Inheritance diagram for QMC5883:

Collaboration diagram for QMC5883:

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

Public Member Functions
	QMC5883 (device::Device interface, const char path, enum Rotation rotation)

virtual	~QMC5883 ()

virtual int	init ()

virtual ssize_t	read (struct file filp, char buffer, size_t buflen)

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

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

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

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

	QMC5883 (const QMC5883 &)

QMC5883	operator= (const QMC5883 &)

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 137 of file qmc5883.cpp.

Constructor & Destructor Documentation

◆ QMC5883() [1/2]

QMC5883::QMC5883	(	device::Device *	interface,
		const char *	path,
		enum Rotation	rotation
	)

Definition at line 262 of file qmc5883.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_QMC5883, 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.

Referenced by qmc5883::start_bus().

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◆ ~QMC5883()

QMC5883::~QMC5883 ( )

virtual

Definition at line 300 of file qmc5883.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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◆ QMC5883() [2/2]

QMC5883::QMC5883 ( const QMC5883 & )

private

Member Function Documentation

◆ check_conf()

void QMC5883::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 356 of file qmc5883.cpp.

References _comms_errors, _conf_errors, _conf_reg, OK, perf_count(), QMC5883_ADDR_CONTROL_1, read_reg(), and write_reg().

Referenced by collect().

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◆ collect()

int QMC5883::collect ( )

private

Collect the result of the most recent measurement.

Definition at line 603 of file qmc5883.cpp.

References _comms_errors, _interface, _mag_topic, _orb_class_instance, device::CDev::_pub_blocked, _range_scale, _reports, _rotation, _sample_perf, _scale, _temperature_counter, matrix::abs(), check_conf(), 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(), QMC5883_ADDR_DATA_OUT_X_LSB, QMC5883_ADDR_TEMP_OUT_LSB, QMC5883_MAX_COUNT, QMC5883_TEMP_OFFSET, 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 QMC5883::init ( )

virtual

Reimplemented from device::CDev.

Definition at line 321 of file qmc5883.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().

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◆ ioctl()

int QMC5883::ioctl	(	struct file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 431 of file qmc5883.cpp.

References _interface, _measure_interval, _scale, DEVICE_DEBUG, MAGIOCGEXTERNAL, MAGIOCGSCALE, MAGIOCSRANGE, MAGIOCSSCALE, OK, QMC5883_CONVERSION_INTERVAL, reset(), SENSOR_POLLRATE_DEFAULT, SENSORIOCRESET, SENSORIOCSPOLLRATE, and start().

Referenced by qmc5883::reset(), qmc5883::start_bus(), and qmc5883::test().

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◆ operator=()

QMC5883 QMC5883::operator= ( const QMC5883 & )

private

◆ print_info()

void QMC5883::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 791 of file qmc5883.cpp.

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

Referenced by qmc5883::info().

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◆ read()

ssize_t QMC5883::read	(	struct file *	filp,
		char *	buffer,
		size_t	buflen
	)

virtual

Definition at line 379 of file qmc5883.cpp.

References _measure_interval, _reports, collect(), mag_report, OK, and QMC5883_CONVERSION_INTERVAL.

Referenced by qmc5883::test().

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◆ read_reg()

int QMC5883::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 782 of file qmc5883.cpp.

References _interface.

Referenced by check_conf(), and reset().

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◆ reset()

int QMC5883::reset ( )

private

Reset the device.

Definition at line 533 of file qmc5883.cpp.

References _conf_reg, _range_bits, _range_ga, _range_scale, OK, QMC5883_ADDR_CONTROL_1, QMC5883_ADDR_CONTROL_2, QMC5883_ADDR_DATA_OUT_X_LSB, QMC5883_ADDR_SET_RESET, QMC5883_MODE_REG_CONTINOUS_MODE, QMC5883_OUTPUT_DATA_RATE_200, QMC5883_OUTPUT_RANGE_2G, QMC5883_OVERSAMPLE_512, QMC5883_SET_DEFAULT, QMC5883_SOFT_RESET, read_reg(), and write_reg().

Referenced by init(), and ioctl().

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◆ Run()

void QMC5883::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 561 of file qmc5883.cpp.

References _collect_phase, _measure_interval, collect(), DEVICE_DEBUG, OK, QMC5883_CONVERSION_INTERVAL, and start().

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◆ start()

void QMC5883::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 512 of file qmc5883.cpp.

References _collect_phase, and _reports.

Referenced by ioctl(), and Run().

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◆ stop()

void QMC5883::stop ( )

Stop the automatic measurement state machine.

Definition at line 523 of file qmc5883.cpp.

References _measure_interval.

Referenced by qmc5883::stop(), and ~QMC5883().

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◆ write_reg()

int QMC5883::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 775 of file qmc5883.cpp.

References _interface.

Referenced by check_conf(), and reset().

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Member Data Documentation

◆ _class_instance

int QMC5883::_class_instance

private

Definition at line 169 of file qmc5883.cpp.

Referenced by init(), QMC5883(), and ~QMC5883().

◆ _collect_phase

bool QMC5883::_collect_phase

private

Definition at line 168 of file qmc5883.cpp.

Referenced by QMC5883(), Run(), and start().

◆ _comms_errors

perf_counter_t QMC5883::_comms_errors

private

Definition at line 175 of file qmc5883.cpp.

Referenced by check_conf(), collect(), print_info(), QMC5883(), and ~QMC5883().

◆ _conf_errors

perf_counter_t QMC5883::_conf_errors

private

Definition at line 177 of file qmc5883.cpp.

Referenced by check_conf(), QMC5883(), and ~QMC5883().

◆ _conf_reg

uint8_t QMC5883::_conf_reg

private

Definition at line 187 of file qmc5883.cpp.

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

◆ _interface

Device* QMC5883::_interface

protected

Definition at line 159 of file qmc5883.cpp.

Referenced by collect(), ioctl(), QMC5883(), read_reg(), and write_reg().

◆ _mag_topic

orb_advert_t QMC5883::_mag_topic

private

Definition at line 172 of file qmc5883.cpp.

Referenced by collect(), and QMC5883().

◆ _measure_interval

unsigned QMC5883::_measure_interval {0}

private

Definition at line 162 of file qmc5883.cpp.

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

◆ _orb_class_instance

int QMC5883::_orb_class_instance

private

Definition at line 170 of file qmc5883.cpp.

Referenced by collect(), and QMC5883().

◆ _range_bits

uint8_t QMC5883::_range_bits

private

Definition at line 186 of file qmc5883.cpp.

Referenced by QMC5883(), and reset().

◆ _range_errors

perf_counter_t QMC5883::_range_errors

private

Definition at line 176 of file qmc5883.cpp.

Referenced by QMC5883(), and ~QMC5883().

◆ _range_ga

float QMC5883::_range_ga

private

Definition at line 167 of file qmc5883.cpp.

Referenced by QMC5883(), and reset().

◆ _range_scale

float QMC5883::_range_scale

private

Definition at line 166 of file qmc5883.cpp.

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

◆ _reports

ringbuffer::RingBuffer* QMC5883::_reports

private

Definition at line 164 of file qmc5883.cpp.

Referenced by collect(), init(), print_info(), read(), start(), and ~QMC5883().

◆ _rotation

enum Rotation QMC5883::_rotation

private

Definition at line 182 of file qmc5883.cpp.

Referenced by collect(), and QMC5883().

◆ _sample_perf

perf_counter_t QMC5883::_sample_perf

private

Definition at line 174 of file qmc5883.cpp.

Referenced by collect(), print_info(), QMC5883(), and ~QMC5883().

◆ _scale

struct mag_calibration_s QMC5883::_scale

private

Definition at line 165 of file qmc5883.cpp.

Referenced by collect(), ioctl(), and QMC5883().

◆ _sensor_ok

bool QMC5883::_sensor_ok

private

sensor was found and reports ok

Definition at line 180 of file qmc5883.cpp.

Referenced by init(), and QMC5883().

◆ _temperature_counter

uint8_t QMC5883::_temperature_counter

private

Definition at line 188 of file qmc5883.cpp.

Referenced by collect(), and QMC5883().

◆ _temperature_error_count

uint8_t QMC5883::_temperature_error_count

private

Definition at line 189 of file qmc5883.cpp.

Referenced by QMC5883().

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

src/drivers/magnetometer/qmc5883/qmc5883.cpp

Classes

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ QMC5883() [1/2]

◆ ~QMC5883()

◆ QMC5883() [2/2]

Member Function Documentation

◆ check_conf()

◆ collect()

◆ init()

◆ ioctl()

◆ operator=()

◆ print_info()

◆ read()

◆ read_reg()

◆ reset()

◆ Run()

◆ 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