Driver for the IST8310 magnetometer connected via I2C. More...

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/getopt.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <board_config.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_device.h>
#include <uORB/uORB.h>
#include <float.h>
#include <lib/conversion/rotation.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

Include dependency graph for ist8310.cpp:

Classes
class	IST8310

struct	IST8310::_scale

struct	ist8310::ist8310_bus_option

Namespaces
	ist8310
	Local functions in support of the shell command.

Macros
#define	IST8310_CONVERSION_INTERVAL (1000000 / 100) /* microseconds */

#define	IST8310_BUS_I2C_ADDR 0xE

#define	IST8310_DEFAULT_BUS_SPEED 400000

#define	IST8310_RESOLUTION 0.3

#define	ADDR_WAI 0 /* WAI means 'Who Am I'*/

#define	WAI_EXPECTED_VALUE 0x10

#define	ADDR_STAT1 0x02

#define	STAT1_DRDY_SHFITS 0x0

#define	STAT1_DRDY (1 << STAT1_DRDY_SHFITS)

#define	STAT1_DRO_SHFITS 0x1

#define	STAT1_DRO (1 << STAT1_DRO_SHFITS)

#define	ADDR_DATA_OUT_X_LSB 0x03

#define	ADDR_DATA_OUT_X_MSB 0x04

#define	ADDR_DATA_OUT_Y_LSB 0x05

#define	ADDR_DATA_OUT_Y_MSB 0x06

#define	ADDR_DATA_OUT_Z_LSB 0x07

#define	ADDR_DATA_OUT_Z_MSB 0x08

#define	ADDR_STAT2 0x09

#define	STAT2_INT_SHFITS 3

#define	STAT2_INT (1 << STAT2_INT_SHFITS)

#define	ADDR_CTRL1 0x0a

#define	CTRL1_MODE_SHFITS 0

#define	CTRL1_MODE_STDBY (0 << CTRL1_MODE_SHFITS)

#define	CTRL1_MODE_SINGLE (1 << CTRL1_MODE_SHFITS)

#define	ADDR_CTRL2 0x0b

#define	CTRL2_SRST_SHFITS 0 /* Begin POR (auto cleared) */

#define	CTRL2_SRST (1 << CTRL2_SRST_SHFITS)

#define	CTRL2_DRP_SHIFTS 2

#define	CTRL2_DRP (1 << CTRL2_DRP_SHIFTS)

#define	CTRL2_DREN_SHIFTS 3

#define	CTRL2_DREN (1 << CTRL2_DREN_SHIFTS)

#define	ADDR_CTRL3 0x41

#define	CTRL3_SAMPLEAVG_16 0x24 /* Sample Averaging 16 */

#define	CTRL3_SAMPLEAVG_8 0x1b /* Sample Averaging 8 */

#define	CTRL3_SAMPLEAVG_4 0x12 /* Sample Averaging 4 */

#define	CTRL3_SAMPLEAVG_2 0x09 /* Sample Averaging 2 */

#define	ADDR_CTRL4 0x42

#define	CTRL4_SRPD 0xC0 /* Set Reset Pulse Duration */

#define	ADDR_STR 0x0c

#define	STR_SELF_TEST_SHFITS 6

#define	STR_SELF_TEST_ON (1 << STR_SELF_TEST_SHFITS)

#define	STR_SELF_TEST_OFF (0 << STR_SELF_TEST_SHFITS)

#define	ADDR_Y11_Low 0x9c

#define	ADDR_Y11_High 0x9d

#define	ADDR_Y12_Low 0x9e

#define	ADDR_Y12_High 0x9f

#define	ADDR_Y13_Low 0xa0

#define	ADDR_Y13_High 0xa1

#define	ADDR_Y21_Low 0xa2

#define	ADDR_Y21_High 0xa3

#define	ADDR_Y22_Low 0xa4

#define	ADDR_Y22_High 0xa5

#define	ADDR_Y23_Low 0xa6

#define	ADDR_Y23_High 0xa7

#define	ADDR_Y31_Low 0xa8

#define	ADDR_Y31_High 0xa9

#define	ADDR_Y32_Low 0xaa

#define	ADDR_Y32_High 0xab

#define	ADDR_Y33_Low 0xac

#define	ADDR_Y33_High 0xad

#define	ADDR_TEMPL 0x1c

#define	ADDR_TEMPH 0x1d

#define	NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))

Enumerations
enum	IST8310_BUS { IST8310_BUS_ALL = 0, IST8310_BUS_I2C_EXTERNAL = 1, IST8310_BUS_I2C_EXTERNAL1 = 2, IST8310_BUS_I2C_EXTERNAL2 = 3, IST8310_BUS_I2C_EXTERNAL3 = 4, IST8310_BUS_I2C_INTERNAL = 5 }

Functions
__EXPORT int	ist8310_main (int argc, char *argv[])

void	ist8310::start (enum IST8310_BUS busid, int address, enum Rotation rotation)
	Start the driver. More...

bool	ist8310::start_bus (struct ist8310_bus_option &bus, int address, enum Rotation rotation)
	start driver for a specific bus option More...

struct ist8310_bus_option &	ist8310::find_bus (enum IST8310_BUS busid)
	find a bus structure for a busid More...

void	ist8310::test (enum IST8310_BUS busid)
	Perform some basic functional tests on the driver; make sure we can collect data from the sensor in polled and automatic modes. More...

void	ist8310::reset (enum IST8310_BUS busid)
	Reset the driver. More...

int	ist8310::info (enum IST8310_BUS busid)
	Print a little info about the driver. More...

int	ist8310::calibrate (enum IST8310_BUS busid)
	Automatic scale calibration. More...

void	ist8310::usage ()
	Prints info about the driver argument usage. More...

Variables
static const int16_t	IST8310_MAX_VAL_XY = (1600 / IST8310_RESOLUTION) + 1

static const int16_t	IST8310_MIN_VAL_XY = -IST8310_MAX_VAL_XY

static const int16_t	IST8310_MAX_VAL_Z = (2500 / IST8310_RESOLUTION) + 1

static const int16_t	IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z

struct ist8310::ist8310_bus_option	ist8310::bus_options []

Detailed Description

Driver for the IST8310 magnetometer connected via I2C.

Author: David Sidrane; Maelok Dong

Definition in file ist8310.cpp.

Macro Definition Documentation

◆ ADDR_CTRL1

#define ADDR_CTRL1 0x0a

Definition at line 128 of file ist8310.cpp.

Referenced by IST8310::measure().

◆ ADDR_CTRL2

#define ADDR_CTRL2 0x0b

Definition at line 133 of file ist8310.cpp.

Referenced by IST8310::reset().

◆ ADDR_CTRL3

#define ADDR_CTRL3 0x41

Definition at line 141 of file ist8310.cpp.

Referenced by IST8310::check_conf(), and IST8310::reset().

◆ ADDR_CTRL4

#define ADDR_CTRL4 0x42

Definition at line 147 of file ist8310.cpp.

Referenced by IST8310::check_conf(), and IST8310::reset().

◆ ADDR_DATA_OUT_X_LSB

#define ADDR_DATA_OUT_X_LSB 0x03

Definition at line 117 of file ist8310.cpp.

Referenced by IST8310::collect().

◆ ADDR_DATA_OUT_X_MSB

#define ADDR_DATA_OUT_X_MSB 0x04

Definition at line 118 of file ist8310.cpp.

◆ ADDR_DATA_OUT_Y_LSB

#define ADDR_DATA_OUT_Y_LSB 0x05

Definition at line 119 of file ist8310.cpp.

◆ ADDR_DATA_OUT_Y_MSB

#define ADDR_DATA_OUT_Y_MSB 0x06

Definition at line 120 of file ist8310.cpp.

◆ ADDR_DATA_OUT_Z_LSB

#define ADDR_DATA_OUT_Z_LSB 0x07

Definition at line 121 of file ist8310.cpp.

◆ ADDR_DATA_OUT_Z_MSB

#define ADDR_DATA_OUT_Z_MSB 0x08

Definition at line 122 of file ist8310.cpp.

◆ ADDR_STAT1

#define ADDR_STAT1 0x02

Definition at line 111 of file ist8310.cpp.

◆ ADDR_STAT2

#define ADDR_STAT2 0x09

Definition at line 124 of file ist8310.cpp.

◆ ADDR_STR

#define ADDR_STR 0x0c

Definition at line 150 of file ist8310.cpp.

Referenced by IST8310::set_selftest().

◆ ADDR_TEMPH

#define ADDR_TEMPH 0x1d

Definition at line 175 of file ist8310.cpp.

◆ ADDR_TEMPL

#define ADDR_TEMPL 0x1c

Definition at line 174 of file ist8310.cpp.

◆ ADDR_WAI

#define ADDR_WAI 0 /* WAI means 'Who Am I'*/

Definition at line 108 of file ist8310.cpp.

Referenced by IST8310::probe().

◆ ADDR_Y11_High

#define ADDR_Y11_High 0x9d

Definition at line 156 of file ist8310.cpp.

◆ ADDR_Y11_Low

#define ADDR_Y11_Low 0x9c

Definition at line 155 of file ist8310.cpp.

◆ ADDR_Y12_High

#define ADDR_Y12_High 0x9f

Definition at line 158 of file ist8310.cpp.

◆ ADDR_Y12_Low

#define ADDR_Y12_Low 0x9e

Definition at line 157 of file ist8310.cpp.

◆ ADDR_Y13_High

#define ADDR_Y13_High 0xa1

Definition at line 160 of file ist8310.cpp.

◆ ADDR_Y13_Low

#define ADDR_Y13_Low 0xa0

Definition at line 159 of file ist8310.cpp.

◆ ADDR_Y21_High

#define ADDR_Y21_High 0xa3

Definition at line 162 of file ist8310.cpp.

◆ ADDR_Y21_Low

#define ADDR_Y21_Low 0xa2

Definition at line 161 of file ist8310.cpp.

◆ ADDR_Y22_High

#define ADDR_Y22_High 0xa5

Definition at line 164 of file ist8310.cpp.

◆ ADDR_Y22_Low

#define ADDR_Y22_Low 0xa4

Definition at line 163 of file ist8310.cpp.

◆ ADDR_Y23_High

#define ADDR_Y23_High 0xa7

Definition at line 166 of file ist8310.cpp.

◆ ADDR_Y23_Low

#define ADDR_Y23_Low 0xa6

Definition at line 165 of file ist8310.cpp.

◆ ADDR_Y31_High

#define ADDR_Y31_High 0xa9

Definition at line 168 of file ist8310.cpp.

◆ ADDR_Y31_Low

#define ADDR_Y31_Low 0xa8

Definition at line 167 of file ist8310.cpp.

◆ ADDR_Y32_High

#define ADDR_Y32_High 0xab

Definition at line 170 of file ist8310.cpp.

◆ ADDR_Y32_Low

#define ADDR_Y32_Low 0xaa

Definition at line 169 of file ist8310.cpp.

◆ ADDR_Y33_High

#define ADDR_Y33_High 0xad

Definition at line 172 of file ist8310.cpp.

◆ ADDR_Y33_Low

#define ADDR_Y33_Low 0xac

Definition at line 171 of file ist8310.cpp.

◆ CTRL1_MODE_SHFITS

#define CTRL1_MODE_SHFITS 0

Definition at line 129 of file ist8310.cpp.

◆ CTRL1_MODE_SINGLE

#define CTRL1_MODE_SINGLE (1 << CTRL1_MODE_SHFITS)

Definition at line 131 of file ist8310.cpp.

Referenced by IST8310::measure().

◆ CTRL1_MODE_STDBY

#define CTRL1_MODE_STDBY (0 << CTRL1_MODE_SHFITS)

Definition at line 130 of file ist8310.cpp.

◆ CTRL2_DREN

#define CTRL2_DREN (1 << CTRL2_DREN_SHIFTS)

Definition at line 139 of file ist8310.cpp.

◆ CTRL2_DREN_SHIFTS

#define CTRL2_DREN_SHIFTS 3

Definition at line 138 of file ist8310.cpp.

◆ CTRL2_DRP

#define CTRL2_DRP (1 << CTRL2_DRP_SHIFTS)

Definition at line 137 of file ist8310.cpp.

◆ CTRL2_DRP_SHIFTS

#define CTRL2_DRP_SHIFTS 2

Definition at line 136 of file ist8310.cpp.

◆ CTRL2_SRST

#define CTRL2_SRST (1 << CTRL2_SRST_SHFITS)

Definition at line 135 of file ist8310.cpp.

Referenced by IST8310::reset().

◆ CTRL2_SRST_SHFITS

#define CTRL2_SRST_SHFITS 0 /* Begin POR (auto cleared) */

Definition at line 134 of file ist8310.cpp.

◆ CTRL3_SAMPLEAVG_16

#define CTRL3_SAMPLEAVG_16 0x24 /* Sample Averaging 16 */

Definition at line 142 of file ist8310.cpp.

Referenced by IST8310::reset().

◆ CTRL3_SAMPLEAVG_2

#define CTRL3_SAMPLEAVG_2 0x09 /* Sample Averaging 2 */

Definition at line 145 of file ist8310.cpp.

◆ CTRL3_SAMPLEAVG_4

#define CTRL3_SAMPLEAVG_4 0x12 /* Sample Averaging 4 */

Definition at line 144 of file ist8310.cpp.

◆ CTRL3_SAMPLEAVG_8

#define CTRL3_SAMPLEAVG_8 0x1b /* Sample Averaging 8 */

Definition at line 143 of file ist8310.cpp.

◆ CTRL4_SRPD

#define CTRL4_SRPD 0xC0 /* Set Reset Pulse Duration */

Definition at line 148 of file ist8310.cpp.

Referenced by IST8310::reset().

◆ IST8310_BUS_I2C_ADDR

#define IST8310_BUS_I2C_ADDR 0xE

Definition at line 89 of file ist8310.cpp.

Referenced by ist8310_main(), and ist8310::usage().

◆ IST8310_CONVERSION_INTERVAL

#define IST8310_CONVERSION_INTERVAL (1000000 / 100) /* microseconds */

Definition at line 87 of file ist8310.cpp.

Referenced by IST8310::ioctl(), IST8310::read(), and IST8310::Run().

◆ IST8310_DEFAULT_BUS_SPEED

#define IST8310_DEFAULT_BUS_SPEED 400000

Definition at line 90 of file ist8310.cpp.

◆ IST8310_RESOLUTION

#define IST8310_RESOLUTION 0.3

Definition at line 99 of file ist8310.cpp.

◆ NUM_BUS_OPTIONS

#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))

Definition at line 1149 of file ist8310.cpp.

Referenced by ist8310::find_bus(), and ist8310::start().

◆ STAT1_DRDY

#define STAT1_DRDY (1 << STAT1_DRDY_SHFITS)

Definition at line 113 of file ist8310.cpp.

◆ STAT1_DRDY_SHFITS

#define STAT1_DRDY_SHFITS 0x0

Definition at line 112 of file ist8310.cpp.

◆ STAT1_DRO

#define STAT1_DRO (1 << STAT1_DRO_SHFITS)

Definition at line 115 of file ist8310.cpp.

◆ STAT1_DRO_SHFITS

#define STAT1_DRO_SHFITS 0x1

Definition at line 114 of file ist8310.cpp.

◆ STAT2_INT

#define STAT2_INT (1 << STAT2_INT_SHFITS)

Definition at line 126 of file ist8310.cpp.

◆ STAT2_INT_SHFITS

#define STAT2_INT_SHFITS 3

Definition at line 125 of file ist8310.cpp.

◆ STR_SELF_TEST_OFF

#define STR_SELF_TEST_OFF (0 << STR_SELF_TEST_SHFITS)

Definition at line 153 of file ist8310.cpp.

◆ STR_SELF_TEST_ON

#define STR_SELF_TEST_ON (1 << STR_SELF_TEST_SHFITS)

Definition at line 152 of file ist8310.cpp.

Referenced by IST8310::set_selftest().

◆ STR_SELF_TEST_SHFITS

#define STR_SELF_TEST_SHFITS 6

Definition at line 151 of file ist8310.cpp.

◆ WAI_EXPECTED_VALUE

#define WAI_EXPECTED_VALUE 0x10

Definition at line 109 of file ist8310.cpp.

Referenced by IST8310::probe().

Enumeration Type Documentation

◆ IST8310_BUS

enum IST8310_BUS

Enumerator
IST8310_BUS_ALL
IST8310_BUS_I2C_EXTERNAL
IST8310_BUS_I2C_EXTERNAL1
IST8310_BUS_I2C_EXTERNAL2
IST8310_BUS_I2C_EXTERNAL3
IST8310_BUS_I2C_INTERNAL

Definition at line 177 of file ist8310.cpp.

Function Documentation

◆ ist8310_main()

int ist8310_main	(	int	argc,
		char *	argv[]
	)

Definition at line 1406 of file ist8310.cpp.

References IST8310::calibrate(), ist8310::calibrate(), ist8310::info(), IST8310_BUS_ALL, IST8310_BUS_I2C_ADDR, ist8310::reset(), ROTATION_NONE, ist8310::start(), ist8310::test(), and ist8310::usage().

Here is the call graph for this function:

Variable Documentation

◆ IST8310_MAX_VAL_XY

const int16_t IST8310_MAX_VAL_XY = (1600 / IST8310_RESOLUTION) + 1

static

Definition at line 101 of file ist8310.cpp.

Referenced by IST8310::collect().

◆ IST8310_MAX_VAL_Z

const int16_t IST8310_MAX_VAL_Z = (2500 / IST8310_RESOLUTION) + 1

static

Definition at line 103 of file ist8310.cpp.

Referenced by IST8310::collect().

◆ IST8310_MIN_VAL_XY

const int16_t IST8310_MIN_VAL_XY = -IST8310_MAX_VAL_XY

static

Definition at line 102 of file ist8310.cpp.

Referenced by IST8310::collect().

◆ IST8310_MIN_VAL_Z

const int16_t IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z

static

Definition at line 104 of file ist8310.cpp.

Referenced by IST8310::collect().

Classes

Namespaces

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ ADDR_CTRL1

◆ ADDR_CTRL2

◆ ADDR_CTRL3

◆ ADDR_CTRL4

◆ ADDR_DATA_OUT_X_LSB

◆ ADDR_DATA_OUT_X_MSB

◆ ADDR_DATA_OUT_Y_LSB

◆ ADDR_DATA_OUT_Y_MSB

◆ ADDR_DATA_OUT_Z_LSB

◆ ADDR_DATA_OUT_Z_MSB

◆ ADDR_STAT1

◆ ADDR_STAT2

◆ ADDR_STR

◆ ADDR_TEMPH

◆ ADDR_TEMPL

◆ ADDR_WAI

◆ ADDR_Y11_High

◆ ADDR_Y11_Low

◆ ADDR_Y12_High

◆ ADDR_Y12_Low

◆ ADDR_Y13_High

◆ ADDR_Y13_Low

◆ ADDR_Y21_High

◆ ADDR_Y21_Low

◆ ADDR_Y22_High

◆ ADDR_Y22_Low

◆ ADDR_Y23_High

◆ ADDR_Y23_Low

◆ ADDR_Y31_High

◆ ADDR_Y31_Low

◆ ADDR_Y32_High

◆ ADDR_Y32_Low

◆ ADDR_Y33_High

◆ ADDR_Y33_Low

◆ CTRL1_MODE_SHFITS

◆ CTRL1_MODE_SINGLE

◆ CTRL1_MODE_STDBY

◆ CTRL2_DREN

◆ CTRL2_DREN_SHIFTS

◆ CTRL2_DRP

◆ CTRL2_DRP_SHIFTS

◆ CTRL2_SRST

◆ CTRL2_SRST_SHFITS

◆ CTRL3_SAMPLEAVG_16

◆ CTRL3_SAMPLEAVG_2

◆ CTRL3_SAMPLEAVG_4

◆ CTRL3_SAMPLEAVG_8

◆ CTRL4_SRPD

◆ IST8310_BUS_I2C_ADDR

◆ IST8310_CONVERSION_INTERVAL

◆ IST8310_DEFAULT_BUS_SPEED

◆ IST8310_RESOLUTION

◆ NUM_BUS_OPTIONS

◆ STAT1_DRDY

◆ STAT1_DRDY_SHFITS

◆ STAT1_DRO

◆ STAT1_DRO_SHFITS

◆ STAT2_INT

◆ STAT2_INT_SHFITS

◆ STR_SELF_TEST_OFF

◆ STR_SELF_TEST_ON

◆ STR_SELF_TEST_SHFITS

◆ WAI_EXPECTED_VALUE

Enumeration Type Documentation

◆ IST8310_BUS

Function Documentation

◆ ist8310_main()

Variable Documentation

◆ IST8310_MAX_VAL_XY

◆ IST8310_MAX_VAL_Z

◆ IST8310_MIN_VAL_XY

◆ IST8310_MIN_VAL_Z