#include <lis3mdl.h>

Inheritance diagram for LIS3MDL:

Collaboration diagram for LIS3MDL:

Classes
struct	_last_report
	used for info() More...

Public Member Functions
	LIS3MDL (device::Device interface, const char path, enum Rotation rotation)

virtual	~LIS3MDL ()

virtual int	init ()

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

virtual int	read (struct file file_pointer, char buffer, size_t buffer_len)

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

int	set_default_register_values ()
	Configures the device with default register values. More...

void	stop ()
	Stop the automatic measurement state machine. More...

Public Member Functions inherited from device::CDev
	CDev (const char name, const char devname)
	Constructor. More...

virtual	~CDev ()=default

virtual int	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

Public Member Functions inherited from device::Device
	Device (const Device &)=delete

Device &	operator= (const Device &)=delete

	Device (Device &&)=delete

Device &	operator= (Device &&)=delete

virtual	~Device ()=default
	Destructor. More...

virtual int	read (unsigned address, void *data, unsigned count)
	Read directly from the device. More...

virtual int	write (unsigned address, void *data, unsigned count)
	Write directly to the device. More...

virtual int	ioctl (unsigned operation, unsigned &arg)
	Perform a device-specific operation. More...

uint32_t	get_device_id () const

DeviceBusType	get_device_bus_type () const
	Return the bus type the device is connected to. More...

void	set_device_bus_type (DeviceBusType bus_type)

uint8_t	get_device_bus () const
	Return the bus ID the device is connected to. More...

void	set_device_bus (uint8_t bus)

uint8_t	get_device_address () const
	Return the bus address of the device. More...

void	set_device_address (int address)

uint8_t	get_device_type () const
	Return the device type. More...

void	set_device_type (uint8_t devtype)

virtual bool	external () const

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Protected Attributes
Device *	_interface

Protected Attributes inherited from device::CDev
bool	_pub_blocked {false}
	true if publishing should be blocked More...

Protected Attributes inherited from device::Device
const char *	_name {nullptr}
	driver name More...

bool	_debug_enabled {false}
	if true, debug messages are printed More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Private Member Functions
int	calibrate (struct file *file_pointer, unsigned enable)
	Performs the on-sensor scale calibration routine. More...

int	collect ()
	Collect the result of the most recent measurement. More...

int	check_scale ()
	Check the current scale calibration. More...

int	check_offset ()
	Check the current offset calibration. More...

void	Run () override
	Performs a poll cycle; collect from the previous measurement and start a new one. More...

int	measure ()
	Issue a measurement command. More...

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

void	start ()
	Initialises the automatic measurement state machine and start it. More...

int	set_excitement (unsigned enable)
	Performs the on-sensor scale calibration routine. More...

int	set_range (unsigned range)
	Sets the sensor internal range to handle at least the argument in Gauss. More...

int	read_reg (uint8_t reg, uint8_t &val)
	Reads a register. More...

int	write_reg (uint8_t reg, uint8_t val)
	Writes a register. More...

	LIS3MDL (const LIS3MDL &)

LIS3MDL	operator= (const LIS3MDL &)

Private Attributes
ringbuffer::RingBuffer *	_reports

struct mag_calibration_s	_scale

orb_advert_t	_mag_topic

perf_counter_t	_comms_errors

perf_counter_t	_conf_errors

perf_counter_t	_range_errors

perf_counter_t	_sample_perf

bool	_calibrated
	the calibration is valid More...

bool	_continuous_mode_set

enum OPERATING_MODE	_mode

enum Rotation	_rotation

unsigned int	_measure_interval

int	_class_instance

int	_orb_class_instance

float	_range_ga

float	_range_scale

uint8_t	_check_state_cnt

uint8_t	_cntl_reg1

uint8_t	_cntl_reg2

uint8_t	_cntl_reg3

uint8_t	_cntl_reg4

uint8_t	_cntl_reg5

uint8_t	_range_bits

uint8_t	_temperature_counter

uint8_t	_temperature_error_count

Additional Inherited Members
Public Types inherited from device::Device
enum	DeviceBusType { DeviceBusType_UNKNOWN = 0, DeviceBusType_I2C = 1, DeviceBusType_SPI = 2, DeviceBusType_UAVCAN = 3, DeviceBusType_SIMULATION = 4 }
	Device bus types for DEVID. More...

Static Public Member Functions inherited from device::Device
static const char *	get_device_bus_string (DeviceBusType bus)

static int	device_id_print_buffer (char *buffer, int length, uint32_t id)
	Print decoded device id string to a buffer. More...

Protected Member Functions inherited from device::Device
	Device (const char *name)

	Device (const char *name, DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

	Device (DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

Definition at line 111 of file lis3mdl.h.

Constructor & Destructor Documentation

◆ LIS3MDL() [1/2]

LIS3MDL::LIS3MDL	(	device::Device *	interface,
		const char *	path,
		enum Rotation	rotation
	)

Definition at line 45 of file lis3mdl.cpp.

References _calibrated, _check_state_cnt, _class_instance, _cntl_reg1, _cntl_reg2, _cntl_reg3, _cntl_reg4, _cntl_reg5, _comms_errors, _conf_errors, _continuous_mode_set, _interface, _mag_topic, _measure_interval, _mode, _orb_class_instance, _range_bits, _range_errors, _range_ga, _range_scale, _rotation, _sample_perf, _scale, _temperature_counter, _temperature_error_count, CNTL_REG1_DEFAULT, CNTL_REG2_DEFAULT, CNTL_REG3_DEFAULT, CNTL_REG4_DEFAULT, CNTL_REG5_DEFAULT, CONTINUOUS, DRV_MAG_DEVTYPE_LIS3MDL, f(), PC_COUNT, PC_ELAPSED, perf_alloc, 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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◆ ~LIS3MDL()

LIS3MDL::~LIS3MDL ( )

virtual

Definition at line 92 of file lis3mdl.cpp.

References _class_instance, _comms_errors, _conf_errors, _mag_topic, _range_errors, _reports, _sample_perf, MAG_BASE_DEVICE_PATH, orb_unadvertise(), perf_free(), stop(), and cdev::CDev::unregister_class_devname().

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◆ LIS3MDL() [2/2]

LIS3MDL::LIS3MDL ( const LIS3MDL & )

private

Member Function Documentation

◆ calibrate()

int LIS3MDL::calibrate	(	struct file *	file_pointer,
		unsigned	enable
	)

private

Performs the on-sensor scale calibration routine.

Note: The sensor will continue to provide measurements, these will however reflect the uncalibrated sensor state until the calibration routine has been completed.

Parameters

enable set to 1 to enable self-test strap, 0 to disable

Definition at line 117 of file lis3mdl.cpp.

References f(), fd, ioctl(), mag_report, MAGIOCEXSTRAP, MAGIOCSRANGE, OK, cdev::CDev::poll(), read(), SENSORIOCSPOLLRATE, set_default_register_values(), set_range(), and warn.

Referenced by ioctl().

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◆ check_offset()

int LIS3MDL::check_offset ( )

private

Check the current offset calibration.

Returns: 0 if offset calibration is ok, 1 else

Definition at line 289 of file lis3mdl.cpp.

References _scale, f(), FLT_EPSILON, mag_calibration_s::x_offset, mag_calibration_s::y_offset, and mag_calibration_s::z_offset.

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◆ check_scale()

int LIS3MDL::check_scale ( )

private

Check the current scale calibration.

Returns: 0 if scale calibration is ok, 1 else

Definition at line 308 of file lis3mdl.cpp.

References _scale, f(), FLT_EPSILON, mag_calibration_s::x_scale, mag_calibration_s::y_scale, and mag_calibration_s::z_scale.

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◆ collect()

int LIS3MDL::collect ( )

private

Collect the result of the most recent measurement.

Silicon Bug: the X axis will be read instead of the temperature registers if you do a sequential read through XYZ. The temperature registers must be addressed directly.

RAW outputs

Definition at line 327 of file lis3mdl.cpp.

References _comms_errors, _interface, _mag_topic, _orb_class_instance, device::CDev::_pub_blocked, _range_scale, _reports, _rotation, _sample_perf, _scale, ADDR_OUT_T_L, ADDR_OUT_X_L, DEVICE_DEBUG, hrt_absolute_time(), mag_report, MAGIOCGEXTERNAL, OK, orb_advertise_multi(), ORB_ID, ORB_PRIO_HIGH, ORB_PRIO_MAX, orb_publish(), perf_begin(), perf_count(), perf_end(), perf_event_count(), cdev::CDev::poll_notify(), rotate_3f(), 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 read(), and Run().

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◆ init()

int LIS3MDL::init ( )

virtual

Reimplemented from device::CDev.

Definition at line 468 of file lis3mdl.cpp.

References _class_instance, _reports, DEVICE_DEBUG, ToneAlarmInterface::init(), MAG_BASE_DEVICE_PATH, mag_report, OK, cdev::CDev::register_class_devname(), and reset().

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◆ ioctl()

int LIS3MDL::ioctl	(	struct file *	file_pointer,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 495 of file lis3mdl.cpp.

References _interface, _measure_interval, _scale, calibrate(), DEVICE_DEBUG, LIS3MDL_CONVERSION_INTERVAL, MAGIOCCALIBRATE, MAGIOCEXSTRAP, MAGIOCGEXTERNAL, MAGIOCGSCALE, MAGIOCSRANGE, MAGIOCSSCALE, reset(), SENSOR_POLLRATE_DEFAULT, SENSORIOCRESET, SENSORIOCSPOLLRATE, set_excitement(), set_range(), and start().

Referenced by calibrate().

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◆ measure()

int LIS3MDL::measure ( )

private

Issue a measurement command.

Returns: OK if the measurement command was successful.

Definition at line 579 of file lis3mdl.cpp.

References _comms_errors, _continuous_mode_set, _mode, ADDR_CTRL_REG3, CONTINUOUS, MODE_REG_CONTINOUS_MODE, MODE_REG_SINGLE_MODE, OK, perf_count(), SINGLE, and write_reg().

Referenced by read(), and Run().

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◆ operator=()

LIS3MDL LIS3MDL::operator= ( const LIS3MDL & )

private

◆ print_info()

void LIS3MDL::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 602 of file lis3mdl.cpp.

References _comms_errors, _measure_interval, _reports, _sample_perf, and perf_print_counter().

Referenced by lis3mdl::info().

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◆ read()

int LIS3MDL::read	(	struct file *	file_pointer,
		char *	buffer,
		size_t	buffer_len
	)

virtual

Definition at line 632 of file lis3mdl.cpp.

References _measure_interval, _reports, collect(), LIS3MDL_CONVERSION_INTERVAL, mag_report, measure(), and OK.

Referenced by calibrate().

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◆ read_reg()

int LIS3MDL::read_reg	(	uint8_t	reg,
		uint8_t &	val
	)

private

Reads a register.

Parameters

reg	The register to read.
val	The value read.

Returns: OK on read success.

Definition at line 807 of file lis3mdl.cpp.

References _interface.

Referenced by set_excitement(), and set_range().

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◆ reset()

int LIS3MDL::reset ( )

private

Resets the device.

Definition at line 612 of file lis3mdl.cpp.

References _range_ga, OK, set_default_register_values(), and set_range().

Referenced by init(), and ioctl().

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◆ Run()

void LIS3MDL::Run ( )

overrideprivate

Performs a poll cycle; collect from the previous measurement and start a new one.

This is the heart of the measurement state machine. This function alternately starts a measurement, or collects the data from the previous measurement.

When the interval between measurements is greater than the minimum measurement interval, a gap is inserted between collection and measurement to provide the most recent measurement possible at the next interval.

Definition at line 441 of file lis3mdl.cpp.

References _measure_interval, collect(), DEVICE_DEBUG, LIS3MDL_CONVERSION_INTERVAL, measure(), OK, and start().

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◆ set_default_register_values()

int LIS3MDL::set_default_register_values ( )

Configures the device with default register values.

Definition at line 690 of file lis3mdl.cpp.

References ADDR_CTRL_REG1, ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, CNTL_REG1_DEFAULT, CNTL_REG2_DEFAULT, CNTL_REG3_DEFAULT, CNTL_REG4_DEFAULT, CNTL_REG5_DEFAULT, and write_reg().

Referenced by calibrate(), reset(), and start().

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◆ set_excitement()

int LIS3MDL::set_excitement ( unsigned enable )

private

Performs the on-sensor scale calibration routine.

Note: The sensor will continue to provide measurements, these will however reflect the uncalibrated sensor state until the calibration routine has been completed.

Parameters

enable set to 1 to enable self-test positive strap, -1 to enable negative strap, 0 to set to normal mode

Definition at line 702 of file lis3mdl.cpp.

References _cntl_reg1, _comms_errors, ADDR_CTRL_REG1, OK, perf_count(), read_reg(), and write_reg().

Referenced by ioctl().

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◆ set_range()

int LIS3MDL::set_range ( unsigned range )

private

Sets the sensor internal range to handle at least the argument in Gauss.

Parameters

range The sensor range value to be set.

Definition at line 735 of file lis3mdl.cpp.

References _comms_errors, _range_bits, _range_ga, _range_scale, ADDR_CTRL_REG2, OK, perf_count(), read_reg(), and write_reg().

Referenced by calibrate(), ioctl(), and reset().

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◆ start()

void LIS3MDL::start ( )

private

Initialises the automatic measurement state machine and start it.

Note: This function is called at open and error time. It might make sense to make it more aggressive about resetting the bus in case of errors.

Definition at line 785 of file lis3mdl.cpp.

References _reports, and set_default_register_values().

Referenced by ioctl(), and Run().

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◆ stop()

void LIS3MDL::stop ( )

Stop the automatic measurement state machine.

Definition at line 797 of file lis3mdl.cpp.

References _measure_interval.

Referenced by lis3mdl::stop(), and ~LIS3MDL().

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◆ write_reg()

int LIS3MDL::write_reg	(	uint8_t	reg,
		uint8_t	val
	)

private

Writes a register.

Parameters

reg	The register to write.
val	The value to write.

Returns: OK on write success.

Definition at line 816 of file lis3mdl.cpp.

References _interface.

Referenced by measure(), set_default_register_values(), set_excitement(), and set_range().

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Member Data Documentation

◆ _calibrated

bool LIS3MDL::_calibrated

private

the calibration is valid

Definition at line 158 of file lis3mdl.h.

Referenced by LIS3MDL().

◆ _check_state_cnt

uint8_t LIS3MDL::_check_state_cnt

private

Definition at line 172 of file lis3mdl.h.

Referenced by LIS3MDL().

◆ _class_instance

int LIS3MDL::_class_instance

private

Definition at line 166 of file lis3mdl.h.

Referenced by init(), LIS3MDL(), and ~LIS3MDL().

◆ _cntl_reg1

uint8_t LIS3MDL::_cntl_reg1

private

Definition at line 173 of file lis3mdl.h.

Referenced by LIS3MDL(), and set_excitement().

◆ _cntl_reg2

uint8_t LIS3MDL::_cntl_reg2

private

Definition at line 174 of file lis3mdl.h.

Referenced by LIS3MDL().

◆ _cntl_reg3

uint8_t LIS3MDL::_cntl_reg3

private

Definition at line 175 of file lis3mdl.h.

Referenced by LIS3MDL().

◆ _cntl_reg4

uint8_t LIS3MDL::_cntl_reg4

private

Definition at line 176 of file lis3mdl.h.

Referenced by LIS3MDL().

◆ _cntl_reg5

uint8_t LIS3MDL::_cntl_reg5

private

Definition at line 177 of file lis3mdl.h.

Referenced by LIS3MDL().

◆ _comms_errors

perf_counter_t LIS3MDL::_comms_errors

private

Definition at line 152 of file lis3mdl.h.

Referenced by collect(), LIS3MDL(), measure(), print_info(), set_excitement(), set_range(), and ~LIS3MDL().

◆ _conf_errors

perf_counter_t LIS3MDL::_conf_errors

private

Definition at line 153 of file lis3mdl.h.

Referenced by LIS3MDL(), and ~LIS3MDL().

◆ _continuous_mode_set

bool LIS3MDL::_continuous_mode_set

private

Definition at line 159 of file lis3mdl.h.

Referenced by LIS3MDL(), and measure().

◆ _interface

Device* LIS3MDL::_interface

protected

Definition at line 140 of file lis3mdl.h.

Referenced by collect(), ioctl(), LIS3MDL(), read_reg(), and write_reg().

◆ _mag_topic

orb_advert_t LIS3MDL::_mag_topic

private

Definition at line 150 of file lis3mdl.h.

Referenced by collect(), LIS3MDL(), and ~LIS3MDL().

◆ _measure_interval

unsigned int LIS3MDL::_measure_interval

private

Definition at line 164 of file lis3mdl.h.

Referenced by ioctl(), LIS3MDL(), print_info(), read(), Run(), and stop().

◆ _mode

enum OPERATING_MODE LIS3MDL::_mode

private

Definition at line 161 of file lis3mdl.h.

Referenced by LIS3MDL(), and measure().

◆ _orb_class_instance

int LIS3MDL::_orb_class_instance

private

Definition at line 167 of file lis3mdl.h.

Referenced by collect(), and LIS3MDL().

◆ _range_bits

uint8_t LIS3MDL::_range_bits

private

Definition at line 178 of file lis3mdl.h.

Referenced by LIS3MDL(), and set_range().

◆ _range_errors

perf_counter_t LIS3MDL::_range_errors

private

Definition at line 154 of file lis3mdl.h.

Referenced by LIS3MDL(), and ~LIS3MDL().

◆ _range_ga

float LIS3MDL::_range_ga

private

Definition at line 169 of file lis3mdl.h.

Referenced by LIS3MDL(), reset(), and set_range().

◆ _range_scale

float LIS3MDL::_range_scale

private

Definition at line 170 of file lis3mdl.h.

Referenced by collect(), LIS3MDL(), and set_range().

◆ _reports

ringbuffer::RingBuffer* LIS3MDL::_reports

private

Definition at line 144 of file lis3mdl.h.

Referenced by collect(), init(), print_info(), read(), start(), and ~LIS3MDL().

◆ _rotation

enum Rotation LIS3MDL::_rotation

private

Definition at line 162 of file lis3mdl.h.

Referenced by collect(), and LIS3MDL().

◆ _sample_perf

perf_counter_t LIS3MDL::_sample_perf

private

Definition at line 155 of file lis3mdl.h.

Referenced by collect(), LIS3MDL(), print_info(), and ~LIS3MDL().

◆ _scale

struct mag_calibration_s LIS3MDL::_scale

private

Definition at line 146 of file lis3mdl.h.

Referenced by check_offset(), check_scale(), collect(), ioctl(), and LIS3MDL().

◆ _temperature_counter

uint8_t LIS3MDL::_temperature_counter

private

Definition at line 179 of file lis3mdl.h.

Referenced by LIS3MDL().

◆ _temperature_error_count

uint8_t LIS3MDL::_temperature_error_count

private

Definition at line 180 of file lis3mdl.h.

Referenced by LIS3MDL().

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

src/drivers/magnetometer/lis3mdl/lis3mdl.h
src/drivers/magnetometer/lis3mdl/lis3mdl.cpp

Classes

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LIS3MDL() [1/2]

◆ ~LIS3MDL()

◆ LIS3MDL() [2/2]

Member Function Documentation

◆ calibrate()

◆ check_offset()

◆ check_scale()

◆ collect()

◆ init()

◆ ioctl()

◆ measure()

◆ operator=()

◆ print_info()

◆ read()

◆ read_reg()

◆ reset()

◆ Run()

◆ set_default_register_values()

◆ set_excitement()

◆ set_range()

◆ start()

◆ stop()

◆ write_reg()

Member Data Documentation

◆ _calibrated

◆ _check_state_cnt

◆ _class_instance

◆ _cntl_reg1

◆ _cntl_reg2

◆ _cntl_reg3

◆ _cntl_reg4

◆ _cntl_reg5

◆ _comms_errors

◆ _conf_errors

◆ _continuous_mode_set

◆ _interface

◆ _mag_topic

◆ _measure_interval

◆ _mode

◆ _orb_class_instance

◆ _range_bits

◆ _range_errors

◆ _range_ga

◆ _range_scale

◆ _reports

◆ _rotation

◆ _sample_perf

◆ _scale

◆ _temperature_counter

◆ _temperature_error_count