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int set_presetmode(uint8_t presetmode);
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/* do not allow to copy this class due to pointer data members */
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BMM150(const BMM150 &);
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BMM150 operator=(const BMM150 &);
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};
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#endif /* BMM150_HPP_ */
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