FXOS8701CQ.hpp

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/**
 * @file FXOS8701CQ.hpp
 * Driver for the NXP FXOS8701CQ 6-axis sensor with integrated linear accelerometer and
 * magnetometer connected via SPI.
 */

#pragma once

#include <drivers/device/spi.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#endif

/* SPI protocol address bits */
#define DIR_READ(a)                     ((a) & 0x7f)
#define DIR_WRITE(a)                    ((a) | (1 << 7))
#define ADDR_7(a)                       ((a) & (1 << 7))
#define swap16(w)                       __builtin_bswap16((w))
#define swap16RightJustify14(w)         (((int16_t)swap16(w)) >> 2)

#define FXOS8701CQ_DR_STATUS       0x00
#  define DR_STATUS_ZYXDR          (1 << 3)

#define FXOS8701CQ_OUT_X_MSB       0x01

#define FXOS8701CQ_XYZ_DATA_CFG    0x0e
#  define XYZ_DATA_CFG_FS_SHIFTS   0
#  define XYZ_DATA_CFG_FS_MASK     (3 << XYZ_DATA_CFG_FS_SHIFTS)
#  define XYZ_DATA_CFG_FS_2G       (0 << XYZ_DATA_CFG_FS_SHIFTS)
#  define XYZ_DATA_CFG_FS_4G       (1 << XYZ_DATA_CFG_FS_SHIFTS)
#  define XYZ_DATA_CFG_FS_8G       (2 << XYZ_DATA_CFG_FS_SHIFTS)

#define FXOS8701CQ_WHOAMI          0x0d
#  define FXOS8700CQ_WHOAMI_VAL    0xC7
#  define FXOS8701CQ_WHOAMI_VAL    0xCA

#define FXOS8701CQ_CTRL_REG1       0x2a
#  define CTRL_REG1_ACTIVE         (1 << 0)
#  define CTRL_REG1_DR_SHIFTS      3
#  define CTRL_REG1_DR_MASK        (7 << CTRL_REG1_DR_SHIFTS)
#  define CTRL_REG1_DR(n)          (((n) & 7) << CTRL_REG1_DR_SHIFTS)
#define FXOS8701CQ_CTRL_REG2       0x2b
#  define CTRL_REG2_AUTO_INC       (1 << 5)

#define FXOS8701CQ_M_DR_STATUS     0x32
#  define M_DR_STATUS_ZYXDR         (1 << 3)
#define FXOS8701CQ_M_OUT_X_MSB     0x33
#define FXOS8701CQ_TEMP            0x51
#define FXOS8701CQ_M_CTRL_REG1     0x5b
#  define M_CTRL_REG1_HMS_SHIFTS   0
#  define M_CTRL_REG1_HMS_MASK     (3 << M_CTRL_REG1_HMS_SHIFTS)
#  define M_CTRL_REG1_HMS_A        (0 << M_CTRL_REG1_HMS_SHIFTS)
#  define M_CTRL_REG1_HMS_M        (1 << M_CTRL_REG1_HMS_SHIFTS)
#  define M_CTRL_REG1_HMS_AM       (3 << M_CTRL_REG1_HMS_SHIFTS)
#  define M_CTRL_REG1_OS_SHIFTS    2
#  define M_CTRL_REG1_OS_MASK      (7 << M_CTRL_REG1_HMS_SHIFTS)
#  define M_CTRL_REG1_OS(n)        (((n) & 7) << M_CTRL_REG1_OS_SHIFTS)

#define FXOS8701CQ_M_CTRL_REG2     0x5c
#define FXOS8701CQ_M_CTRL_REG3     0x5d

#define DEF_REG(r)   {r, #r}

/* default values for this device */
#define FXOS8701C_ACCEL_DEFAULT_RANGE_G              8
#define FXOS8701C_ACCEL_DEFAULT_RATE                 400 /* ODR is 400 in Hybird mode (accel + mag) */

/*
  we set the timer interrupt to run a bit faster than the desired
  sample rate and then throw away duplicates using the data ready bit.
  This time reduction is enough to cope with worst case timing jitter
  due to other timers
 */
#define FXOS8701C_TIMER_REDUCTION               240

class FXOS8701CQ : public device::SPI, public px4::ScheduledWorkItem
{
public:
    FXOS8701CQ(int bus, uint32_t device, enum Rotation rotation);
    virtual ~FXOS8701CQ();

    virtual int     init();

    void            print_info();
    void            print_registers();
    void            test_error();

protected:
    virtual int     probe();

private:

    void Run() override;

    void            start();
    void            stop();
    void            reset();

    /**
     * check key registers for correct values
     */
    void            check_registers();

    /**
     * Read a register from the FXOS8701C
     *
     * @param       The register to read.
     * @return      The value that was read.
     */
    uint8_t         read_reg(unsigned reg);

    /**
     * Write a register in the FXOS8701C
     *
     * @param reg       The register to write.
     * @param value     The new value to write.
     */
    void            write_reg(unsigned reg, uint8_t value);

    /**
     * Modify a register in the FXOS8701C
     *
     * Bits are cleared before bits are set.
     *
     * @param reg       The register to modify.
     * @param clearbits Bits in the register to clear.
     * @param setbits   Bits in the register to set.
     */
    void            modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);

    /**
     * Write a register in the FXOS8701C, updating _checked_values
     *
     * @param reg       The register to write.
     * @param value     The new value to write.
     */
    void            write_checked_reg(unsigned reg, uint8_t value);

    /**
     * Set the FXOS8701C accel measurement range.
     *
     * @param max_g The measurement range of the accel is in g (9.81m/s^2)
     *          Zero selects the maximum supported range.
     * @return      OK if the value can be supported, -ERANGE otherwise.
     */
    int         accel_set_range(unsigned max_g);

    /**
     * Set the FXOS8701C mag measurement range.
     *
     * @param max_ga    The measurement range of the mag is in Ga
     *          Zero selects the maximum supported range.
     * @return      OK if the value can be supported, -ERANGE otherwise.
     */
    int         mag_set_range(unsigned max_g);

    /**
     * Set the FXOS8701C internal accel and mag sampling frequency.
     *
     * @param frequency The internal accel and mag sampling frequency is set to not less than
     *          this value.
     *          Zero selects the maximum rate supported.
     * @return      OK if the value can be supported.
     */
    int         accel_set_samplerate(unsigned frequency);


    PX4Accelerometer    _px4_accel;

#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
    PX4Magnetometer     _px4_mag;
    hrt_abstime     _mag_last_measure{0};
    perf_counter_t      _mag_sample_perf;
#endif

    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};

    // this is used to support runtime checking of key
    // configuration registers to detect SPI bus errors and sensor
    // reset
    static constexpr int FXOS8701C_NUM_CHECKED_REGISTERS{5};
    static const uint8_t    _checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS];
    uint8_t         _checked_values[FXOS8701C_NUM_CHECKED_REGISTERS] {};
    uint8_t         _checked_next{0};

};