#include <LSM303D.hpp>

Inheritance diagram for LSM303D:

Collaboration diagram for LSM303D:

Public Member Functions
	LSM303D (int bus, uint32_t device, enum Rotation rotation)

virtual	~LSM303D ()

int	init () override

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

Protected Member Functions
virtual int	probe ()

Private Member Functions
void	Run () override

void	start ()

void	stop ()

void	reset ()

void	disable_i2c ()
	disable I2C on the chip More...

void	check_registers (void)
	check key registers for correct values More...

void	measureAccelerometer ()
	Fetch accel measurements from the sensor and update the report ring. More...

void	measureMagnetometer ()
	Fetch mag measurements from the sensor and update the report ring. More...

uint8_t	read_reg (unsigned reg)
	Read a register from the LSM303D. More...

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the LSM303D. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the LSM303D. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the LSM303D, updating _checked_values. More...

int	accel_set_range (unsigned max_g)
	Set the LSM303D accel measurement range. More...

int	mag_set_range (unsigned max_g)
	Set the LSM303D mag measurement range. More...

int	accel_set_onchip_lowpass_filter_bandwidth (unsigned bandwidth)
	Set the LSM303D on-chip anti-alias filter bandwith. More...

int	accel_set_samplerate (unsigned frequency)
	Set the LSM303D internal accel sampling frequency. More...

int	mag_set_samplerate (unsigned frequency)
	Set the LSM303D internal mag sampling frequency. More...

Private Attributes
PX4Accelerometer	_px4_accel

PX4Magnetometer	_px4_mag

unsigned	_call_accel_interval {1000000 / LSM303D_ACCEL_DEFAULT_RATE}

unsigned	_call_mag_interval {1000000 / LSM303D_MAG_DEFAULT_RATE}

perf_counter_t	_accel_sample_perf

perf_counter_t	_mag_sample_perf

perf_counter_t	_bad_registers

perf_counter_t	_bad_values

perf_counter_t	_accel_duplicates

uint8_t	_register_wait {0}

int16_t	_last_accel [3] {}

uint8_t	_constant_accel_count {0}

hrt_abstime	_mag_last_measure {0}

float	_last_temperature {0.0f}

uint8_t	_checked_values [LSM303D_NUM_CHECKED_REGISTERS] {}

uint8_t	_checked_next {0}

Static Private Attributes
static constexpr int	LSM303D_NUM_CHECKED_REGISTERS {8}

Detailed Description

Definition at line 143 of file LSM303D.hpp.

Constructor & Destructor Documentation

◆ LSM303D()

LSM303D::LSM303D	(	int	bus,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 56 of file LSM303D.cpp.

References _px4_accel, _px4_mag, DRV_ACC_DEVTYPE_LSM303D, DRV_MAG_DEVTYPE_LSM303D, PX4Magnetometer::set_device_type(), PX4Accelerometer::set_device_type(), and PX4Magnetometer::set_external().

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◆ ~LSM303D()

LSM303D::~LSM303D ( )

virtual

Definition at line 72 of file LSM303D.cpp.

References _accel_duplicates, _accel_sample_perf, _bad_registers, _bad_values, _mag_sample_perf, perf_free(), and stop().

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Member Function Documentation

◆ accel_set_onchip_lowpass_filter_bandwidth()

int LSM303D::accel_set_onchip_lowpass_filter_bandwidth ( unsigned bandwidth )

private

Set the LSM303D on-chip anti-alias filter bandwith.

Parameters

bandwidth The anti-alias filter bandwidth in Hz Zero selects the highest bandwidth

Returns: OK if the value can be supported, -ERANGE otherwise.

Definition at line 295 of file LSM303D.cpp.

References ADDR_CTRL_REG2, modify_reg(), OK, REG2_AA_FILTER_BW_194HZ_A, REG2_AA_FILTER_BW_362HZ_A, REG2_AA_FILTER_BW_50HZ_A, REG2_AA_FILTER_BW_773HZ_A, and REG2_ANTIALIAS_FILTER_BW_BITS_A.

Referenced by reset().

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◆ accel_set_range()

int LSM303D::accel_set_range ( unsigned max_g )

private

Set the LSM303D accel measurement range.

Parameters

max_g The measurement range of the accel is in g (9.81m/s^2) Zero selects the maximum supported range.

Returns: OK if the value can be supported, -ERANGE otherwise.

Definition at line 204 of file LSM303D.cpp.

References _px4_accel, ADDR_CTRL_REG2, CONSTANTS_ONE_G, f(), modify_reg(), OK, REG2_FULL_SCALE_16G_A, REG2_FULL_SCALE_2G_A, REG2_FULL_SCALE_4G_A, REG2_FULL_SCALE_6G_A, REG2_FULL_SCALE_8G_A, REG2_FULL_SCALE_BITS_A, and PX4Accelerometer::set_scale().

Referenced by reset().

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◆ accel_set_samplerate()

int LSM303D::accel_set_samplerate ( unsigned frequency )

private

Set the LSM303D internal accel sampling frequency.

Parameters

frequency The internal accel sampling frequency is set to not less than this value. Zero selects the maximum rate supported.

Returns: OK if the value can be supported.

Definition at line 330 of file LSM303D.cpp.

References _call_accel_interval, _px4_accel, ADDR_CTRL_REG1, modify_reg(), OK, REG1_RATE_100HZ_A, REG1_RATE_1600HZ_A, REG1_RATE_200HZ_A, REG1_RATE_400HZ_A, REG1_RATE_800HZ_A, REG1_RATE_BITS_A, and PX4Accelerometer::set_sample_rate().

Referenced by reset().

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◆ check_registers()

void LSM303D::check_registers ( void )

private

check key registers for correct values

Definition at line 436 of file LSM303D.cpp.

References _bad_registers, _checked_next, _checked_registers, _checked_values, _register_wait, LSM303D_NUM_CHECKED_REGISTERS, perf_count(), read_reg(), and write_reg().

Referenced by measureAccelerometer().

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◆ disable_i2c()

void LSM303D::disable_i2c ( void )

private

disable I2C on the chip

Definition at line 104 of file LSM303D.cpp.

References read_reg(), and write_reg().

Referenced by reset().

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◆ init()

int LSM303D::init ( )

override

Definition at line 86 of file LSM303D.cpp.

References ToneAlarmInterface::init(), OK, reset(), and start().

Referenced by lsm303d::start().

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◆ mag_set_range()

int LSM303D::mag_set_range ( unsigned max_g )

private

Set the LSM303D mag measurement range.

Parameters

max_ga The measurement range of the mag is in Ga Zero selects the maximum supported range.

Returns: OK if the value can be supported, -ERANGE otherwise.

Definition at line 253 of file LSM303D.cpp.

References _px4_mag, ADDR_CTRL_REG6, f(), modify_reg(), OK, REG6_FULL_SCALE_12GA_M, REG6_FULL_SCALE_2GA_M, REG6_FULL_SCALE_4GA_M, REG6_FULL_SCALE_8GA_M, REG6_FULL_SCALE_BITS_M, and PX4Magnetometer::set_scale().

Referenced by reset().

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◆ mag_set_samplerate()

int LSM303D::mag_set_samplerate ( unsigned frequency )

private

Set the LSM303D internal mag sampling frequency.

Parameters

frequency The internal mag sampling frequency is set to not less than this value. Zero selects the maximum rate supported.

Returns: OK if the value can be supported.

Definition at line 374 of file LSM303D.cpp.

References _call_mag_interval, ADDR_CTRL_REG5, modify_reg(), OK, REG5_RATE_100HZ_M, REG5_RATE_25HZ_M, REG5_RATE_50HZ_M, and REG5_RATE_BITS_M.

Referenced by reset().

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◆ measureAccelerometer()

void LSM303D::measureAccelerometer ( )

private

Fetch accel measurements from the sensor and update the report ring.

Definition at line 466 of file LSM303D.cpp.

References _accel_duplicates, _accel_sample_perf, _bad_registers, _bad_values, _constant_accel_count, _last_accel, _px4_accel, _register_wait, ADDR_INCREMENT, ADDR_STATUS_A, check_registers(), DIR_READ, hrt_absolute_time(), hrt_abstime, perf_begin(), perf_count(), perf_end(), perf_event_count(), REG_STATUS_A_NEW_ZYXADA, PX4Accelerometer::set_error_count(), status, and PX4Accelerometer::update().

Referenced by Run().

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◆ measureMagnetometer()

void LSM303D::measureMagnetometer ( )

private

Fetch mag measurements from the sensor and update the report ring.

Definition at line 547 of file LSM303D.cpp.

References _bad_registers, _bad_values, _last_temperature, _mag_last_measure, _mag_sample_perf, _px4_accel, _px4_mag, ADDR_INCREMENT, ADDR_OUT_TEMP_L, DIR_READ, hrt_absolute_time(), hrt_abstime, perf_begin(), perf_end(), perf_event_count(), PX4Magnetometer::set_error_count(), PX4Magnetometer::set_external(), PX4Magnetometer::set_temperature(), PX4Accelerometer::set_temperature(), status, and PX4Magnetometer::update().

Referenced by Run().

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◆ modify_reg()

void LSM303D::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the LSM303D.

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 195 of file LSM303D.cpp.

References read_reg(), and write_checked_reg().

Referenced by accel_set_onchip_lowpass_filter_bandwidth(), accel_set_range(), accel_set_samplerate(), mag_set_range(), and mag_set_samplerate().

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◆ print_info()

void LSM303D::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 585 of file LSM303D.cpp.

References _accel_duplicates, _accel_sample_perf, _bad_registers, _bad_values, _checked_next, _checked_registers, _checked_values, _mag_sample_perf, LSM303D_NUM_CHECKED_REGISTERS, perf_print_counter(), and read_reg().

Referenced by lsm303d::info().

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◆ probe()

int LSM303D::probe ( )

protectedvirtual

Definition at line 146 of file LSM303D.cpp.

References _checked_values, ADDR_WHO_AM_I, OK, read_reg(), and WHO_I_AM.

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◆ read_reg()

uint8_t LSM303D::read_reg ( unsigned reg )

private

Read a register from the LSM303D.

Parameters

The	register to read.

Returns: The value that was read.

Definition at line 161 of file LSM303D.cpp.

References DIR_READ.

Referenced by check_registers(), disable_i2c(), modify_reg(), print_info(), and probe().

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◆ reset()

void LSM303D::reset ( )

private

Definition at line 117 of file LSM303D.cpp.

References accel_set_onchip_lowpass_filter_bandwidth(), accel_set_range(), accel_set_samplerate(), ADDR_CTRL_REG1, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_CTRL_REG7, disable_i2c(), LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ, LSM303D_ACCEL_DEFAULT_RANGE_G, LSM303D_ACCEL_DEFAULT_RATE, LSM303D_MAG_DEFAULT_RANGE_GA, LSM303D_MAG_DEFAULT_RATE, mag_set_range(), mag_set_samplerate(), REG1_BDU_UPDATE, REG1_RATE_800HZ_A, REG1_X_ENABLE_A, REG1_Y_ENABLE_A, REG1_Z_ENABLE_A, REG5_ENABLE_T, REG5_RES_HIGH_M, REG7_CONT_MODE_M, and write_checked_reg().

Referenced by init().

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◆ Run()

void LSM303D::Run ( )

overrideprivate

Definition at line 425 of file LSM303D.cpp.

References _call_mag_interval, _mag_last_measure, hrt_elapsed_time(), measureAccelerometer(), and measureMagnetometer().

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◆ start()

void LSM303D::start ( )

private

Definition at line 409 of file LSM303D.cpp.

References _call_accel_interval, LSM303D_TIMER_REDUCTION, and stop().

Referenced by init().

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◆ stop()

void LSM303D::stop ( )

private

Definition at line 419 of file LSM303D.cpp.

Referenced by start(), and ~LSM303D().

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◆ write_checked_reg()

void LSM303D::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the LSM303D, updating _checked_values.

Parameters

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

Definition at line 183 of file LSM303D.cpp.

References _checked_registers, _checked_values, LSM303D_NUM_CHECKED_REGISTERS, and write_reg().

Referenced by modify_reg(), and reset().

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◆ write_reg()

void LSM303D::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the LSM303D.

Parameters

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

Definition at line 172 of file LSM303D.cpp.

References DIR_WRITE.

Referenced by check_registers(), disable_i2c(), and write_checked_reg().

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Member Data Documentation

◆ _accel_duplicates

perf_counter_t LSM303D::_accel_duplicates

private

Definition at line 280 of file LSM303D.hpp.

Referenced by measureAccelerometer(), print_info(), and ~LSM303D().

◆ _accel_sample_perf

perf_counter_t LSM303D::_accel_sample_perf

private

Definition at line 276 of file LSM303D.hpp.

Referenced by measureAccelerometer(), print_info(), and ~LSM303D().

◆ _bad_registers

perf_counter_t LSM303D::_bad_registers

private

Definition at line 278 of file LSM303D.hpp.

Referenced by check_registers(), measureAccelerometer(), measureMagnetometer(), print_info(), and ~LSM303D().

◆ _bad_values

perf_counter_t LSM303D::_bad_values

private

Definition at line 279 of file LSM303D.hpp.

Referenced by measureAccelerometer(), measureMagnetometer(), print_info(), and ~LSM303D().

◆ _call_accel_interval

unsigned LSM303D::_call_accel_interval {1000000 / LSM303D_ACCEL_DEFAULT_RATE}

private

Definition at line 273 of file LSM303D.hpp.

Referenced by accel_set_samplerate(), and start().

◆ _call_mag_interval

unsigned LSM303D::_call_mag_interval {1000000 / LSM303D_MAG_DEFAULT_RATE}

private

Definition at line 274 of file LSM303D.hpp.

Referenced by mag_set_samplerate(), and Run().

◆ _checked_next

uint8_t LSM303D::_checked_next {0}

private

Definition at line 296 of file LSM303D.hpp.

Referenced by check_registers(), and print_info().

◆ _checked_values

uint8_t LSM303D::_checked_values[LSM303D_NUM_CHECKED_REGISTERS] {}

private

Definition at line 295 of file LSM303D.hpp.

Referenced by check_registers(), print_info(), probe(), and write_checked_reg().

◆ _constant_accel_count

uint8_t LSM303D::_constant_accel_count {0}

private

Definition at line 285 of file LSM303D.hpp.

Referenced by measureAccelerometer().

◆ _last_accel

int16_t LSM303D::_last_accel[3] {}

private

Definition at line 284 of file LSM303D.hpp.

Referenced by measureAccelerometer().

◆ _last_temperature

float LSM303D::_last_temperature {0.0f}

private

Definition at line 289 of file LSM303D.hpp.

Referenced by measureMagnetometer().

◆ _mag_last_measure

hrt_abstime LSM303D::_mag_last_measure {0}

private

Definition at line 287 of file LSM303D.hpp.

Referenced by measureMagnetometer(), and Run().

◆ _mag_sample_perf

perf_counter_t LSM303D::_mag_sample_perf

private

Definition at line 277 of file LSM303D.hpp.

Referenced by measureMagnetometer(), print_info(), and ~LSM303D().

◆ _px4_accel

PX4Accelerometer LSM303D::_px4_accel

private

Definition at line 270 of file LSM303D.hpp.

Referenced by accel_set_range(), accel_set_samplerate(), LSM303D(), measureAccelerometer(), and measureMagnetometer().

◆ _px4_mag

PX4Magnetometer LSM303D::_px4_mag

private

Definition at line 271 of file LSM303D.hpp.

Referenced by LSM303D(), mag_set_range(), and measureMagnetometer().

◆ _register_wait

uint8_t LSM303D::_register_wait {0}

private

Definition at line 282 of file LSM303D.hpp.

Referenced by check_registers(), and measureAccelerometer().

◆ LSM303D_NUM_CHECKED_REGISTERS

constexpr int LSM303D::LSM303D_NUM_CHECKED_REGISTERS {8}

staticprivate

Definition at line 294 of file LSM303D.hpp.

Referenced by check_registers(), print_info(), and write_checked_reg().

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

src/drivers/imu/lsm303d/LSM303D.hpp
src/drivers/imu/lsm303d/LSM303D.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LSM303D()

◆ ~LSM303D()

Member Function Documentation

◆ accel_set_onchip_lowpass_filter_bandwidth()

◆ accel_set_range()

◆ accel_set_samplerate()

◆ check_registers()

◆ disable_i2c()

◆ init()

◆ mag_set_range()

◆ mag_set_samplerate()

◆ measureAccelerometer()

◆ measureMagnetometer()

◆ modify_reg()

◆ print_info()

◆ probe()

◆ read_reg()

◆ reset()

◆ Run()

◆ start()

◆ stop()

◆ write_checked_reg()

◆ write_reg()

Member Data Documentation

◆ _accel_duplicates

◆ _accel_sample_perf

◆ _bad_registers

◆ _bad_values

◆ _call_accel_interval

◆ _call_mag_interval

◆ _checked_next

◆ _checked_values

◆ _constant_accel_count

◆ _last_accel

◆ _last_temperature

◆ _mag_last_measure

◆ _mag_sample_perf

◆ _px4_accel

◆ _px4_mag

◆ _register_wait

◆ LSM303D_NUM_CHECKED_REGISTERS