#include <HMC5883.hpp>

Inheritance diagram for HMC5883:

Collaboration diagram for HMC5883:

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

Public Member Functions
	HMC5883 (device::Device interface, const char path, enum Rotation rotation)

virtual	~HMC5883 ()

virtual int	init ()

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

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

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

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

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

virtual	~CDev ()=default

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

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

int	calibrate (cdev::file_t *filp, unsigned enable)
	Perform the on-sensor scale calibration routine. More...

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

int	set_temperature_compensation (unsigned enable)
	enable hmc5983 temperature compensation More...

int	set_range (unsigned range)
	Set the sensor range. More...

void	check_range (void)
	check the sensor range. More...

void	check_conf (void)
	check the sensor configuration. More...

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

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

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

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

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

float	meas_to_float (uint8_t in[2])
	Convert a big-endian signed 16-bit value to a float. More...

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

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

Private Attributes
unsigned	_measure_interval {0}

ringbuffer::RingBuffer *	_reports

struct mag_calibration_s	_scale

float	_range_scale

float	_range_ga

bool	_collect_phase

int	_class_instance

int	_orb_class_instance

orb_advert_t	_mag_topic

perf_counter_t	_sample_perf

perf_counter_t	_comms_errors

perf_counter_t	_range_errors

perf_counter_t	_conf_errors

bool	_sensor_ok
	sensor was found and reports ok More...

enum Rotation	_rotation

uint8_t	_range_bits

uint8_t	_conf_reg

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 113 of file HMC5883.hpp.

Constructor & Destructor Documentation

◆ HMC5883()

HMC5883::HMC5883	(	device::Device *	interface,
		const char *	path,
		enum Rotation	rotation
	)

Definition at line 36 of file HMC5883.cpp.

References _class_instance, _collect_phase, _comms_errors, _conf_errors, _conf_reg, _interface, _mag_topic, _orb_class_instance, _range_bits, _range_errors, _range_ga, _range_scale, _rotation, _sample_perf, _scale, _sensor_ok, _temperature_counter, _temperature_error_count, DRV_MAG_DEVTYPE_HMC5883, 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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◆ ~HMC5883()

HMC5883::~HMC5883 ( )

virtual

Definition at line 74 of file HMC5883.cpp.

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

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Member Function Documentation

◆ calibrate()

int HMC5883::calibrate	(	cdev::file_t *	filp,
		unsigned	enable
	)

private

Perform 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 679 of file HMC5883.cpp.

References check_scale(), f(), fd, ioctl(), MAGIOCEXSTRAP, MAGIOCGSCALE, MAGIOCSRANGE, MAGIOCSSCALE, OK, px4_ioctl(), px4_poll(), px4_read(), SENSORIOCSPOLLRATE, warn, warnx, 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 ioctl().

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◆ check_conf()

void HMC5883::check_conf ( void )

private

check the sensor configuration.

check that the configuration register has the right value.

checks that the config of the sensor is correctly set, to cope with communication errors causing the configuration to change

This is done periodically to cope with I2C bus noise causing the configuration of the compass to change.

Definition at line 221 of file HMC5883.cpp.

References _comms_errors, _conf_errors, _conf_reg, ADDR_CONF_A, OK, perf_count(), read_reg(), and write_reg().

Referenced by collect().

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◆ check_offset()

int HMC5883::check_offset ( )

private

Check the current offset calibration.

Returns: 0 if offset calibration is ok, 1 else

Definition at line 873 of file HMC5883.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_range()

void HMC5883::check_range ( void )

private

check the sensor range.

check that the range register has the right value.

checks that the range of the sensor is correctly set, to cope with communication errors causing the range to change

This is done periodically to cope with I2C bus noise causing the range of the compass changing.

Definition at line 194 of file HMC5883.cpp.

References _comms_errors, _range_bits, _range_errors, ADDR_CONF_B, OK, perf_count(), read_reg(), and write_reg().

Referenced by collect().

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◆ check_scale()

int HMC5883::check_scale ( )

private

Check the current scale calibration.

Returns: 0 if scale calibration is ok, 1 else

Definition at line 855 of file HMC5883.cpp.

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

Referenced by calibrate().

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◆ collect()

int HMC5883::collect ( )

private

Collect the result of the most recent measurement.

Definition at line 484 of file HMC5883.cpp.

References _comms_errors, _conf_reg, _interface, _mag_topic, _orb_class_instance, device::CDev::_pub_blocked, _range_scale, _reports, _rotation, _sample_perf, _scale, _temperature_counter, _temperature_error_count, matrix::abs(), ADDR_DATA_OUT_X_MSB, ADDR_TEMP_OUT_MSB, check_conf(), check_range(), DEVICE_DEBUG, HMC5983_TEMP_SENSOR_ENABLE, 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(), set_temperature_compensation(), 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 HMC5883::init ( )

virtual

Reimplemented from device::CDev.

Definition at line 95 of file HMC5883.cpp.

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

Referenced by DfHmc5883Wrapper::start().

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◆ ioctl()

int HMC5883::ioctl	(	cdev::file_t *	filep,
		int	cmd,
		unsigned long	arg
	)

virtual

Perform an ioctl operation on the device.

The default implementation handles DIOC_GETPRIV, and otherwise returns -ENOTTY. Subclasses should call the default implementation for any command they do not handle themselves.

Parameters

filep	Pointer to the NuttX file structure.
cmd	The ioctl command value.
arg	The ioctl argument value.

Returns: OK on success, or -errno otherwise.

Reimplemented from device::CDev.

Definition at line 302 of file HMC5883.cpp.

References _interface, _measure_interval, _scale, calibrate(), DEVICE_DEBUG, HMC5883_CONVERSION_INTERVAL, MAGIOCCALIBRATE, MAGIOCEXSTRAP, MAGIOCGEXTERNAL, MAGIOCGSCALE, MAGIOCSRANGE, MAGIOCSSCALE, MAGIOCSTEMPCOMP, OK, reset(), SENSOR_POLLRATE_DEFAULT, SENSORIOCRESET, SENSORIOCSPOLLRATE, set_excitement(), set_range(), set_temperature_compensation(), and start().

Referenced by calibrate().

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◆ meas_to_float()

float HMC5883::meas_to_float ( uint8_t in[2] )

private

Convert a big-endian signed 16-bit value to a float.

Parameters

in	A signed 16-bit big-endian value.

Returns: The floating-point representation of the value.

Definition at line 1000 of file HMC5883.cpp.

◆ measure()

int HMC5883::measure ( )

private

Issue a measurement command.

Returns: OK if the measurement command was successful.

Definition at line 467 of file HMC5883.cpp.

References _comms_errors, ADDR_MODE, MODE_REG_SINGLE_MODE, OK, perf_count(), and write_reg().

Referenced by read(), and Run().

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◆ print_info()

void HMC5883::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 1014 of file HMC5883.cpp.

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

Referenced by hmc5883::info().

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◆ read()

ssize_t HMC5883::read	(	cdev::file_t *	filep,
		char *	buffer,
		size_t	buflen
	)

virtual

Perform a read from the device.

The default implementation returns -ENOSYS.

Parameters

filep	Pointer to the NuttX file structure.
buffer	Pointer to the buffer into which data should be placed.
buflen	The number of bytes to be read.

Returns: The number of bytes read or -errno otherwise.

Reimplemented from cdev::CDev.

Definition at line 244 of file HMC5883.cpp.

References _measure_interval, _reports, collect(), HMC5883_CONVERSION_INTERVAL, mag_report, measure(), and OK.

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◆ read_reg()

int HMC5883::read_reg	(	uint8_t	reg,
		uint8_t &	val
	)

private

Read a register.

Parameters

reg	The register to read.
val	The value read.

Returns: OK on read success.

Definition at line 991 of file HMC5883.cpp.

References _interface.

Referenced by check_conf(), check_range(), set_excitement(), set_range(), and set_temperature_compensation().

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◆ reset()

int HMC5883::reset ( )

private

Reset the device.

Definition at line 413 of file HMC5883.cpp.

References _range_ga, f(), and set_range().

Referenced by init(), and ioctl().

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◆ Run()

void HMC5883::Run ( )

overrideprivate

Perform 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 420 of file HMC5883.cpp.

References _collect_phase, _measure_interval, collect(), DEVICE_DEBUG, HMC5883_CONVERSION_INTERVAL, measure(), OK, and start().

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◆ set_excitement()

int HMC5883::set_excitement ( unsigned enable )

private

Perform 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 891 of file HMC5883.cpp.

References _comms_errors, _conf_reg, ADDR_CONF_A, OK, perf_count(), read_reg(), and write_reg().

Referenced by ioctl().

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◆ set_range()

int HMC5883::set_range ( unsigned range )

private

Set the sensor range.

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

Definition at line 125 of file HMC5883.cpp.

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

Referenced by ioctl(), and reset().

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◆ set_temperature_compensation()

int HMC5883::set_temperature_compensation ( unsigned enable )

private

enable hmc5983 temperature compensation

Definition at line 948 of file HMC5883.cpp.

References _comms_errors, _conf_reg, ADDR_CONF_A, HMC5983_TEMP_SENSOR_ENABLE, OK, perf_count(), read_reg(), and write_reg().

Referenced by collect(), and ioctl().

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◆ start()

void HMC5883::start ( )

private

Initialise 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 392 of file HMC5883.cpp.

References _collect_phase, and _reports.

Referenced by ioctl(), Run(), and DfHmc5883Wrapper::start().

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◆ stop()

void HMC5883::stop ( )

Stop the automatic measurement state machine.

Definition at line 403 of file HMC5883.cpp.

References _measure_interval.

Referenced by DfHmc5883Wrapper::stop(), hmc5883::stop(), and ~HMC5883().

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◆ write_reg()

int HMC5883::write_reg	(	uint8_t	reg,
		uint8_t	val
	)

private

Write a register.

Parameters

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

Returns: OK on write success.

Definition at line 984 of file HMC5883.cpp.

References _interface.

Referenced by check_conf(), check_range(), measure(), set_excitement(), set_range(), and set_temperature_compensation().

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Member Data Documentation

◆ _class_instance

int HMC5883::_class_instance

private

Definition at line 146 of file HMC5883.hpp.

Referenced by HMC5883(), init(), and ~HMC5883().

◆ _collect_phase

bool HMC5883::_collect_phase

private

Definition at line 145 of file HMC5883.hpp.

Referenced by HMC5883(), Run(), and start().

◆ _comms_errors

perf_counter_t HMC5883::_comms_errors

private

Definition at line 152 of file HMC5883.hpp.

Referenced by check_conf(), check_range(), collect(), HMC5883(), measure(), print_info(), set_excitement(), set_range(), set_temperature_compensation(), and ~HMC5883().

◆ _conf_errors

perf_counter_t HMC5883::_conf_errors

private

Definition at line 154 of file HMC5883.hpp.

Referenced by check_conf(), HMC5883(), and ~HMC5883().

◆ _conf_reg

uint8_t HMC5883::_conf_reg

private

Definition at line 164 of file HMC5883.hpp.

Referenced by check_conf(), collect(), HMC5883(), set_excitement(), and set_temperature_compensation().

◆ _interface

Device* HMC5883::_interface

protected

Definition at line 135 of file HMC5883.hpp.

Referenced by collect(), HMC5883(), ioctl(), read_reg(), and write_reg().

◆ _mag_topic

orb_advert_t HMC5883::_mag_topic

private

Definition at line 149 of file HMC5883.hpp.

Referenced by collect(), and HMC5883().

◆ _measure_interval

unsigned HMC5883::_measure_interval {0}

private

Definition at line 139 of file HMC5883.hpp.

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

◆ _orb_class_instance

int HMC5883::_orb_class_instance

private

Definition at line 147 of file HMC5883.hpp.

Referenced by collect(), and HMC5883().

◆ _range_bits

uint8_t HMC5883::_range_bits

private

Definition at line 163 of file HMC5883.hpp.

Referenced by check_range(), HMC5883(), and set_range().

◆ _range_errors

perf_counter_t HMC5883::_range_errors

private

Definition at line 153 of file HMC5883.hpp.

Referenced by check_range(), HMC5883(), and ~HMC5883().

◆ _range_ga

float HMC5883::_range_ga

private

Definition at line 144 of file HMC5883.hpp.

Referenced by HMC5883(), reset(), and set_range().

◆ _range_scale

float HMC5883::_range_scale

private

Definition at line 143 of file HMC5883.hpp.

Referenced by collect(), HMC5883(), and set_range().

◆ _reports

ringbuffer::RingBuffer* HMC5883::_reports

private

Definition at line 141 of file HMC5883.hpp.

Referenced by collect(), init(), print_info(), read(), start(), and ~HMC5883().

◆ _rotation

enum Rotation HMC5883::_rotation

private

Definition at line 159 of file HMC5883.hpp.

Referenced by collect(), and HMC5883().

◆ _sample_perf

perf_counter_t HMC5883::_sample_perf

private

Definition at line 151 of file HMC5883.hpp.

Referenced by collect(), HMC5883(), print_info(), and ~HMC5883().

◆ _scale

struct mag_calibration_s HMC5883::_scale

private

Definition at line 142 of file HMC5883.hpp.

Referenced by check_offset(), check_scale(), collect(), HMC5883(), and ioctl().

◆ _sensor_ok

bool HMC5883::_sensor_ok

private

sensor was found and reports ok

Definition at line 157 of file HMC5883.hpp.

Referenced by HMC5883(), and init().

◆ _temperature_counter

uint8_t HMC5883::_temperature_counter

private

Definition at line 165 of file HMC5883.hpp.

Referenced by collect(), and HMC5883().

◆ _temperature_error_count

uint8_t HMC5883::_temperature_error_count

private

Definition at line 166 of file HMC5883.hpp.

Referenced by collect(), and HMC5883().

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

src/drivers/magnetometer/hmc5883/HMC5883.hpp
src/drivers/magnetometer/hmc5883/HMC5883.cpp

Classes

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HMC5883()

◆ ~HMC5883()

Member Function Documentation

◆ calibrate()

◆ check_conf()

◆ check_offset()

◆ check_range()

◆ check_scale()

◆ collect()

◆ init()

◆ ioctl()

◆ meas_to_float()

◆ measure()

◆ print_info()

◆ read()

◆ read_reg()

◆ reset()

◆ Run()

◆ set_excitement()

◆ set_range()

◆ set_temperature_compensation()

◆ start()

◆ stop()

◆ write_reg()

Member Data Documentation

◆ _class_instance

◆ _collect_phase

◆ _comms_errors

◆ _conf_errors

◆ _conf_reg

◆ _interface

◆ _mag_topic

◆ _measure_interval

◆ _orb_class_instance

◆ _range_bits

◆ _range_errors

◆ _range_ga

◆ _range_scale

◆ _reports

◆ _rotation

◆ _sample_perf

◆ _scale

◆ _sensor_ok

◆ _temperature_counter

◆ _temperature_error_count