Driver for the QMC5883 magnetometer connected via I2C or SPI. More...

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <drivers/device/i2c.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 <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <nuttx/clock.h>
#include <board_config.h>
#include <perf/perf_counter.h>
#include <systemlib/err.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 <getopt.h>
#include <lib/conversion/rotation.h>
#include "qmc5883.h"

Include dependency graph for qmc5883.cpp:

Classes
class	QMC5883

struct	QMC5883::_last_report
	used for info() More...

struct	qmc5883::qmc5883_bus_option

Namespaces
	qmc5883
	Local functions in support of the shell command.

Macros
#define	QMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */

#define	QMC5883_MAX_COUNT 32767

#define	QMC5883_ADDR_DATA_OUT_X_LSB 0x00

#define	QMC5883_ADDR_DATA_OUT_X_MSB 0x01

#define	QMC5883_ADDR_DATA_OUT_Y_LSB 0x02

#define	QMC5883_ADDR_DATA_OUT_Y_MSB 0x03

#define	QMC5883_ADDR_DATA_OUT_Z_LSB 0x04

#define	QMC5883_ADDR_DATA_OUT_Z_MSB 0x05

#define	QMC5883_ADDR_STATUS 0x06

#define	QMC5883_ADDR_TEMP_OUT_LSB 0x07

#define	QMC5883_ADDR_TEMP_OUT_MSB 0x08

#define	QMC5883_ADDR_CONTROL_1 0x09

#define	QMC5883_ADDR_CONTROL_2 0x0A

#define	QMC5883_ADDR_SET_RESET 0x0B

#define	QMC5883_STATUS_REG_DRDY (1 << 0) /* Data Ready: "0": no new data, "1": new data is ready */

#define	QMC5883_STATUS_REG_OVL (1 << 1) /* Overflow Flag: "0": normal, "1": data overflow */

#define	QMC5883_STATUS_REG_DOR (1 << 2) /* Data Skip: "0": normal, "1": data skipped for reading */

#define	QMC5883_MODE_REG_STANDBY (0 << 0)

#define	QMC5883_MODE_REG_CONTINOUS_MODE (1 << 0)

#define	QMC5883_OUTPUT_DATA_RATE_10 (0 << 2) /* Hz */

#define	QMC5883_OUTPUT_DATA_RATE_50 (1 << 2)

#define	QMC5883_OUTPUT_DATA_RATE_100 (2 << 2)

#define	QMC5883_OUTPUT_DATA_RATE_200 (3 << 2)

#define	QMC5883_OUTPUT_RANGE_2G (0 << 4) /* +/- 2 gauss */

#define	QMC5883_OUTPUT_RANGE_8G (1 << 4) /* +/- 8 gauss */

#define	QMC5883_OVERSAMPLE_512 (0 << 6) /* controls digital filter bw - larger OSR -> smaller bw */

#define	QMC5883_OVERSAMPLE_256 (1 << 6)

#define	QMC5883_OVERSAMPLE_128 (2 << 6)

#define	QMC5883_OVERSAMPLE_64 (3 << 6)

#define	QMC5883_INT_ENB (1 << 0)

#define	QMC5883_ROL_PNT (1 << 6)

#define	QMC5883_SOFT_RESET (1 << 7)

#define	QMC5883_SET_DEFAULT (1 << 0)

#define	QMC5883_TEMP_OFFSET 50 /* deg celsius */

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

Enumerations
enum	QMC5883_BUS { QMC5883_BUS_ALL = 0, QMC5883_BUS_I2C_INTERNAL, QMC5883_BUS_I2C_EXTERNAL, QMC5883_BUS_SPI }

Functions
__EXPORT int	qmc5883_main (int argc, char *argv[])

void	qmc5883::start (enum QMC5883_BUS busid, enum Rotation rotation)
	Start the driver. More...

int	qmc5883::stop ()
	Stop the driver. More...

bool	qmc5883::start_bus (struct qmc5883_bus_option &bus, enum Rotation rotation)
	start driver for a specific bus option More...

struct qmc5883_bus_option &	qmc5883::find_bus (enum QMC5883_BUS busid)
	find a bus structure for a busid More...

void	qmc5883::test (enum QMC5883_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	qmc5883::reset (enum QMC5883_BUS busid)
	Reset the driver. More...

int	qmc5883::info (enum QMC5883_BUS busid)
	Print a little info about the driver. More...

int	qmc5883::temp_enable (QMC5883_BUS busid, bool enable)

void	qmc5883::usage ()
	Prints info about the driver argument usage. More...

Variables
struct qmc5883::qmc5883_bus_option	qmc5883::bus_options []

Detailed Description

Driver for the QMC5883 magnetometer connected via I2C or SPI.

Definition in file qmc5883.cpp.

Macro Definition Documentation

◆ NUM_BUS_OPTIONS

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

Definition at line 830 of file qmc5883.cpp.

Referenced by qmc5883::find_bus(), qmc5883::start(), and qmc5883::stop().

◆ QMC5883_ADDR_CONTROL_1

#define QMC5883_ADDR_CONTROL_1 0x09

Definition at line 97 of file qmc5883.cpp.

Referenced by QMC5883::check_conf(), and QMC5883::reset().

◆ QMC5883_ADDR_CONTROL_2

#define QMC5883_ADDR_CONTROL_2 0x0A

Definition at line 98 of file qmc5883.cpp.

Referenced by QMC5883::reset().

◆ QMC5883_ADDR_DATA_OUT_X_LSB

#define QMC5883_ADDR_DATA_OUT_X_LSB 0x00

Definition at line 88 of file qmc5883.cpp.

Referenced by QMC5883::collect(), and QMC5883::reset().

◆ QMC5883_ADDR_DATA_OUT_X_MSB

#define QMC5883_ADDR_DATA_OUT_X_MSB 0x01

Definition at line 89 of file qmc5883.cpp.

◆ QMC5883_ADDR_DATA_OUT_Y_LSB

#define QMC5883_ADDR_DATA_OUT_Y_LSB 0x02

Definition at line 90 of file qmc5883.cpp.

◆ QMC5883_ADDR_DATA_OUT_Y_MSB

#define QMC5883_ADDR_DATA_OUT_Y_MSB 0x03

Definition at line 91 of file qmc5883.cpp.

◆ QMC5883_ADDR_DATA_OUT_Z_LSB

#define QMC5883_ADDR_DATA_OUT_Z_LSB 0x04

Definition at line 92 of file qmc5883.cpp.

◆ QMC5883_ADDR_DATA_OUT_Z_MSB

#define QMC5883_ADDR_DATA_OUT_Z_MSB 0x05

Definition at line 93 of file qmc5883.cpp.

◆ QMC5883_ADDR_SET_RESET

#define QMC5883_ADDR_SET_RESET 0x0B

Definition at line 99 of file qmc5883.cpp.

Referenced by QMC5883::reset().

◆ QMC5883_ADDR_STATUS

#define QMC5883_ADDR_STATUS 0x06

Definition at line 94 of file qmc5883.cpp.

◆ QMC5883_ADDR_TEMP_OUT_LSB

#define QMC5883_ADDR_TEMP_OUT_LSB 0x07

Definition at line 95 of file qmc5883.cpp.

Referenced by QMC5883::collect().

◆ QMC5883_ADDR_TEMP_OUT_MSB

#define QMC5883_ADDR_TEMP_OUT_MSB 0x08

Definition at line 96 of file qmc5883.cpp.

◆ QMC5883_CONVERSION_INTERVAL

#define QMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */

Definition at line 85 of file qmc5883.cpp.

Referenced by QMC5883::ioctl(), QMC5883::read(), and QMC5883::Run().

◆ QMC5883_INT_ENB

#define QMC5883_INT_ENB (1 << 0)

Definition at line 121 of file qmc5883.cpp.

◆ QMC5883_MAX_COUNT

#define QMC5883_MAX_COUNT 32767

Definition at line 86 of file qmc5883.cpp.

Referenced by QMC5883::collect().

◆ QMC5883_MODE_REG_CONTINOUS_MODE

#define QMC5883_MODE_REG_CONTINOUS_MODE (1 << 0)

Definition at line 108 of file qmc5883.cpp.

Referenced by QMC5883::reset().

◆ QMC5883_MODE_REG_STANDBY

#define QMC5883_MODE_REG_STANDBY (0 << 0)

Definition at line 107 of file qmc5883.cpp.

◆ QMC5883_OUTPUT_DATA_RATE_10

#define QMC5883_OUTPUT_DATA_RATE_10 (0 << 2) /* Hz */

Definition at line 109 of file qmc5883.cpp.

◆ QMC5883_OUTPUT_DATA_RATE_100

#define QMC5883_OUTPUT_DATA_RATE_100 (2 << 2)

Definition at line 111 of file qmc5883.cpp.

◆ QMC5883_OUTPUT_DATA_RATE_200

#define QMC5883_OUTPUT_DATA_RATE_200 (3 << 2)

Definition at line 112 of file qmc5883.cpp.

Referenced by QMC5883::reset().

◆ QMC5883_OUTPUT_DATA_RATE_50

#define QMC5883_OUTPUT_DATA_RATE_50 (1 << 2)

Definition at line 110 of file qmc5883.cpp.

◆ QMC5883_OUTPUT_RANGE_2G

#define QMC5883_OUTPUT_RANGE_2G (0 << 4) /* +/- 2 gauss */

Definition at line 113 of file qmc5883.cpp.

Referenced by QMC5883::reset().

◆ QMC5883_OUTPUT_RANGE_8G

#define QMC5883_OUTPUT_RANGE_8G (1 << 4) /* +/- 8 gauss */

Definition at line 114 of file qmc5883.cpp.

◆ QMC5883_OVERSAMPLE_128

#define QMC5883_OVERSAMPLE_128 (2 << 6)

Definition at line 117 of file qmc5883.cpp.

◆ QMC5883_OVERSAMPLE_256

#define QMC5883_OVERSAMPLE_256 (1 << 6)

Definition at line 116 of file qmc5883.cpp.

◆ QMC5883_OVERSAMPLE_512

#define QMC5883_OVERSAMPLE_512 (0 << 6) /* controls digital filter bw - larger OSR -> smaller bw */

Definition at line 115 of file qmc5883.cpp.

Referenced by QMC5883::reset().

◆ QMC5883_OVERSAMPLE_64

#define QMC5883_OVERSAMPLE_64 (3 << 6)

Definition at line 118 of file qmc5883.cpp.

◆ QMC5883_ROL_PNT

#define QMC5883_ROL_PNT (1 << 6)

Definition at line 122 of file qmc5883.cpp.

◆ QMC5883_SET_DEFAULT

#define QMC5883_SET_DEFAULT (1 << 0)

Definition at line 126 of file qmc5883.cpp.

Referenced by QMC5883::reset().

◆ QMC5883_SOFT_RESET

#define QMC5883_SOFT_RESET (1 << 7)

Definition at line 123 of file qmc5883.cpp.

Referenced by QMC5883::reset().

◆ QMC5883_STATUS_REG_DOR

#define QMC5883_STATUS_REG_DOR (1 << 2) /* Data Skip: "0": normal, "1": data skipped for reading */

Definition at line 104 of file qmc5883.cpp.

◆ QMC5883_STATUS_REG_DRDY

#define QMC5883_STATUS_REG_DRDY (1 << 0) /* Data Ready: "0": no new data, "1": new data is ready */

Definition at line 102 of file qmc5883.cpp.

◆ QMC5883_STATUS_REG_OVL

#define QMC5883_STATUS_REG_OVL (1 << 1) /* Overflow Flag: "0": normal, "1": data overflow */

Definition at line 103 of file qmc5883.cpp.

◆ QMC5883_TEMP_OFFSET

#define QMC5883_TEMP_OFFSET 50 /* deg celsius */

Definition at line 128 of file qmc5883.cpp.

Referenced by QMC5883::collect().

Enumeration Type Documentation

◆ QMC5883_BUS

enum QMC5883_BUS

Enumerator
QMC5883_BUS_ALL
QMC5883_BUS_I2C_INTERNAL
QMC5883_BUS_I2C_EXTERNAL
QMC5883_BUS_SPI

Definition at line 130 of file qmc5883.cpp.

Function Documentation

◆ qmc5883_main()

int qmc5883_main	(	int	argc,
		char *	argv[]
	)

Definition at line 1065 of file qmc5883.cpp.

References errx, qmc5883::info(), QMC5883_BUS_ALL, QMC5883_BUS_I2C_EXTERNAL, QMC5883_BUS_I2C_INTERNAL, QMC5883_BUS_SPI, qmc5883::reset(), ROTATION_NONE, qmc5883::start(), qmc5883::stop(), qmc5883::test(), and qmc5883::usage().

Here is the call graph for this function:

Classes

Namespaces

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ NUM_BUS_OPTIONS

◆ QMC5883_ADDR_CONTROL_1

◆ QMC5883_ADDR_CONTROL_2

◆ QMC5883_ADDR_DATA_OUT_X_LSB

◆ QMC5883_ADDR_DATA_OUT_X_MSB

◆ QMC5883_ADDR_DATA_OUT_Y_LSB

◆ QMC5883_ADDR_DATA_OUT_Y_MSB

◆ QMC5883_ADDR_DATA_OUT_Z_LSB

◆ QMC5883_ADDR_DATA_OUT_Z_MSB

◆ QMC5883_ADDR_SET_RESET

◆ QMC5883_ADDR_STATUS

◆ QMC5883_ADDR_TEMP_OUT_LSB

◆ QMC5883_ADDR_TEMP_OUT_MSB

◆ QMC5883_CONVERSION_INTERVAL

◆ QMC5883_INT_ENB

◆ QMC5883_MAX_COUNT

◆ QMC5883_MODE_REG_CONTINOUS_MODE

◆ QMC5883_MODE_REG_STANDBY

◆ QMC5883_OUTPUT_DATA_RATE_10

◆ QMC5883_OUTPUT_DATA_RATE_100

◆ QMC5883_OUTPUT_DATA_RATE_200

◆ QMC5883_OUTPUT_DATA_RATE_50

◆ QMC5883_OUTPUT_RANGE_2G

◆ QMC5883_OUTPUT_RANGE_8G

◆ QMC5883_OVERSAMPLE_128

◆ QMC5883_OVERSAMPLE_256

◆ QMC5883_OVERSAMPLE_512

◆ QMC5883_OVERSAMPLE_64

◆ QMC5883_ROL_PNT

◆ QMC5883_SET_DEFAULT

◆ QMC5883_SOFT_RESET

◆ QMC5883_STATUS_REG_DOR

◆ QMC5883_STATUS_REG_DRDY

◆ QMC5883_STATUS_REG_OVL

◆ QMC5883_TEMP_OFFSET

Enumeration Type Documentation

◆ QMC5883_BUS

Function Documentation

◆ qmc5883_main()