#include <rm3100.h>

Inheritance diagram for RM3100:

Collaboration diagram for RM3100:

Classes
struct	_last_report
	used for info() More...

Public Member Functions
	RM3100 (device::Device interface, const char path, enum Rotation rotation)

virtual	~RM3100 ()

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)

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

int	set_default_register_values ()
	Configures the device with default register values. More...

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

Public Member Functions inherited from device::CDev
	CDev (const char name, const char devname)
	Constructor. More...

virtual	~CDev ()=default

virtual int	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

Public Member Functions inherited from device::Device
	Device (const Device &)=delete

Device &	operator= (const Device &)=delete

	Device (Device &&)=delete

Device &	operator= (Device &&)=delete

virtual	~Device ()=default
	Destructor. More...

virtual int	read (unsigned address, void *data, unsigned count)
	Read directly from the device. More...

virtual int	write (unsigned address, void *data, unsigned count)
	Write directly to the device. More...

virtual int	ioctl (unsigned operation, unsigned &arg)
	Perform a device-specific operation. More...

uint32_t	get_device_id () const

DeviceBusType	get_device_bus_type () const
	Return the bus type the device is connected to. More...

void	set_device_bus_type (DeviceBusType bus_type)

uint8_t	get_device_bus () const
	Return the bus ID the device is connected to. More...

void	set_device_bus (uint8_t bus)

uint8_t	get_device_address () const
	Return the bus address of the device. More...

void	set_device_address (int address)

uint8_t	get_device_type () const
	Return the device type. More...

void	set_device_type (uint8_t devtype)

virtual bool	external () const

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Protected Attributes
Device *	_interface

Protected Attributes inherited from device::CDev
bool	_pub_blocked {false}
	true if publishing should be blocked More...

Protected Attributes inherited from device::Device
const char *	_name {nullptr}
	driver name More...

bool	_debug_enabled {false}
	if true, debug messages are printed More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

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

int	self_test ()
	Run sensor self-test. More...

int	check_measurement ()
	Check whether new data is available or not. More...

void	convert_signed (int32_t *n)
	Converts int24_t stored in 32-bit container to int32_t. More...

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

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

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

void	start ()
	Initialises the automatic measurement state machine and start it. More...

	RM3100 (const RM3100 &)

RM3100	operator= (const RM3100 &)

Private Attributes
ringbuffer::RingBuffer *	_reports

struct mag_calibration_s	_scale

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

bool	_calibrated
	the calibration is valid More...

bool	_continuous_mode_set

enum OPERATING_MODE	_mode

enum Rotation	_rotation

unsigned int	_measure_interval

int	_class_instance

int	_orb_class_instance

float	_range_scale

uint8_t	_check_state_cnt

Additional Inherited Members
Public Types inherited from device::Device
enum	DeviceBusType { DeviceBusType_UNKNOWN = 0, DeviceBusType_I2C = 1, DeviceBusType_SPI = 2, DeviceBusType_UAVCAN = 3, DeviceBusType_SIMULATION = 4 }
	Device bus types for DEVID. More...

Static Public Member Functions inherited from device::Device
static const char *	get_device_bus_string (DeviceBusType bus)

static int	device_id_print_buffer (char *buffer, int length, uint32_t id)
	Print decoded device id string to a buffer. More...

Protected Member Functions inherited from device::Device
	Device (const char *name)

	Device (const char *name, DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

	Device (DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

Definition at line 118 of file rm3100.h.

Constructor & Destructor Documentation

◆ RM3100() [1/2]

RM3100::RM3100	(	device::Device *	interface,
		const char *	path,
		enum Rotation	rotation
	)

Definition at line 44 of file rm3100.cpp.

References _calibrated, _check_state_cnt, _class_instance, _comms_errors, _conf_errors, _continuous_mode_set, _interface, _mag_topic, _measure_interval, _mode, _orb_class_instance, _range_errors, _range_scale, _rotation, _sample_perf, _scale, DRV_MAG_DEVTYPE_RM3100, f(), PC_COUNT, PC_ELAPSED, perf_alloc, RM3100_SENSITIVITY, SINGLE, UTESLA_TO_GAUSS, 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.

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◆ ~RM3100()

RM3100::~RM3100 ( )

virtual

Definition at line 81 of file rm3100.cpp.

References _class_instance, _comms_errors, _conf_errors, _range_errors, _reports, _sample_perf, MAG_BASE_DEVICE_PATH, perf_free(), stop(), and cdev::CDev::unregister_class_devname().

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◆ RM3100() [2/2]

RM3100::RM3100 ( const RM3100 & )

private

Member Function Documentation

◆ check_measurement()

int RM3100::check_measurement ( )

private

Check whether new data is available or not.

Returns: 0 if new data is available, 1 else

Definition at line 154 of file rm3100.cpp.

References _interface, ADDR_STATUS, status, and STATUS_DRDY.

Referenced by collect(), and self_test().

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◆ collect()

int RM3100::collect ( )

private

Collect the result of the most recent measurement.

RAW outputs As we only have 16 bits to store raw data, the following values are not correct

Definition at line 169 of file rm3100.cpp.

References _comms_errors, _interface, _mag_topic, _orb_class_instance, device::CDev::_pub_blocked, _range_scale, _reports, _rotation, _sample_perf, _scale, ADDR_MX, check_measurement(), convert_signed(), DEVICE_DEBUG, hrt_absolute_time(), mag_report, MAGIOCGEXTERNAL, OK, orb_advertise_multi(), ORB_ID, ORB_PRIO_HIGH, ORB_PRIO_MAX, orb_publish(), perf_begin(), perf_count(), perf_end(), perf_event_count(), cdev::CDev::poll_notify(), rotate_3f(), 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 read(), Run(), and self_test().

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◆ convert_signed()

void RM3100::convert_signed ( int32_t * n )

private

Converts int24_t stored in 32-bit container to int32_t.

Definition at line 281 of file rm3100.cpp.

Referenced by collect().

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◆ init()

int RM3100::init ( )

virtual

Reimplemented from device::CDev.

Definition at line 317 of file rm3100.cpp.

References _class_instance, _reports, DEVICE_DEBUG, ToneAlarmInterface::init(), MAG_BASE_DEVICE_PATH, mag_report, OK, cdev::CDev::register_class_devname(), reset(), and self_test().

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◆ ioctl()

int RM3100::ioctl	(	struct file *	file_pointer,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 350 of file rm3100.cpp.

References _interface, _measure_interval, _scale, DEVICE_DEBUG, MAGIOCCALIBRATE, MAGIOCGEXTERNAL, MAGIOCGSCALE, MAGIOCSRANGE, MAGIOCSSCALE, OK, reset(), RM3100_CONVERSION_INTERVAL, SENSOR_POLLRATE_DEFAULT, SENSORIOCRESET, SENSORIOCSPOLLRATE, and start().

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◆ measure()

int RM3100::measure ( )

private

Issue a measurement command.

Returns: OK if the measurement command was successful.

Definition at line 439 of file rm3100.cpp.

References _comms_errors, _continuous_mode_set, _interface, _mode, ADDR_CMM, ADDR_POLL, CMM_DEFAULT, CONTINUOUS, CONTINUOUS_MODE, OK, perf_count(), POLL_XYZ, POLLING_MODE, and SINGLE.

Referenced by read(), and Run().

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◆ operator=()

RM3100 RM3100::operator= ( const RM3100 & )

private

◆ print_info()

void RM3100::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 477 of file rm3100.cpp.

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

Referenced by rm3100::info().

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◆ read()

int RM3100::read	(	struct file *	file_pointer,
		char *	buffer,
		size_t	buffer_len
	)

virtual

Definition at line 501 of file rm3100.cpp.

References _measure_interval, _reports, collect(), mag_report, measure(), OK, and RM3100_CONVERSION_INTERVAL.

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◆ reset()

int RM3100::reset ( )

private

Resets the device.

Definition at line 487 of file rm3100.cpp.

References OK, and set_default_register_values().

Referenced by init(), and ioctl().

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◆ Run()

void RM3100::Run ( )

overrideprivate

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.

Definition at line 290 of file rm3100.cpp.

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

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◆ self_test()

int RM3100::self_test ( )

private

Run sensor self-test.

Returns: 0 if self-test is ok, 1 else

Definition at line 102 of file rm3100.cpp.

References _interface, ADDR_BIST, ADDR_POLL, BIST_SELFTEST, BIST_XYZ_OK, check_measurement(), collect(), POLL_XYZ, RM3100_CONVERSION_INTERVAL, start(), and stop().

Referenced by init().

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◆ set_default_register_values()

int RM3100::set_default_register_values ( )

Configures the device with default register values.

Definition at line 559 of file rm3100.cpp.

References _interface, ADDR_BIST, ADDR_CCX, ADDR_CCY, ADDR_CCZ, ADDR_CMM, ADDR_TMRC, BIST_DEFAULT, CCX_DEFAULT_LSB, CCX_DEFAULT_MSB, CCY_DEFAULT_LSB, CCY_DEFAULT_MSB, CCZ_DEFAULT_LSB, CCZ_DEFAULT_MSB, CMM_DEFAULT, and TMRC_DEFAULT.

Referenced by reset(), and start().

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◆ start()

void RM3100::start ( )

private

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.

Definition at line 588 of file rm3100.cpp.

References _measure_interval, _reports, RM3100_CONVERSION_INTERVAL, and set_default_register_values().

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

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◆ stop()

void RM3100::stop ( )

Stop the automatic measurement state machine.

Definition at line 601 of file rm3100.cpp.

References _measure_interval.

Referenced by self_test(), and ~RM3100().

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Member Data Documentation

◆ _calibrated

bool RM3100::_calibrated

private

the calibration is valid

Definition at line 165 of file rm3100.h.

Referenced by RM3100().

◆ _check_state_cnt

uint8_t RM3100::_check_state_cnt

private

Definition at line 178 of file rm3100.h.

Referenced by RM3100().

◆ _class_instance

int RM3100::_class_instance

private

Definition at line 173 of file rm3100.h.

Referenced by init(), RM3100(), and ~RM3100().

◆ _comms_errors

perf_counter_t RM3100::_comms_errors

private

Definition at line 159 of file rm3100.h.

Referenced by collect(), measure(), print_info(), RM3100(), and ~RM3100().

◆ _conf_errors

perf_counter_t RM3100::_conf_errors

private

Definition at line 160 of file rm3100.h.

Referenced by RM3100(), and ~RM3100().

◆ _continuous_mode_set

bool RM3100::_continuous_mode_set

private

Definition at line 166 of file rm3100.h.

Referenced by measure(), and RM3100().

◆ _interface

Device* RM3100::_interface

protected

Definition at line 147 of file rm3100.h.

Referenced by check_measurement(), collect(), ioctl(), measure(), RM3100(), self_test(), and set_default_register_values().

◆ _mag_topic

orb_advert_t RM3100::_mag_topic

private

Definition at line 157 of file rm3100.h.

Referenced by collect(), and RM3100().

◆ _measure_interval

unsigned int RM3100::_measure_interval

private

Definition at line 171 of file rm3100.h.

Referenced by ioctl(), print_info(), read(), RM3100(), Run(), start(), and stop().

◆ _mode

enum OPERATING_MODE RM3100::_mode

private

Definition at line 168 of file rm3100.h.

Referenced by measure(), and RM3100().

◆ _orb_class_instance

int RM3100::_orb_class_instance

private

Definition at line 174 of file rm3100.h.

Referenced by collect(), and RM3100().

◆ _range_errors

perf_counter_t RM3100::_range_errors

private

Definition at line 161 of file rm3100.h.

Referenced by RM3100(), and ~RM3100().

◆ _range_scale

float RM3100::_range_scale

private

Definition at line 176 of file rm3100.h.

Referenced by collect(), and RM3100().

◆ _reports

ringbuffer::RingBuffer* RM3100::_reports

private

Definition at line 151 of file rm3100.h.

Referenced by collect(), init(), print_info(), read(), start(), and ~RM3100().

◆ _rotation

enum Rotation RM3100::_rotation

private

Definition at line 169 of file rm3100.h.

Referenced by collect(), and RM3100().

◆ _sample_perf

perf_counter_t RM3100::_sample_perf

private

Definition at line 162 of file rm3100.h.

Referenced by collect(), print_info(), RM3100(), and ~RM3100().

◆ _scale

struct mag_calibration_s RM3100::_scale

private

Definition at line 153 of file rm3100.h.

Referenced by collect(), ioctl(), and RM3100().

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

src/drivers/magnetometer/rm3100/rm3100.h
src/drivers/magnetometer/rm3100/rm3100.cpp

Classes

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RM3100() [1/2]

◆ ~RM3100()

◆ RM3100() [2/2]

Member Function Documentation

◆ check_measurement()

◆ collect()

◆ convert_signed()

◆ init()

◆ ioctl()

◆ measure()

◆ operator=()

◆ print_info()

◆ read()

◆ reset()

◆ Run()

◆ self_test()

◆ set_default_register_values()

◆ start()

◆ stop()

Member Data Documentation

◆ _calibrated

◆ _check_state_cnt

◆ _class_instance

◆ _comms_errors

◆ _conf_errors

◆ _continuous_mode_set

◆ _interface

◆ _mag_topic

◆ _measure_interval

◆ _mode

◆ _orb_class_instance

◆ _range_errors

◆ _range_scale

◆ _reports

◆ _rotation

◆ _sample_perf

◆ _scale