Inheritance diagram for IST8310:

Collaboration diagram for IST8310:

Classes
struct	_scale

Public Member Functions
	IST8310 (int bus_number, int address, const char *path, enum Rotation rotation)

virtual	~IST8310 ()

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

Protected Member Functions
virtual int	probe ()

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

void	stop ()
	Stop the automatic measurement state machine. More...

int	reset ()
	Reset the device. More...

int	calibrate (struct file *filp, unsigned enable)
	Perform the on-sensor scale calibration routine. 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	write (unsigned address, void *data, unsigned count)
	Write to a register block. More...

int	read_reg (uint8_t reg, uint8_t &val)
	Read a register. More...

int	read (unsigned address, void *data, unsigned count)
	read register block. More...

int	measure ()
	Issue a measurement command. More...

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

float	meas_to_float (uint8_t in[2])
	Convert a big-endian signed 16-bit value to a float. More...

int	check_scale ()
	Check the current scale calibration. More...

int	check_offset ()
	Check the current offset calibration. More...

int	set_selftest (unsigned enable)
	Place the device in self test mode. More...

	IST8310 (const IST8310 &)

IST8310	operator= (const IST8310 &)

Private Attributes
unsigned	_measure_interval {0}

ringbuffer::RingBuffer *	_reports {nullptr}

float	_range_scale {0.003f}

bool	_collect_phase {false}

int	_class_instance {-1}

int	_orb_class_instance {-1}

orb_advert_t	_mag_topic {nullptr}

perf_counter_t	_sample_perf

perf_counter_t	_comms_errors

perf_counter_t	_range_errors

perf_counter_t	_conf_errors

bool	_sensor_ok {false}
	sensor was found and reports ok More...

bool	_calibrated {false}
	the calibration is valid More...

enum Rotation	_rotation

sensor_mag_s	_last_report {}
	used for info() More...

uint8_t	_ctl3_reg {0}

uint8_t	_ctl4_reg {0}

Detailed Description

Definition at line 186 of file ist8310.cpp.

Constructor & Destructor Documentation

◆ IST8310() [1/2]

IST8310::IST8310	(	int	bus_number,
		int	address,
		const char *	path,
		enum Rotation	rotation
	)

Definition at line 378 of file ist8310.cpp.

References DRV_MAG_DEVTYPE_IST8310.

◆ ~IST8310()

IST8310::~IST8310 ( )

virtual

Definition at line 398 of file ist8310.cpp.

References _class_instance, _comms_errors, _conf_errors, _range_errors, _reports, _sample_perf, MAG_BASE_DEVICE_PATH, perf_free(), and stop().

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◆ IST8310() [2/2]

IST8310::IST8310 ( const IST8310 & )

private

Member Function Documentation

◆ calibrate()

int IST8310::calibrate	(	struct file *	filp,
		unsigned	enable
	)

private

Perform the on-sensor scale calibration routine.

Note: The sensor will continue to provide measurements, these will however reflect the uncalibrated sensor state until the calibration routine has been completed.

Parameters

enable set to 1 to enable self-test strap, 0 to disable

Definition at line 900 of file ist8310.cpp.

References check_scale(), fd, ioctl(), mag_report, MAGIOCEXSTRAP, MAGIOCGSCALE, MAGIOCSSCALE, OK, read(), SENSORIOCSPOLLRATE, 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 ioctl(), and ist8310_main().

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◆ check_conf()

void IST8310::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 477 of file ist8310.cpp.

References _comms_errors, _conf_errors, _ctl3_reg, _ctl4_reg, ADDR_CTRL3, ADDR_CTRL4, OK, perf_count(), read_reg(), and write_reg().

Referenced by collect().

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◆ check_offset()

int IST8310::check_offset ( )

private

Check the current offset calibration.

Returns: 0 if offset calibration is ok, 1 else

Definition at line 1034 of file ist8310.cpp.

References f(), and FLT_EPSILON.

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◆ check_scale()

int IST8310::check_scale ( )

private

Check the current scale calibration.

Returns: 0 if scale calibration is ok, 1 else

Definition at line 1029 of file ist8310.cpp.

References OK.

Referenced by calibrate().

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◆ collect()

int IST8310::collect ( )

private

Collect the result of the most recent measurement.

Definition at line 767 of file ist8310.cpp.

References _comms_errors, _last_report, _mag_topic, _orb_class_instance, _range_errors, _range_scale, _reports, _rotation, _sample_perf, ADDR_DATA_OUT_X_LSB, check_conf(), DEVICE_DEBUG, hrt_absolute_time(), IST8310_MAX_VAL_XY, IST8310_MAX_VAL_Z, IST8310_MIN_VAL_XY, IST8310_MIN_VAL_Z, mag_report, OK, orb_advertise_multi(), ORB_ID, ORB_PRIO_HIGH, ORB_PRIO_MAX, orb_publish(), perf_begin(), perf_count(), perf_end(), perf_event_count(), read(), and rotate_3f().

Referenced by read(), and Run().

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◆ init()

int IST8310::init ( )

virtual

Definition at line 419 of file ist8310.cpp.

References _class_instance, _reports, _sensor_ok, DEVICE_DEBUG, ToneAlarmInterface::init(), MAG_BASE_DEVICE_PATH, mag_report, OK, and reset().

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◆ ioctl()

int IST8310::ioctl	(	struct file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 574 of file ist8310.cpp.

References _measure_interval, calibrate(), IST8310_CONVERSION_INTERVAL, MAGIOCCALIBRATE, MAGIOCEXSTRAP, MAGIOCGEXTERNAL, MAGIOCGSCALE, MAGIOCSSCALE, OK, reset(), SENSOR_POLLRATE_DEFAULT, SENSORIOCRESET, SENSORIOCSPOLLRATE, set_selftest(), and start().

Referenced by calibrate(), ist8310::calibrate(), ist8310::reset(), ist8310::start_bus(), and ist8310::test().

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◆ meas_to_float()

float IST8310::meas_to_float ( uint8_t in[2] )

private

Convert a big-endian signed 16-bit value to a float.

Parameters

in	A signed 16-bit big-endian value.

Returns: The floating-point representation of the value.

Definition at line 1100 of file ist8310.cpp.

◆ measure()

int IST8310::measure ( )

private

Issue a measurement command.

Returns: OK if the measurement command was successful.

Definition at line 752 of file ist8310.cpp.

References _comms_errors, ADDR_CTRL1, CTRL1_MODE_SINGLE, OK, perf_count(), and write_reg().

Referenced by read(), and Run().

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◆ operator=()

IST8310 IST8310::operator= ( const IST8310 & )

private

◆ print_info()

void IST8310::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 1114 of file ist8310.cpp.

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

Referenced by ist8310::info().

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◆ probe()

int IST8310::probe ( )

protectedvirtual

Definition at line 689 of file ist8310.cpp.

References ADDR_WAI, data, DEVICE_DEBUG, OK, read(), and WAI_EXPECTED_VALUE.

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◆ read() [1/2]

ssize_t IST8310::read	(	struct file *	filp,
		char *	buffer,
		size_t	buflen
	)

virtual

Definition at line 516 of file ist8310.cpp.

References _measure_interval, _reports, collect(), IST8310_CONVERSION_INTERVAL, mag_report, measure(), and OK.

Referenced by calibrate(), collect(), probe(), read_reg(), and ist8310::test().

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◆ read() [2/2]

int IST8310::read	(	unsigned	address,
		void *	data,
		unsigned	count
	)

private

read register block.

Parameters

address	The register address to read from.
data	The buffer to read into.
count	The number of bytes to read.

Returns: OK on write success.

Definition at line 465 of file ist8310.cpp.

◆ read_reg()

int IST8310::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 1091 of file ist8310.cpp.

References read().

Referenced by check_conf(), and set_selftest().

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◆ reset()

int IST8310::reset ( )

private

Reset the device.

Definition at line 672 of file ist8310.cpp.

References _ctl3_reg, _ctl4_reg, ADDR_CTRL2, ADDR_CTRL3, ADDR_CTRL4, CTRL2_SRST, CTRL3_SAMPLEAVG_16, CTRL4_SRPD, OK, and write_reg().

Referenced by init(), and ioctl().

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◆ Run()

void IST8310::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 711 of file ist8310.cpp.

References _collect_phase, _measure_interval, collect(), DEVICE_DEBUG, IST8310_CONVERSION_INTERVAL, measure(), OK, and start().

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◆ set_selftest()

int IST8310::set_selftest ( unsigned enable )

private

Place the device in self test mode.

Returns: 0 if mode is set, 1 else

Definition at line 1053 of file ist8310.cpp.

References _comms_errors, ADDR_STR, OK, perf_count(), read_reg(), STR_SELF_TEST_ON, and write_reg().

Referenced by ioctl().

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◆ start()

void IST8310::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 655 of file ist8310.cpp.

References _collect_phase, and _reports.

Referenced by ioctl(), and Run().

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◆ stop()

void IST8310::stop ( )

private

Stop the automatic measurement state machine.

Definition at line 666 of file ist8310.cpp.

Referenced by ~IST8310().

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◆ write()

int IST8310::write	(	unsigned	address,
		void *	data,
		unsigned	count
	)

private

Write to a register block.

Parameters

address	The register address to write to.
data	The buffer to write from.
count	The number of bytes to write.

Returns: OK on write success.

Definition at line 450 of file ist8310.cpp.

Referenced by write_reg().

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◆ write_reg()

int IST8310::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 1084 of file ist8310.cpp.

References write().

sensor_mag_s IST8310::_last_report {}

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

src/drivers/magnetometer/ist8310/ist8310.cpp

Classes

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IST8310() [1/2]

◆ ~IST8310()

◆ IST8310() [2/2]

Member Function Documentation

◆ calibrate()

◆ check_conf()

◆ check_offset()

◆ check_scale()

◆ collect()

◆ init()

◆ ioctl()

◆ meas_to_float()

◆ measure()

◆ operator=()

◆ print_info()

◆ probe()

◆ read() [1/2]

◆ read() [2/2]

◆ read_reg()

◆ reset()

◆ Run()

◆ set_selftest()

◆ start()

◆ stop()

◆ write()

◆ write_reg()

Member Data Documentation

◆ _calibrated

◆ _class_instance

◆ _collect_phase

◆ _comms_errors

◆ _conf_errors

◆ _ctl3_reg

◆ _ctl4_reg

◆ _last_report

◆ _mag_topic

◆ _measure_interval

◆ _orb_class_instance

◆ _range_errors

◆ _range_scale

◆ _reports

◆ _rotation

◆ _sample_perf

◆ _sensor_ok