#include <LSM303AGR.hpp>

Inheritance diagram for LSM303AGR:

Collaboration diagram for LSM303AGR:

Public Member Functions
	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)

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

Protected Member Functions
virtual int	probe ()

Private Member Functions
void	start ()
	Start automatic measurement. More...

void	stop ()
	Stop automatic measurement. More...

int	reset ()
	Reset chip. More...

bool	self_test ()

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

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

void	Run () override
	Perform a poll cycle; collect from the previous measurement and start a new one. More...

uint8_t	read_reg (unsigned reg)
	Read a register from the LSM303AGR. More...

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the LSM303AGR. More...

	LSM303AGR (const LSM303AGR &)

LSM303AGR	operator= (const LSM303AGR &)

Private Attributes
bool	_collect_phase {false}

unsigned	_measure_interval {0}

unsigned	_call_mag_interval {0}

mag_calibration_s	_mag_scale {}

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}

Static Private Attributes
static constexpr float	_mag_range_scale {1.5f / 1000.0f}

static constexpr float	_mag_range_ga {49.152f}

Detailed Description

Definition at line 91 of file LSM303AGR.hpp.

Constructor & Destructor Documentation

◆ LSM303AGR() [1/2]

LSM303AGR::LSM303AGR	(	int	bus,
		const char *	path,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 64 of file LSM303AGR.cpp.

References _mag_scale, DRV_MAG_DEVTYPE_LSM303AGR, 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.

◆ ~LSM303AGR()

LSM303AGR::~LSM303AGR ( )

virtual

Definition at line 84 of file LSM303AGR.cpp.

References _bad_registers, _bad_values, _class_instance, _mag_sample_perf, MAG_BASE_DEVICE_PATH, perf_free(), and stop().

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◆ LSM303AGR() [2/2]

LSM303AGR::LSM303AGR ( const LSM303AGR & )

private

Member Function Documentation

◆ collect()

int LSM303AGR::collect ( )

private

Collect the result of the most recent measurement.

Definition at line 417 of file LSM303AGR.cpp.

References _bad_registers, _bad_values, _mag_orb_class_instance, _mag_range_scale, _mag_sample_perf, _mag_scale, _mag_topic, _rotation, DEVICE_DEBUG, hrt_absolute_time(), mag_report, OK, orb_advertise_multi(), ORB_ID, ORB_PRIO_HIGH, ORB_PRIO_MAX, orb_publish(), OUTX_H_REG_M, OUTX_L_REG_M, OUTY_H_REG_M, OUTY_L_REG_M, OUTZ_H_REG_M, OUTZ_L_REG_M, perf_begin(), perf_end(), perf_event_count(), read_reg(), rotate_3f(), status, STATUS_REG_M, STATUS_REG_M_Zyxda, 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 Run().

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◆ init()

int LSM303AGR::init ( )

virtual

Definition at line 100 of file LSM303AGR.cpp.

References _class_instance, ToneAlarmInterface::init(), MAG_BASE_DEVICE_PATH, measure(), OK, reset(), and self_test().

Referenced by lsm303agr::start().

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◆ ioctl()

int LSM303AGR::ioctl	(	struct file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 243 of file LSM303AGR.cpp.

References _mag_scale, _measure_interval, CONVERSION_INTERVAL, MAGIOCGEXTERNAL, MAGIOCGSCALE, MAGIOCSSCALE, OK, reset(), SENSOR_POLLRATE_DEFAULT, SENSORIOCRESET, SENSORIOCSPOLLRATE, and start().

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◆ measure()

void LSM303AGR::measure ( )

private

Issue a measurement command.

Returns: OK if the measurement command was successful.

Definition at line 408 of file LSM303AGR.cpp.

References CFG_REG_A_M, CFG_REG_A_M_MD0, CFG_REG_A_M_ODR0, CFG_REG_A_M_ODR1, and write_reg().

Referenced by init(), and Run().

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◆ operator=()

LSM303AGR LSM303AGR::operator= ( const LSM303AGR & )

private

◆ print_info()

void LSM303AGR::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 479 of file LSM303AGR.cpp.

References _bad_registers, _bad_values, _mag_sample_perf, and perf_print_counter().

Referenced by lsm303agr::info().

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◆ probe()

int LSM303AGR::probe ( )

protectedvirtual

Definition at line 230 of file LSM303AGR.cpp.

References LSM303AGR_WHO_AM_I_M, OK, read_reg(), and WHO_AM_I_M.

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◆ read_reg()

uint8_t LSM303AGR::read_reg ( unsigned reg )

private

Read a register from the LSM303AGR.

Parameters

The	register to read.

Returns: The value that was read.

Definition at line 319 of file LSM303AGR.cpp.

References DIR_READ.

Referenced by collect(), probe(), and self_test().

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◆ reset()

int LSM303AGR::reset ( )

private

Reset chip.

Resets the chip and measurements ranges, but not scale and offset.

Definition at line 125 of file LSM303AGR.cpp.

References CFG_REG_A_M, CFG_REG_A_M_MD0, CFG_REG_A_M_ODR0, CFG_REG_A_M_ODR1, CFG_REG_B_M, CFG_REG_B_M_OFF_CANC, CFG_REG_B_M_OFF_LPF, CFG_REG_C_M, CFG_REG_C_M_I2C_DIS, and write_reg().

Referenced by init(), and ioctl().

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◆ Run()

void LSM303AGR::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 363 of file LSM303AGR.cpp.

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

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◆ self_test()

bool LSM303AGR::self_test ( )

private

Definition at line 141 of file LSM303AGR.cpp.

References matrix::abs(), CFG_REG_A_M, CFG_REG_B_M, CFG_REG_C_M, OUTX_H_REG_M, OUTX_L_REG_M, OUTY_H_REG_M, OUTY_L_REG_M, OUTZ_H_REG_M, OUTZ_L_REG_M, read_reg(), STATUS_REG_M, and write_reg().

Referenced by init().

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◆ start()

void LSM303AGR::start ( )

private

Start automatic measurement.

Definition at line 343 of file LSM303AGR.cpp.

References _collect_phase.

Referenced by ioctl(), and Run().

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◆ stop()

void LSM303AGR::stop ( )

private

Stop automatic measurement.

Definition at line 353 of file LSM303AGR.cpp.

References _measure_interval.

Referenced by ~LSM303AGR().

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◆ write_reg()

void LSM303AGR::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the LSM303AGR.

Parameters

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

Definition at line 332 of file LSM303AGR.cpp.

References DIR_WRITE.

Referenced by measure(), reset(), and self_test().

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Member Data Documentation

◆ _bad_registers

perf_counter_t LSM303AGR::_bad_registers

private

Definition at line 127 of file LSM303AGR.hpp.

Referenced by collect(), print_info(), and ~LSM303AGR().

◆ _bad_values

perf_counter_t LSM303AGR::_bad_values

private

Definition at line 128 of file LSM303AGR.hpp.

Referenced by collect(), print_info(), and ~LSM303AGR().

◆ _call_mag_interval

unsigned LSM303AGR::_call_mag_interval {0}

private

Definition at line 115 of file LSM303AGR.hpp.

◆ _class_instance

int LSM303AGR::_class_instance {-1}

private

Definition at line 122 of file LSM303AGR.hpp.

Referenced by init(), and ~LSM303AGR().

◆ _collect_phase

bool LSM303AGR::_collect_phase {false}

private

Definition at line 111 of file LSM303AGR.hpp.

Referenced by Run(), and start().

◆ _mag_orb_class_instance

int LSM303AGR::_mag_orb_class_instance {-1}

private

Definition at line 133 of file LSM303AGR.hpp.

Referenced by collect().

◆ _mag_range_ga

constexpr float LSM303AGR::_mag_range_ga {49.152f}

staticprivate

Definition at line 120 of file LSM303AGR.hpp.

◆ _mag_range_scale

constexpr float LSM303AGR::_mag_range_scale {1.5f / 1000.0f}

staticprivate

Definition at line 119 of file LSM303AGR.hpp.

Referenced by collect().

◆ _mag_sample_perf

perf_counter_t LSM303AGR::_mag_sample_perf

private

Definition at line 126 of file LSM303AGR.hpp.

Referenced by collect(), print_info(), and ~LSM303AGR().

◆ _mag_samplerate

unsigned LSM303AGR::_mag_samplerate {100}

private

Definition at line 124 of file LSM303AGR.hpp.

◆ _mag_scale

mag_calibration_s LSM303AGR::_mag_scale {}

private

Definition at line 117 of file LSM303AGR.hpp.

Referenced by collect(), ioctl(), and LSM303AGR().

◆ _mag_topic

orb_advert_t LSM303AGR::_mag_topic {nullptr}

private

Definition at line 132 of file LSM303AGR.hpp.

Referenced by collect().

◆ _measure_interval

unsigned LSM303AGR::_measure_interval {0}

private

Definition at line 113 of file LSM303AGR.hpp.

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

◆ _rotation

enum Rotation LSM303AGR::_rotation

private

Definition at line 130 of file LSM303AGR.hpp.

Referenced by collect().

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

src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp
src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LSM303AGR() [1/2]

◆ ~LSM303AGR()

◆ LSM303AGR() [2/2]

Member Function Documentation

◆ collect()

◆ init()

◆ ioctl()

◆ measure()

◆ operator=()

◆ print_info()

◆ probe()

◆ read_reg()

◆ reset()

◆ Run()

◆ self_test()

◆ start()

◆ stop()

◆ write_reg()

Member Data Documentation

◆ _bad_registers

◆ _bad_values

◆ _call_mag_interval

◆ _class_instance

◆ _collect_phase

◆ _mag_orb_class_instance

◆ _mag_range_ga

◆ _mag_range_scale

◆ _mag_sample_perf

◆ _mag_samplerate

◆ _mag_scale

◆ _mag_topic

◆ _measure_interval

◆ _rotation