#include <bmm150.hpp>

Inheritance diagram for BMM150:

Collaboration diagram for BMM150:

Public Member Functions
	BMM150 (int bus, const char *path, enum Rotation rotation)

virtual	~BMM150 ()

virtual int	init ()

virtual ssize_t	read (struct file filp, char buffer, size_t buflen)

virtual int	ioctl (struct file *filp, int cmd, unsigned long arg)

void	stop ()
	Stop automatic measurement. More...

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

void	print_registers ()

Protected Member Functions
virtual int	probe ()

Private Member Functions
int	init_trim_registers (void)

void	start ()
	Start automatic measurement. More...

int	measure ()

int	collect ()

void	Run () override

int	get_data (uint8_t reg, uint8_t *data, unsigned len)
	Read the specified number of bytes from BMM150. More...

int	reset ()
	Resets the chip. More...

int	self_test ()
	Measurement self test. More...

uint8_t	read_reg (uint8_t reg)
	Read a register from the BMM150. More...

int	write_reg (uint8_t reg, uint8_t value)
	Write a register in the BMM150. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the BMM150. More...

int	set_power_mode (uint8_t power)

int	set_data_rate (uint8_t data_rate)

int	set_rep_xy (uint8_t rep_xy)

int	set_rep_z (uint8_t rep_z)

int	set_presetmode (uint8_t presetmode)

	BMM150 (const BMM150 &)

BMM150	operator= (const BMM150 &)

Private Attributes
bool	_running

unsigned	_call_interval

mag_report	_report {}

ringbuffer::RingBuffer *	_reports

bool	_collect_phase

struct mag_calibration_s	_scale

float	_range_scale

orb_advert_t	_topic

int	_orb_class_instance

int	_class_instance

uint8_t	_power

uint8_t	_output_data_rate

bool	_calibrated
	the calibration is valid More...

int8_t	dig_x1
	trim x1 data More...

int8_t	dig_y1
	trim y1 data More...

int8_t	dig_x2
	trim x2 data More...

int8_t	dig_y2
	trim y2 data More...

uint16_t	dig_z1
	trim z1 data More...

int16_t	dig_z2
	trim z2 data More...

int16_t	dig_z3
	trim z3 data More...

int16_t	dig_z4
	trim z4 data More...

uint8_t	dig_xy1
	trim xy1 data More...

int8_t	dig_xy2
	trim xy2 data More...

uint16_t	dig_xyz1
	trim xyz1 data More...

perf_counter_t	_sample_perf

perf_counter_t	_bad_transfers

perf_counter_t	_good_transfers

perf_counter_t	_measure_perf

perf_counter_t	_comms_errors

perf_counter_t	_duplicates

enum Rotation	_rotation

bool	_got_duplicate

mag_report	_last_report {}
	used for info() More...

Detailed Description

Definition at line 194 of file bmm150.hpp.

Constructor & Destructor Documentation

◆ BMM150() [1/2]

BMM150::BMM150	(	int	bus,
		const char *	path,
		enum Rotation	rotation
	)

◆ ~BMM150()

BMM150::~BMM150 ( )

virtual

Definition at line 298 of file bmm150.cpp.

References _bad_transfers, _class_instance, _comms_errors, _duplicates, _good_transfers, _measure_perf, _reports, _sample_perf, _topic, MAG_BASE_DEVICE_PATH, orb_unadvertise(), perf_free(), and stop().

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◆ BMM150() [2/2]

BMM150::BMM150 ( const BMM150 & )

private

Member Function Documentation

◆ collect()

int BMM150::collect ( )

private

Definition at line 536 of file bmm150.cpp.

References _bad_transfers, _collect_phase, _comms_errors, _duplicates, _good_transfers, _got_duplicate, _last_report, _range_scale, _reports, _rotation, _sample_perf, _scale, _topic, BMM150_DATA_X_LSB_REG, BMM150_FLIP_OVERFLOW_ADCVAL, BMM150_HALL_OVERFLOW_ADCVAL, BMM150_OVERFLOW_OUTPUT_FLOAT, BMM150_R_LSB, dig_x1, dig_x2, dig_xy1, dig_xy2, dig_xyz1, dig_y1, dig_y2, dig_z1, dig_z2, dig_z3, dig_z4, get_data(), hrt_absolute_time(), mag_report, OK, ORB_ID, orb_publish(), perf_begin(), perf_count(), perf_end(), perf_event_count(), read_reg(), rotate_3f(), status, mag_calibration_s::x_offset, mag_calibration_s::x_scale, mag_calibration_s::y_offset, mag_calibration_s::y_scale, mag_calibration_s::z_offset, and mag_calibration_s::z_scale.

Referenced by init(), read(), Run(), and self_test().

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◆ get_data()

int BMM150::get_data	(	uint8_t	reg,
		uint8_t *	data,
		unsigned	len
	)

private

Read the specified number of bytes from BMM150.

Parameters

reg	The register to read.
data	Pointer to buffer for bytes read.
len	Number of bytes to read

Returns: OK if the transfer was successful, -errno otherwise.

Definition at line 823 of file bmm150.cpp.

Referenced by collect(), and init_trim_registers().

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◆ init()

int BMM150::init ( )

virtual

Definition at line 327 of file bmm150.cpp.

References _class_instance, _orb_class_instance, _reports, _topic, BMM150_CHIP_ID, BMM150_CHIP_ID_REG, BMM150_POWER_CTRL_REG, collect(), DEVICE_DEBUG, ToneAlarmInterface::init(), init_trim_registers(), MAG_BASE_DEVICE_PATH, mag_report, measure(), modify_reg(), OK, orb_advertise_multi(), ORB_ID, ORB_PRIO_HIGH, ORB_PRIO_MAX, read_reg(), and reset().

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◆ init_trim_registers()

int BMM150::init_trim_registers ( void )

private

Definition at line 923 of file bmm150.cpp.

References BMM150_DIG_X1, BMM150_DIG_X2, BMM150_DIG_XY1, BMM150_DIG_XY2, BMM150_DIG_XYZ1_LSB, BMM150_DIG_Y1, BMM150_DIG_Y2, BMM150_DIG_Z1_LSB, BMM150_DIG_Z2_LSB, BMM150_DIG_Z3_LSB, BMM150_DIG_Z4_LSB, data, dig_x1, dig_x2, dig_xy1, dig_xy2, dig_xyz1, dig_y1, dig_y2, dig_z1, dig_z2, dig_z3, dig_z4, get_data(), OK, and read_reg().

Referenced by init().

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◆ ioctl()

int BMM150::ioctl	(	struct file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 707 of file bmm150.cpp.

References _call_interval, BMM150_CONVERSION_INTERVAL, BMM150_MAX_DATA_RATE, MAGIOCCALIBRATE, MAGIOCEXSTRAP, MAGIOCGSCALE, MAGIOCSSCALE, OK, reset(), SENSOR_POLLRATE_DEFAULT, SENSORIOCRESET, SENSORIOCSPOLLRATE, and start().

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◆ measure()

int BMM150::measure ( )

private

Definition at line 513 of file bmm150.cpp.

References _collect_phase, _comms_errors, _measure_perf, BMM150_FORCED_MODE, OK, perf_begin(), perf_cancel(), perf_count(), perf_end(), and set_power_mode().

Referenced by init(), read(), and Run().

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◆ modify_reg()

void BMM150::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the BMM150.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 832 of file bmm150.cpp.

References read_reg(), and write_reg().

Referenced by init(), reset(), set_data_rate(), and set_power_mode().

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◆ operator=()

BMM150 BMM150::operator= ( const BMM150 & )

private

◆ print_info()

void BMM150::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 1026 of file bmm150.cpp.

References _bad_transfers, _good_transfers, _last_report, _range_scale, _reports, _sample_perf, _scale, perf_print_counter(), mag_calibration_s::x_offset, mag_calibration_s::x_scale, mag_calibration_s::y_offset, mag_calibration_s::y_scale, mag_calibration_s::z_offset, and mag_calibration_s::z_scale.

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◆ print_registers()

void BMM150::print_registers ( )

Definition at line 1043 of file bmm150.cpp.

References BMM150_AXES_EN_CTRL_REG, BMM150_CHIP_ID_REG, BMM150_INT_SETT_CTRL_REG, and read_reg().

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◆ probe()

int BMM150::probe ( )

protectedvirtual

Definition at line 393 of file bmm150.cpp.

References OK.

◆ read()

ssize_t BMM150::read	(	struct file *	filp,
		char *	buffer,
		size_t	buflen
	)

virtual

Definition at line 426 of file bmm150.cpp.

References _call_interval, _reports, BMM150_CONVERSION_INTERVAL, collect(), mag_report, measure(), and OK.

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◆ read_reg()

uint8_t BMM150::read_reg ( uint8_t reg )

private

Read a register from the BMM150.

Parameters

reg	The register to read.

Returns: The value that was read.

Definition at line 804 of file bmm150.cpp.

Referenced by collect(), init(), init_trim_registers(), modify_reg(), and print_registers().

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◆ reset()

int BMM150::reset ( )

private

Resets the chip.

Definition at line 770 of file bmm150.cpp.

References BMM150_DEFAULT_ODR, BMM150_DEFAULT_POWER_MODE, BMM150_POWER_CTRL_REG, BMM150_PRESETMODE_REGULAR, BMM150_SOFT_RESET_MASK, BMM150_SOFT_RESET_VALUE, modify_reg(), OK, set_data_rate(), set_power_mode(), and set_presetmode().

Referenced by init(), and ioctl().

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◆ Run()

void BMM150::Run ( )

overrideprivate

Definition at line 487 of file bmm150.cpp.

References _call_interval, _collect_phase, _running, BMM150_CONVERSION_INTERVAL, collect(), and measure().

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◆ self_test()

int BMM150::self_test ( )

private

Measurement self test.

Returns: 0 on success, 1 on failure

Definition at line 793 of file bmm150.cpp.

References _sample_perf, collect(), and perf_event_count().

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◆ set_data_rate()

int BMM150::set_data_rate ( uint8_t data_rate )

private

Definition at line 873 of file bmm150.cpp.

References _output_data_rate, BMM150_CTRL_REG, BMM150_DATA_RATE_02HZ, BMM150_DATA_RATE_06HZ, BMM150_DATA_RATE_08HZ, BMM150_DATA_RATE_10HZ, BMM150_DATA_RATE_15HZ, BMM150_DATA_RATE_20HZ, BMM150_DATA_RATE_25HZ, BMM150_DATA_RATE_30HZ, BMM150_OUTPUT_DATA_RATE_MASK, modify_reg(), and OK.

Referenced by reset(), and set_presetmode().

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◆ set_power_mode()

int BMM150::set_power_mode ( uint8_t power )

private

Definition at line 844 of file bmm150.cpp.

References _power, BMM150_CTRL_REG, BMM150_FORCED_MODE, BMM150_NORMAL_MODE, BMM150_POWER_MASK, BMM150_SLEEP_MODE, modify_reg(), and OK.

Referenced by measure(), and reset().

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◆ set_presetmode()

int BMM150::set_presetmode ( uint8_t presetmode )

private

Definition at line 987 of file bmm150.cpp.

References BMM150_ENHANCED_DR, BMM150_ENHANCED_REPXY, BMM150_ENHANCED_REPZ, BMM150_HIGHACCURACY_DR, BMM150_HIGHACCURACY_REPXY, BMM150_HIGHACCURACY_REPZ, BMM150_LOWPOWER_DR, BMM150_LOWPOWER_REPXY, BMM150_LOWPOWER_REPZ, BMM150_REGULAR_DR, BMM150_REGULAR_REPXY, BMM150_REGULAR_REPZ, OK, set_data_rate(), set_rep_xy(), and set_rep_z().

Referenced by reset().

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◆ set_rep_xy()

int BMM150::set_rep_xy ( uint8_t rep_xy )

private

Definition at line 970 of file bmm150.cpp.

References BMM150_XY_REP_CTRL_REG.

Referenced by set_presetmode().

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◆ set_rep_z()

int BMM150::set_rep_z ( uint8_t rep_z )

private

Definition at line 978 of file bmm150.cpp.

References BMM150_Z_REP_CTRL_REG.

Referenced by set_presetmode().

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◆ start()

void BMM150::start ( )

private

Start automatic measurement.

Definition at line 407 of file bmm150.cpp.

References _collect_phase, _reports, and _running.

Referenced by ioctl().

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◆ stop()

void BMM150::stop ( )

Stop automatic measurement.

Definition at line 419 of file bmm150.cpp.

References _running.

Referenced by ~BMM150().

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◆ write_reg()

int BMM150::write_reg	(	uint8_t	reg,
		uint8_t	value
	)

private

Write a register in the BMM150.

Parameters

reg	The register to write.
value	The new value to write.

Returns: OK if the transfer was successful, -errno otherwise.

Definition at line 815 of file bmm150.cpp.

Referenced by modify_reg().

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Member Data Documentation

◆ _bad_transfers

perf_counter_t BMM150::_bad_transfers

private

Definition at line 259 of file bmm150.hpp.

Referenced by BMM150(), collect(), print_info(), and ~BMM150().

◆ _calibrated

bool BMM150::_calibrated

private

the calibration is valid

Definition at line 240 of file bmm150.hpp.

Referenced by BMM150().

◆ _call_interval

unsigned BMM150::_call_interval

private

Definition at line 224 of file bmm150.hpp.

Referenced by ioctl(), read(), and Run().

◆ _class_instance

int BMM150::_class_instance

private

Definition at line 237 of file bmm150.hpp.

Referenced by BMM150(), init(), and ~BMM150().

◆ _collect_phase

bool BMM150::_collect_phase

private

Definition at line 230 of file bmm150.hpp.

Referenced by collect(), measure(), Run(), and start().

◆ _comms_errors

perf_counter_t BMM150::_comms_errors

private

Definition at line 262 of file bmm150.hpp.

Referenced by BMM150(), collect(), measure(), and ~BMM150().

◆ _duplicates

perf_counter_t BMM150::_duplicates

private

Definition at line 263 of file bmm150.hpp.

Referenced by BMM150(), collect(), and ~BMM150().

◆ _good_transfers

perf_counter_t BMM150::_good_transfers

private

Definition at line 260 of file bmm150.hpp.

Referenced by BMM150(), collect(), print_info(), and ~BMM150().

◆ _got_duplicate

bool BMM150::_got_duplicate

private

Definition at line 266 of file bmm150.hpp.

Referenced by BMM150(), and collect().

◆ _last_report

mag_report BMM150::_last_report {}

private

used for info()

Definition at line 268 of file bmm150.hpp.

Referenced by collect(), and print_info().

◆ _measure_perf

perf_counter_t BMM150::_measure_perf

private

Definition at line 261 of file bmm150.hpp.

Referenced by BMM150(), measure(), and ~BMM150().

◆ _orb_class_instance

int BMM150::_orb_class_instance

private

Definition at line 236 of file bmm150.hpp.

Referenced by BMM150(), and init().

◆ _output_data_rate

uint8_t BMM150::_output_data_rate

private

Definition at line 239 of file bmm150.hpp.

Referenced by BMM150(), and set_data_rate().

◆ _power

uint8_t BMM150::_power

private

Definition at line 238 of file bmm150.hpp.

Referenced by BMM150(), and set_power_mode().

◆ _range_scale

float BMM150::_range_scale

private

Definition at line 233 of file bmm150.hpp.

Referenced by BMM150(), collect(), and print_info().

◆ _report

mag_report BMM150::_report {}

private

Definition at line 227 of file bmm150.hpp.

◆ _reports

ringbuffer::RingBuffer* BMM150::_reports

private

Definition at line 228 of file bmm150.hpp.

Referenced by collect(), init(), print_info(), read(), start(), and ~BMM150().

◆ _rotation

enum Rotation BMM150::_rotation

private

Definition at line 265 of file bmm150.hpp.

Referenced by BMM150(), and collect().

◆ _running

bool BMM150::_running

private

Definition at line 221 of file bmm150.hpp.

Referenced by Run(), start(), and stop().

◆ _sample_perf

perf_counter_t BMM150::_sample_perf

private

Definition at line 258 of file bmm150.hpp.

Referenced by BMM150(), collect(), print_info(), self_test(), and ~BMM150().

◆ _scale

struct mag_calibration_s BMM150::_scale

private

Definition at line 232 of file bmm150.hpp.

Referenced by BMM150(), collect(), and print_info().

◆ _topic

orb_advert_t BMM150::_topic

private

Definition at line 235 of file bmm150.hpp.

Referenced by BMM150(), collect(), init(), and ~BMM150().

◆ dig_x1

int8_t BMM150::dig_x1

private

trim x1 data

Definition at line 242 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_x2

int8_t BMM150::dig_x2

private

trim x2 data

Definition at line 245 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_xy1

uint8_t BMM150::dig_xy1

private

trim xy1 data

Definition at line 253 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_xy2

int8_t BMM150::dig_xy2

private

trim xy2 data

Definition at line 254 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_xyz1

uint16_t BMM150::dig_xyz1

private

trim xyz1 data

Definition at line 256 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_y1

int8_t BMM150::dig_y1

private

trim y1 data

Definition at line 243 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_y2

int8_t BMM150::dig_y2

private

trim y2 data

Definition at line 246 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_z1

uint16_t BMM150::dig_z1

private

trim z1 data

Definition at line 248 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_z2

int16_t BMM150::dig_z2

private

trim z2 data

Definition at line 249 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_z3

int16_t BMM150::dig_z3

private

trim z3 data

Definition at line 250 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

◆ dig_z4

int16_t BMM150::dig_z4

private

trim z4 data

Definition at line 251 of file bmm150.hpp.

Referenced by BMM150(), collect(), and init_trim_registers().

The documentation for this class was generated from the following files:

src/drivers/magnetometer/bmm150/bmm150.hpp
src/drivers/magnetometer/bmm150/bmm150.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BMM150() [1/2]

◆ ~BMM150()

◆ BMM150() [2/2]

Member Function Documentation

◆ collect()

◆ get_data()

◆ init()

◆ init_trim_registers()

◆ ioctl()

◆ measure()

◆ modify_reg()

◆ operator=()

◆ print_info()

◆ print_registers()

◆ probe()

◆ read()

◆ read_reg()

◆ reset()

◆ Run()

◆ self_test()

◆ set_data_rate()

◆ set_power_mode()

◆ set_presetmode()

◆ set_rep_xy()

◆ set_rep_z()

◆ start()

◆ stop()

◆ write_reg()

Member Data Documentation

◆ _bad_transfers

◆ _calibrated

◆ _call_interval

◆ _class_instance

◆ _collect_phase

◆ _comms_errors

◆ _duplicates

◆ _good_transfers

◆ _got_duplicate

◆ _last_report

◆ _measure_perf

◆ _orb_class_instance

◆ _output_data_rate

◆ _power

◆ _range_scale

◆ _report

◆ _reports

◆ _rotation

◆ _running

◆ _sample_perf

◆ _scale

◆ _topic

◆ dig_x1

◆ dig_x2

◆ dig_xy1

◆ dig_xy2

◆ dig_xyz1

◆ dig_y1

◆ dig_y2

◆ dig_z1

◆ dig_z2

◆ dig_z3

◆ dig_z4