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MPU9250_mag Class Reference

Helper class implementing the magnetometer driver node. More...

#include <MPU9250_mag.h>

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Public Member Functions

 MPU9250_mag (MPU9250 *parent, device::Device *interface, enum Rotation rotation)
 
 ~MPU9250_mag ()
 
void set_passthrough (uint8_t reg, uint8_t size, uint8_t *out=NULL)
 
void passthrough_read (uint8_t reg, uint8_t *buf, uint8_t size)
 
void passthrough_write (uint8_t reg, uint8_t val)
 
void read_block (uint8_t reg, uint8_t *val, uint8_t count)
 
int ak8963_reset ()
 
int ak8963_setup ()
 
int ak8963_setup_master_i2c ()
 
bool ak8963_check_id (uint8_t &id)
 
bool ak8963_read_adjustments ()
 
void print_status ()
 

Protected Member Functions

void measure ()
 
void _measure (hrt_abstime timestamp_sample, ak8963_regs data)
 
uint8_t read_reg (unsigned reg)
 
void write_reg (unsigned reg, uint8_t value)
 
bool is_passthrough ()
 

Protected Attributes

device::Device * _interface
 

Private Attributes

PX4Magnetometer _px4_mag
 
MPU9250 * _parent
 
bool _mag_reading_data {false}
 
perf_counter_t _mag_overruns
 
perf_counter_t _mag_overflows
 
perf_counter_t _mag_errors
 

Friends

class MPU9250
 

Detailed Description

Helper class implementing the magnetometer driver node.

Definition at line 112 of file MPU9250_mag.h.

Constructor & Destructor Documentation

◆ MPU9250_mag()

MPU9250_mag::MPU9250_mag ( MPU9250 *  parent,
device::Device *  interface,
enum Rotation  rotation 
)

Definition at line 54 of file MPU9250_mag.cpp.

References _px4_mag, DRV_MAG_DEVTYPE_MPU9250, MPU9250_MAG_RANGE_GA, PX4Magnetometer::set_device_type(), and PX4Magnetometer::set_scale().

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◆ ~MPU9250_mag()

MPU9250_mag::~MPU9250_mag ( )

Definition at line 67 of file MPU9250_mag.cpp.

References _mag_errors, _mag_overflows, _mag_overruns, and perf_free().

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Member Function Documentation

◆ _measure()

void MPU9250_mag::_measure ( hrt_abstime  timestamp_sample,
ak8963_regs  data 
)
protected

Definition at line 118 of file MPU9250_mag.cpp.

References MPU9250::_last_temperature, _parent, _px4_mag, AK09916_ST1_DRDY, MPU9250::is_external(), PX4Magnetometer::set_external(), PX4Magnetometer::set_temperature(), ak8963_regs::st1, PX4Magnetometer::update(), ak8963_regs::x, ak8963_regs::y, and ak8963_regs::z.

Referenced by measure(), and MPU9250::measure().

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◆ ak8963_check_id()

bool MPU9250_mag::ak8963_check_id ( uint8_t &  id)

Definition at line 196 of file MPU9250_mag.cpp.

References AK8963_DEVICE_ID, AK8963REG_WIA, and read_reg().

Referenced by ak8963_setup().

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◆ ak8963_read_adjustments()

bool MPU9250_mag::ak8963_read_adjustments ( )

Definition at line 244 of file MPU9250_mag.cpp.

References _interface, _px4_mag, AK8963_16BIT_ADC, AK8963_FUZE_MODE, AK8963_POWERDOWN_MODE, AK8963REG_ASAX, AK8963REG_CNTL1, f(), passthrough_read(), device::Device::read(), PX4Magnetometer::set_sensitivity(), and write_reg().

Referenced by ak8963_setup().

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◆ ak8963_reset()

int MPU9250_mag::ak8963_reset ( )

Definition at line 227 of file MPU9250_mag.cpp.

References AK8963_RESET, ak8963_setup(), AK8963REG_CNTL2, OK, and write_reg().

Referenced by MPU9250::init(), and MPU9250::reset().

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◆ ak8963_setup()

int MPU9250_mag::ak8963_setup ( )

Definition at line 295 of file MPU9250_mag.cpp.

References _interface, _parent, MPU9250::_whoami, AK8963_16BIT_ADC, ak8963_check_id(), AK8963_CONTINUOUS_MODE2, ak8963_read_adjustments(), AK8963_RESET, ak8963_setup_master_i2c(), AK8963REG_CNTL1, AK8963REG_CNTL2, AK8963REG_ST1, BIT_I2C_MST_EN, BIT_I2C_MST_RST, MPU9250::modify_checked_reg(), MPU9250::modify_reg(), MPU_WHOAMI_9250, MPUREG_I2C_MST_CTRL, MPUREG_USER_CTRL, OK, set_passthrough(), write_reg(), and MPU9250::write_reg().

Referenced by ak8963_reset().

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◆ ak8963_setup_master_i2c()

int MPU9250_mag::ak8963_setup_master_i2c ( )

Definition at line 276 of file MPU9250_mag.cpp.

References _interface, _parent, MPU9250::_whoami, BIT_I2C_MST_EN, BIT_I2C_MST_P_NSR, BIT_I2C_MST_WAIT_FOR_ES, BITS_I2C_MST_CLOCK_400HZ, MPU9250::modify_checked_reg(), MPU_WHOAMI_9250, MPUREG_I2C_MST_CTRL, MPUREG_USER_CTRL, OK, and MPU9250::write_reg().

Referenced by ak8963_setup().

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◆ is_passthrough()

bool MPU9250_mag::is_passthrough ( )
inlineprotected

Definition at line 142 of file MPU9250_mag.h.

Referenced by MPU9250::init(), MPU9250::measure(), and MPU9250::reset_mpu().

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◆ measure()

void MPU9250_mag::measure ( )
protected

Definition at line 75 of file MPU9250_mag.cpp.

References _interface, _mag_errors, _mag_overflows, _mag_overruns, _measure(), _px4_mag, AK09916_ST1_DRDY, AK8963REG_ST1, data, hrt_absolute_time(), hrt_abstime, OK, perf_count(), perf_event_count(), device::Device::read(), and PX4Magnetometer::set_error_count().

Referenced by MPU9250::measure().

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◆ passthrough_read()

void MPU9250_mag::passthrough_read ( uint8_t  reg,
uint8_t *  buf,
uint8_t  size 
)

Definition at line 172 of file MPU9250_mag.cpp.

References _parent, MPUREG_EXT_SENS_DATA_00, MPUREG_I2C_SLV0_CTRL, read_block(), set_passthrough(), and MPU9250::write_reg().

Referenced by ak8963_read_adjustments(), and read_reg().

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◆ passthrough_write()

void MPU9250_mag::passthrough_write ( uint8_t  reg,
uint8_t  val 
)

Definition at line 207 of file MPU9250_mag.cpp.

References _parent, MPUREG_I2C_SLV0_CTRL, set_passthrough(), and MPU9250::write_reg().

Referenced by write_reg().

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◆ print_status()

void MPU9250_mag::print_status ( )
inline

Definition at line 129 of file MPU9250_mag.h.

Referenced by MPU9250::print_info().

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◆ read_block()

void MPU9250_mag::read_block ( uint8_t  reg,
uint8_t *  val,
uint8_t  count 
)

Definition at line 166 of file MPU9250_mag.cpp.

References MPU9250::_interface, _parent, and device::Device::read().

Referenced by passthrough_read().

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◆ read_reg()

uint8_t MPU9250_mag::read_reg ( unsigned  reg)
protected

Definition at line 181 of file MPU9250_mag.cpp.

References _interface, passthrough_read(), and device::Device::read().

Referenced by ak8963_check_id().

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◆ set_passthrough()

void MPU9250_mag::set_passthrough ( uint8_t  reg,
uint8_t  size,
uint8_t *  out = NULL 
)

Definition at line 146 of file MPU9250_mag.cpp.

References _parent, AK8963_I2C_ADDR, BIT_I2C_READ_FLAG, BIT_I2C_SLV0_EN, MPUREG_I2C_SLV0_ADDR, MPUREG_I2C_SLV0_CTRL, MPUREG_I2C_SLV0_D0, MPUREG_I2C_SLV0_REG, and MPU9250::write_reg().

Referenced by ak8963_setup(), passthrough_read(), and passthrough_write().

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◆ write_reg()

void MPU9250_mag::write_reg ( unsigned  reg,
uint8_t  value 
)
protected

Definition at line 215 of file MPU9250_mag.cpp.

References _interface, MPU9250_LOW_SPEED_OP, passthrough_write(), and device::Device::write().

Referenced by ak8963_read_adjustments(), ak8963_reset(), and ak8963_setup().

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Friends And Related Function Documentation

◆ MPU9250

friend class MPU9250
friend

Definition at line 134 of file MPU9250_mag.h.

Member Data Documentation

◆ _interface

device::Device* MPU9250_mag::_interface
protected

Definition at line 132 of file MPU9250_mag.h.

Referenced by ak8963_read_adjustments(), ak8963_setup(), ak8963_setup_master_i2c(), MPU9250::init(), measure(), read_reg(), and write_reg().

◆ _mag_errors

perf_counter_t MPU9250_mag::_mag_errors
private

Definition at line 153 of file MPU9250_mag.h.

Referenced by measure(), and ~MPU9250_mag().

◆ _mag_overflows

perf_counter_t MPU9250_mag::_mag_overflows
private

Definition at line 152 of file MPU9250_mag.h.

Referenced by measure(), and ~MPU9250_mag().

◆ _mag_overruns

perf_counter_t MPU9250_mag::_mag_overruns
private

Definition at line 151 of file MPU9250_mag.h.

Referenced by measure(), and ~MPU9250_mag().

◆ _mag_reading_data

bool MPU9250_mag::_mag_reading_data {false}
private

Definition at line 149 of file MPU9250_mag.h.

◆ _parent

MPU9250* MPU9250_mag::_parent
private

Definition at line 147 of file MPU9250_mag.h.

Referenced by _measure(), ak8963_setup(), ak8963_setup_master_i2c(), passthrough_read(), passthrough_write(), read_block(), and set_passthrough().

◆ _px4_mag

PX4Magnetometer MPU9250_mag::_px4_mag
private

Definition at line 145 of file MPU9250_mag.h.

Referenced by _measure(), ak8963_read_adjustments(), measure(), and MPU9250_mag().

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