LSM303AGR.hpp

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#ifndef DRIVERS_IMU_LSM303AGR_LSM303AGR_HPP_
#define DRIVERS_IMU_LSM303AGR_LSM303AGR_HPP_

#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_mag.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>

// Register mapping
static constexpr uint8_t WHO_AM_I_M = 0x4F;

static constexpr uint8_t CFG_REG_A_M = 0x60;

struct CFG_REG_A_M_BITS {
    uint8_t
    : 1, // unused
    : 1, // unused
    SOFT_RST    : 1,
    LP          : 1,
    ODR1        : 1,
    ODR0        : 1,
    MD1         : 1,
    MD0         : 1;
};

static constexpr uint8_t CFG_REG_A_M_SOFT_RST   = (1 << 5);
static constexpr uint8_t CFG_REG_A_M_ODR1       = (1 << 3);
static constexpr uint8_t CFG_REG_A_M_ODR0       = (1 << 2);
static constexpr uint8_t CFG_REG_A_M_MD1        = (1 << 1);
static constexpr uint8_t CFG_REG_A_M_MD0        = (1 << 0);

static constexpr uint8_t CFG_REG_B_M = 0x61;
static constexpr uint8_t CFG_REG_B_M_OFF_CANC   = (1 << 1);
static constexpr uint8_t CFG_REG_B_M_OFF_LPF    = (1 << 0);

static constexpr uint8_t CFG_REG_C_M = 0x62;
static constexpr uint8_t CFG_REG_C_M_I2C_DIS    = (1 << 5);
static constexpr uint8_t CFG_REG_C_M_BDU        = (1 << 4);
static constexpr uint8_t CFG_REG_C_M_Self_test  = (1 << 1);

static constexpr uint8_t STATUS_REG_M = 0x67;
static constexpr uint8_t STATUS_REG_M_Zyxda     = (1 << 3);

// Magnetometer output registers
static constexpr uint8_t OUTX_L_REG_M = 0x68;
static constexpr uint8_t OUTX_H_REG_M = 0x69;
static constexpr uint8_t OUTY_L_REG_M = 0x6A;
static constexpr uint8_t OUTY_H_REG_M = 0x6B;
static constexpr uint8_t OUTZ_L_REG_M = 0x6C;
static constexpr uint8_t OUTZ_H_REG_M = 0x6D;

class LSM303AGR : public device::SPI, public px4::ScheduledWorkItem
{
public:
    LSM303AGR(int bus, const char *path, uint32_t device, enum Rotation rotation);
    virtual ~LSM303AGR();

    virtual int     init();

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

    /**
     * Diagnostics - print some basic information about the driver.
     */
    void            print_info();

protected:
    virtual int     probe();

private:

    bool            _collect_phase{false};

    unsigned        _measure_interval{0};

    unsigned        _call_mag_interval{0};

    mag_calibration_s   _mag_scale{};

    static constexpr float  _mag_range_scale{1.5f / 1000.0f}; // 1.5 milligauss/LSB
    static constexpr float  _mag_range_ga{49.152f};

    int         _class_instance{-1};

    unsigned        _mag_samplerate{100};

    perf_counter_t      _mag_sample_perf;
    perf_counter_t      _bad_registers;
    perf_counter_t      _bad_values;

    enum Rotation       _rotation;

    orb_advert_t        _mag_topic{nullptr};
    int                 _mag_orb_class_instance{-1};

    /**
     * Start automatic measurement.
     */
    void            start();

    /**
     * Stop automatic measurement.
     */
    void            stop();

    /**
     * Reset chip.
     *
     * Resets the chip and measurements ranges, but not scale and offset.
     */
    int             reset();


    bool            self_test();

    /**
     * Issue a measurement command.
     *
     * @return      OK if the measurement command was successful.
     */
    void            measure();

    /**
     * Collect the result of the most recent measurement.
     */
    int         collect();

    /**
     * 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.
     */
    void            Run() override;

    /**
     * Read a register from the LSM303AGR
     *
     * @param       The register to read.
     * @return      The value that was read.
     */
    uint8_t         read_reg(unsigned reg);

    /**
     * Write a register in the LSM303AGR
     *
     * @param reg       The register to write.
     * @param value     The new value to write.
     */
    void            write_reg(unsigned reg, uint8_t value);

    /* this class cannot be copied */
    LSM303AGR(const LSM303AGR &);
    LSM303AGR operator=(const LSM303AGR &);
};

#endif /* DRIVERS_IMU_LSM303AGR_LSM303AGR_HPP_ */