#include <FXOS8701CQ.hpp>

Inheritance diagram for FXOS8701CQ:

Collaboration diagram for FXOS8701CQ:

Public Member Functions
	FXOS8701CQ (int bus, uint32_t device, enum Rotation rotation)

virtual	~FXOS8701CQ ()

virtual int	init ()

void	print_info ()

void	print_registers ()

void	test_error ()

Protected Member Functions
virtual int	probe ()

Private Member Functions
void	Run () override

void	start ()

void	stop ()

void	reset ()

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

uint8_t	read_reg (unsigned reg)
	Read a register from the FXOS8701C. More...

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the FXOS8701C. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the FXOS8701C. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the FXOS8701C, updating _checked_values. More...

int	accel_set_range (unsigned max_g)
	Set the FXOS8701C accel measurement range. More...

int	mag_set_range (unsigned max_g)
	Set the FXOS8701C mag measurement range. More...

int	accel_set_samplerate (unsigned frequency)
	Set the FXOS8701C internal accel and mag sampling frequency. More...

Private Attributes
PX4Accelerometer	_px4_accel

PX4Magnetometer	_px4_mag

hrt_abstime	_mag_last_measure {0}

perf_counter_t	_mag_sample_perf

unsigned	_accel_samplerate {FXOS8701C_ACCEL_DEFAULT_RATE}

perf_counter_t	_accel_sample_perf

perf_counter_t	_bad_registers

perf_counter_t	_accel_duplicates

uint8_t	_register_wait {0}

uint8_t	_checked_values [FXOS8701C_NUM_CHECKED_REGISTERS] {}

uint8_t	_checked_next {0}

Static Private Attributes
static constexpr int	FXOS8701C_NUM_CHECKED_REGISTERS {5}

static const uint8_t	_checked_registers [FXOS8701C_NUM_CHECKED_REGISTERS]

Detailed Description

Definition at line 114 of file FXOS8701CQ.hpp.

Constructor & Destructor Documentation

◆ FXOS8701CQ()

FXOS8701CQ::FXOS8701CQ	(	int	bus,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 56 of file FXOS8701CQ.cpp.

References _px4_accel, _px4_mag, DRV_ACC_DEVTYPE_FXOS8701C, f(), PX4Magnetometer::set_device_type(), PX4Accelerometer::set_device_type(), and PX4Magnetometer::set_scale().

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◆ ~FXOS8701CQ()

FXOS8701CQ::~FXOS8701CQ ( )

virtual

Definition at line 78 of file FXOS8701CQ.cpp.

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

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Member Function Documentation

◆ accel_set_range()

int FXOS8701CQ::accel_set_range ( unsigned max_g )

private

Set the FXOS8701C 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 194 of file FXOS8701CQ.cpp.

References _px4_accel, CONSTANTS_ONE_G, FXOS8701CQ_XYZ_DATA_CFG, modify_reg(), OK, PX4Accelerometer::set_scale(), XYZ_DATA_CFG_FS_2G, XYZ_DATA_CFG_FS_4G, XYZ_DATA_CFG_FS_8G, and XYZ_DATA_CFG_FS_MASK.

Referenced by reset().

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◆ accel_set_samplerate()

int FXOS8701CQ::accel_set_samplerate ( unsigned frequency )

private

Set the FXOS8701C internal accel and mag sampling frequency.

Parameters

frequency The internal accel and 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 242 of file FXOS8701CQ.cpp.

References _accel_samplerate, CTRL_REG1_ACTIVE, CTRL_REG1_DR, CTRL_REG1_DR_MASK, FXOS8701C_ACCEL_DEFAULT_RATE, FXOS8701CQ_CTRL_REG1, modify_reg(), OK, and read_reg().

Referenced by reset().

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◆ check_registers()

void FXOS8701CQ::check_registers ( void )

private

check key registers for correct values

Definition at line 301 of file FXOS8701CQ.cpp.

References _bad_registers, _checked_next, _checked_registers, _checked_values, _register_wait, FXOS8701C_NUM_CHECKED_REGISTERS, perf_count(), read_reg(), and write_reg().

Referenced by Run().

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◆ init()

int FXOS8701CQ::init ( )

virtual

Definition at line 94 of file FXOS8701CQ.cpp.

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

Referenced by fxos8701cq::start().

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◆ mag_set_range()

int FXOS8701CQ::mag_set_range ( unsigned max_g )

private

Set the FXOS8701C 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 230 of file FXOS8701CQ.cpp.

References _px4_mag, OK, and PX4Magnetometer::set_scale().

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◆ modify_reg()

void FXOS8701CQ::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the FXOS8701C.

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 185 of file FXOS8701CQ.cpp.

References read_reg(), and write_checked_reg().

Referenced by accel_set_range(), and accel_set_samplerate().

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◆ print_info()

void FXOS8701CQ::print_info ( )

Definition at line 410 of file FXOS8701CQ.cpp.

References _accel_duplicates, _accel_sample_perf, _bad_registers, _checked_next, _checked_registers, _checked_values, _mag_sample_perf, FXOS8701C_NUM_CHECKED_REGISTERS, perf_print_counter(), and read_reg().

Referenced by fxos8701cq::info().

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◆ print_registers()

void FXOS8701CQ::print_registers ( )

Definition at line 435 of file FXOS8701CQ.cpp.

References DEF_REG, FXOS8701CQ_CTRL_REG1, FXOS8701CQ_CTRL_REG2, FXOS8701CQ_DR_STATUS, FXOS8701CQ_M_CTRL_REG1, FXOS8701CQ_M_CTRL_REG2, FXOS8701CQ_M_CTRL_REG3, FXOS8701CQ_M_DR_STATUS, FXOS8701CQ_M_OUT_X_MSB, FXOS8701CQ_OUT_X_MSB, FXOS8701CQ_WHOAMI, FXOS8701CQ_XYZ_DATA_CFG, name, and read_reg().

Referenced by fxos8701cq::regdump().

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◆ probe()

int FXOS8701CQ::probe ( )

protectedvirtual

Definition at line 132 of file FXOS8701CQ.cpp.

References _checked_values, FXOS8700CQ_WHOAMI_VAL, FXOS8701CQ_WHOAMI, FXOS8701CQ_WHOAMI_VAL, OK, and read_reg().

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◆ read_reg()

uint8_t FXOS8701CQ::read_reg ( unsigned reg )

private

Read a register from the FXOS8701C.

Parameters

The	register to read.

Returns: The value that was read.

Definition at line 147 of file FXOS8701CQ.cpp.

References ADDR_7, and DIR_READ.

Referenced by accel_set_samplerate(), check_registers(), modify_reg(), print_info(), print_registers(), probe(), and Run().

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◆ reset()

void FXOS8701CQ::reset ( )

private

Definition at line 112 of file FXOS8701CQ.cpp.

References accel_set_range(), accel_set_samplerate(), CTRL_REG1_ACTIVE, CTRL_REG1_DR, CTRL_REG2_AUTO_INC, FXOS8701C_ACCEL_DEFAULT_RANGE_G, FXOS8701C_ACCEL_DEFAULT_RATE, FXOS8701CQ_CTRL_REG1, FXOS8701CQ_M_CTRL_REG1, FXOS8701CQ_M_CTRL_REG2, FXOS8701CQ_XYZ_DATA_CFG, M_CTRL_REG1_HMS_AM, M_CTRL_REG1_OS, and write_checked_reg().

Referenced by init().

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◆ Run()

void FXOS8701CQ::Run ( )

overrideprivate

Definition at line 331 of file FXOS8701CQ.cpp.

References _accel_duplicates, _accel_sample_perf, _bad_registers, _mag_last_measure, _px4_accel, _px4_mag, _register_wait, ADDR_7, check_registers(), DIR_READ, DR_STATUS_ZYXDR, f(), FXOS8701CQ_DR_STATUS, FXOS8701CQ_TEMP, hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), perf_begin(), perf_count(), perf_end(), perf_event_count(), read_reg(), PX4Accelerometer::set_error_count(), PX4Accelerometer::set_temperature(), status, swap16, swap16RightJustify14, PX4Magnetometer::update(), and PX4Accelerometer::update().

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◆ start()

void FXOS8701CQ::start ( )

private

Definition at line 285 of file FXOS8701CQ.cpp.

References FXOS8701C_ACCEL_DEFAULT_RATE, FXOS8701C_TIMER_REDUCTION, and stop().

Referenced by init().

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◆ stop()

void FXOS8701CQ::stop ( )

private

Definition at line 295 of file FXOS8701CQ.cpp.

Referenced by start(), and ~FXOS8701CQ().

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◆ test_error()

void FXOS8701CQ::test_error ( )

Definition at line 460 of file FXOS8701CQ.cpp.

References FXOS8701CQ_CTRL_REG1, and write_reg().

Referenced by fxos8701cq::test_error().

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◆ write_checked_reg()

void FXOS8701CQ::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the FXOS8701C, updating _checked_values.

Parameters

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

Definition at line 173 of file FXOS8701CQ.cpp.

References _checked_registers, _checked_values, FXOS8701C_NUM_CHECKED_REGISTERS, and write_reg().

Referenced by modify_reg(), and reset().

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◆ write_reg()

void FXOS8701CQ::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the FXOS8701C.

Parameters

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

Definition at line 161 of file FXOS8701CQ.cpp.

References ADDR_7, and DIR_WRITE.

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

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Member Data Documentation

◆ _accel_duplicates

perf_counter_t FXOS8701CQ::_accel_duplicates

private

Definition at line 218 of file FXOS8701CQ.hpp.

Referenced by print_info(), Run(), and ~FXOS8701CQ().

◆ _accel_sample_perf

perf_counter_t FXOS8701CQ::_accel_sample_perf

private

Definition at line 216 of file FXOS8701CQ.hpp.

Referenced by print_info(), Run(), and ~FXOS8701CQ().

◆ _accel_samplerate

unsigned FXOS8701CQ::_accel_samplerate {FXOS8701C_ACCEL_DEFAULT_RATE}

private

Definition at line 214 of file FXOS8701CQ.hpp.

Referenced by accel_set_samplerate().

◆ _bad_registers

perf_counter_t FXOS8701CQ::_bad_registers

private

Definition at line 217 of file FXOS8701CQ.hpp.

Referenced by check_registers(), print_info(), Run(), and ~FXOS8701CQ().

◆ _checked_next

uint8_t FXOS8701CQ::_checked_next {0}

private

Definition at line 228 of file FXOS8701CQ.hpp.

Referenced by check_registers(), and print_info().

◆ _checked_registers

const uint8_t FXOS8701CQ::_checked_registers

staticprivate

Initial value:

= {
    FXOS8701CQ_WHOAMI,
    FXOS8701CQ_XYZ_DATA_CFG,
    FXOS8701CQ_CTRL_REG1,
    FXOS8701CQ_M_CTRL_REG1,
    FXOS8701CQ_M_CTRL_REG2,
}

Definition at line 226 of file FXOS8701CQ.hpp.

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

◆ _checked_values

uint8_t FXOS8701CQ::_checked_values[FXOS8701C_NUM_CHECKED_REGISTERS] {}

private

Definition at line 227 of file FXOS8701CQ.hpp.

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

◆ _mag_last_measure

hrt_abstime FXOS8701CQ::_mag_last_measure {0}

private

Definition at line 210 of file FXOS8701CQ.hpp.

Referenced by Run().

◆ _mag_sample_perf

perf_counter_t FXOS8701CQ::_mag_sample_perf

private

Definition at line 211 of file FXOS8701CQ.hpp.

Referenced by print_info(), and ~FXOS8701CQ().

◆ _px4_accel

PX4Accelerometer FXOS8701CQ::_px4_accel

private

Definition at line 206 of file FXOS8701CQ.hpp.

Referenced by accel_set_range(), FXOS8701CQ(), and Run().

◆ _px4_mag

PX4Magnetometer FXOS8701CQ::_px4_mag

private

Definition at line 209 of file FXOS8701CQ.hpp.

Referenced by FXOS8701CQ(), mag_set_range(), and Run().

◆ _register_wait

uint8_t FXOS8701CQ::_register_wait {0}

private

Definition at line 220 of file FXOS8701CQ.hpp.

Referenced by check_registers(), and Run().

◆ FXOS8701C_NUM_CHECKED_REGISTERS

constexpr int FXOS8701CQ::FXOS8701C_NUM_CHECKED_REGISTERS {5}

staticprivate

Definition at line 225 of file FXOS8701CQ.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/fxos8701cq/FXOS8701CQ.hpp
src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FXOS8701CQ()

◆ ~FXOS8701CQ()

Member Function Documentation

◆ accel_set_range()

◆ accel_set_samplerate()

◆ check_registers()

◆ init()

◆ mag_set_range()

◆ modify_reg()

◆ print_info()

◆ print_registers()

◆ probe()

◆ read_reg()

◆ reset()

◆ Run()

◆ start()

◆ stop()

◆ test_error()

◆ write_checked_reg()

◆ write_reg()

Member Data Documentation

◆ _accel_duplicates

◆ _accel_sample_perf

◆ _accel_samplerate

◆ _bad_registers

◆ _checked_next

◆ _checked_registers

◆ _checked_values

◆ _mag_last_measure

◆ _mag_sample_perf

◆ _px4_accel

◆ _px4_mag

◆ _register_wait

◆ FXOS8701C_NUM_CHECKED_REGISTERS