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114 lines
3.6 KiB
C++
114 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 QMC5883L.hpp
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*
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* Driver for the QMC5883L connected via I2C.
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*
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*/
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#pragma once
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#include "QST_QMC5883L_registers.hpp"
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#include <drivers/drv_hrt.h>
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#include <lib/drivers/device/i2c.h>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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using namespace QST_QMC5883L;
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class QMC5883L : public device::I2C, public I2CSPIDriver<QMC5883L>
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{
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public:
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QMC5883L(const I2CSPIDriverConfig &config);
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~QMC5883L() override;
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static void print_usage();
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void RunImpl();
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int init() override;
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void print_status() override;
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private:
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// Sensor Configuration
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struct register_config_t {
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Register reg;
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uint8_t set_bits{0};
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uint8_t clear_bits{0};
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};
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int probe() override;
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bool Reset();
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bool Configure();
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bool RegisterCheck(const register_config_t ®_cfg);
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uint8_t RegisterRead(Register reg);
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void RegisterWrite(Register reg, uint8_t value);
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void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
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PX4Magnetometer _px4_mag;
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perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
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perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
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perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
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hrt_abstime _reset_timestamp{0};
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hrt_abstime _last_config_check_timestamp{0};
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int _failure_count{0};
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int16_t _prev_data[3] {};
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enum class STATE : uint8_t {
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RESET,
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WAIT_FOR_RESET,
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CONFIGURE,
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READ,
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} _state{STATE::RESET};
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uint8_t _checked_register{0};
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static constexpr uint8_t size_register_cfg{3};
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register_config_t _register_cfg[size_register_cfg] {
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// Register | Set bits, Clear bits
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{ Register::CNTL1, CNTL1_BIT::ODR_50HZ | CNTL1_BIT::Mode_Continuous, CNTL1_BIT::OSR_512 | CNTL1_BIT::RNG_2G},
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{ Register::CNTL2, CNTL2_BIT::ROL_PNT, CNTL2_BIT::SOFT_RST},
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{ Register::SET_RESET_PERIOD, SET_RESET_PERIOD_BIT::FBR, 0 },
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};
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};
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