lis3mdl.h

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/**
 * @file lis3mdl.h
 *
 * Shared defines for the LIS3MDL driver.
 */

#pragma once

#include <float.h>

#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mag.h>

#include <lib/conversion/rotation.h>
#include <systemlib/err.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

#include <perf/perf_counter.h>
#include <px4_platform_common/defines.h>

/**
 * LIS3MDL internal constants and data structures.
 */

/* Max measurement rate is 80Hz */
#define LIS3MDL_CONVERSION_INTERVAL     (1000000 / 80)  /* 12,500 microseconds */

#define NUM_BUS_OPTIONS                 (sizeof(lis3mdl::bus_options)/sizeof(lis3mdl::bus_options[0]))

#define ADDR_WHO_AM_I                   0x0f
#define ID_WHO_AM_I                     0x3d

#define ADDR_CTRL_REG1                  0x20
#define ADDR_CTRL_REG2                  0x21
#define ADDR_CTRL_REG3                  0x22
#define ADDR_CTRL_REG4                  0x23
#define ADDR_CTRL_REG5                  0x24

#define ADDR_STATUS_REG                 0x27
#define ADDR_OUT_X_L                    0x28
#define ADDR_OUT_X_H                    0x29
#define ADDR_OUT_Y_L                    0x2a
#define ADDR_OUT_Y_H                    0x2b
#define ADDR_OUT_Z_L                    0x2c
#define ADDR_OUT_Z_H                    0x2d
#define ADDR_OUT_T_L                    0x2e
#define ADDR_OUT_T_H                    0x2f

#define MODE_REG_CONTINOUS_MODE         (0 << 0)
#define MODE_REG_SINGLE_MODE            (1 << 0) /* default */

#define CNTL_REG1_DEFAULT 0xFC
#define CNTL_REG2_DEFAULT 0x00
#define CNTL_REG3_DEFAULT 0x00
#define CNTL_REG4_DEFAULT 0x0C
#define CNTL_REG5_DEFAULT 0x00

/* interface factories */
extern device::Device *LIS3MDL_SPI_interface(int bus);
extern device::Device *LIS3MDL_I2C_interface(int bus);
typedef device::Device *(*LIS3MDL_constructor)(int);

enum LIS3MDL_BUS {
    LIS3MDL_BUS_ALL = 0,
    LIS3MDL_BUS_I2C_INTERNAL,
    LIS3MDL_BUS_I2C_EXTERNAL,
    LIS3MDL_BUS_SPI
};

enum OPERATING_MODE {
    CONTINUOUS = 0,
    SINGLE
};


class LIS3MDL : public device::CDev, public px4::ScheduledWorkItem
{
public:
    LIS3MDL(device::Device *interface, const char *path, enum Rotation rotation);

    virtual ~LIS3MDL();

    virtual int init();

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

    virtual int read(struct file *file_pointer, char *buffer, size_t buffer_len);

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

    /**
     * Configures the device with default register values.
     */
    int set_default_register_values();

    /**
     * Stop the automatic measurement state machine.
     */
    void stop();

protected:
    Device *_interface;

private:

    ringbuffer::RingBuffer *_reports;

    struct mag_calibration_s _scale;

    struct mag_report _last_report {};      /**< used for info() */

    orb_advert_t _mag_topic;

    perf_counter_t _comms_errors;
    perf_counter_t _conf_errors;
    perf_counter_t _range_errors;
    perf_counter_t _sample_perf;

    /* status reporting */
    bool _calibrated;                       /**< the calibration is valid */
    bool _continuous_mode_set;

    enum OPERATING_MODE _mode;
    enum Rotation _rotation;

    unsigned int _measure_interval;

    int _class_instance;
    int _orb_class_instance;

    float _range_ga;
    float _range_scale;

    uint8_t _check_state_cnt;
    uint8_t _cntl_reg1;
    uint8_t _cntl_reg2;
    uint8_t _cntl_reg3;
    uint8_t _cntl_reg4;
    uint8_t _cntl_reg5;
    uint8_t _range_bits;
    uint8_t _temperature_counter;
    uint8_t _temperature_error_count;


    /**
     * @brief Performs 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.
     *
     * @param enable set to 1 to enable self-test strap, 0 to disable
     */
    int calibrate(struct file *file_pointer, unsigned enable);

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

    /**
    * Check the current scale calibration
    *
    * @return 0 if scale calibration is ok, 1 else
    */
    int check_scale();

    /**
    * Check the current offset calibration
    *
    * @return 0 if offset calibration is ok, 1 else
    */
    int check_offset();

    /**
     * @brief Performs 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;

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

    /**
     * @brief Resets the device
     */
    int reset();

    /**
     * @brief Initialises 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.
     */
    void start();

    /**
     * @brief Performs 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.
     *
     * @param enable set to 1 to enable self-test positive strap, -1 to enable
     *        negative strap, 0 to set to normal mode
     */
    int set_excitement(unsigned enable);

    /**
     * @brief Sets the sensor internal range to handle at least the argument in Gauss.
     *
     * @param range The sensor range value to be set.
     */
    int set_range(unsigned range);

    /**
     * @brief Reads a register.
     *
     * @param reg           The register to read.
     * @param val           The value read.
     * @return              OK on read success.
     */
    int read_reg(uint8_t reg, uint8_t &val);

    /**
     * @brief  Writes a register.
     *
     * @param reg           The register to write.
     * @param val           The value to write.
     * @return              OK on write success.
     */
    int write_reg(uint8_t reg, uint8_t val);

    /* this class has pointer data members, do not allow copying it */
    LIS3MDL(const LIS3MDL &);

    LIS3MDL operator=(const LIS3MDL &);
}; // class LIS3MDL