#include <FXAS21002C.hpp>

Inheritance diagram for FXAS21002C:

Collaboration diagram for FXAS21002C:

Public Member Functions
	FXAS21002C (int bus, uint32_t device, enum Rotation rotation)

virtual	~FXAS21002C ()

virtual int	init ()

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

void	print_registers ()
	dump register values More...

void	test_error ()
	deliberately trigger an error More...

Protected Member Functions
virtual int	probe ()

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

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

void	reset ()
	Reset chip. More...

void	set_standby (int rate, bool standby_true)
	Put the chip In stand by. More...

void	Run () override

void	check_registers (void)
	check key registers for correct values More...

void	measure ()
	Fetch accel measurements from the sensor and update the report ring. More...

uint8_t	read_reg (unsigned reg)
	Read a register from the FXAS21002C. More...

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the FXAS21002C. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the FXAS21002C. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the FXAS21002C, updating _checked_values. More...

int	set_range (unsigned max_dps)
	Set the FXAS21002C measurement range. More...

int	set_samplerate (unsigned frequency)
	Set the FXAS21002C internal sampling frequency. More...

void	set_onchip_lowpass_filter (int frequency_hz)

Private Attributes
PX4Gyroscope	_px4_gyro

unsigned	_current_rate {800}

unsigned	_read {0}

perf_counter_t	_sample_perf

perf_counter_t	_errors

perf_counter_t	_bad_registers

perf_counter_t	_duplicates

uint8_t	_register_wait {0}

uint8_t	_checked_values [FXAS21002C_NUM_CHECKED_REGISTERS] {}

uint8_t	_checked_next {0}

Static Private Attributes
static constexpr int	FXAS21002C_NUM_CHECKED_REGISTERS {6}

Detailed Description

Definition at line 49 of file FXAS21002C.hpp.

Constructor & Destructor Documentation

◆ FXAS21002C()

FXAS21002C::FXAS21002C	(	int	bus,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 189 of file FXAS21002C.cpp.

References _px4_gyro, DRV_GYR_DEVTYPE_FXAS2100C, and PX4Gyroscope::set_device_type().

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◆ ~FXAS21002C()

FXAS21002C::~FXAS21002C ( )

virtual

Definition at line 201 of file FXAS21002C.cpp.

References _bad_registers, _duplicates, _errors, _sample_perf, perf_free(), and stop().

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Member Function Documentation

◆ check_registers()

void FXAS21002C::check_registers ( void )

private

check key registers for correct values

Definition at line 497 of file FXAS21002C.cpp.

References _bad_registers, _checked_next, _checked_registers, _checked_values, _register_wait, FXAS21002C_NUM_CHECKED_REGISTERS, perf_count(), read_reg(), and write_reg().

Referenced by measure().

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◆ init()

int FXAS21002C::init ( )

virtual

Definition at line 214 of file FXAS21002C.cpp.

References ToneAlarmInterface::init(), OK, reset(), and start().

Referenced by fxas21002c::start().

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◆ measure()

void FXAS21002C::measure ( )

private

Fetch accel measurements from the sensor and update the report ring.

Definition at line 527 of file FXAS21002C.cpp.

References _bad_registers, _current_rate, _duplicates, _px4_gyro, _read, _register_wait, _sample_perf, check_registers(), DIR_READ, DR_STATUS_ZYXDR, FXAS21002C_STATUS, FXAS21002C_TEMP, hrt_absolute_time(), hrt_abstime, perf_begin(), perf_count(), perf_end(), perf_event_count(), read_reg(), PX4Gyroscope::set_error_count(), PX4Gyroscope::set_temperature(), status, swap16, and PX4Gyroscope::update().

Referenced by Run().

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◆ modify_reg()

void FXAS21002C::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the FXAS21002C.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 311 of file FXAS21002C.cpp.

References read_reg(), and write_checked_reg().

Referenced by set_onchip_lowpass_filter(), set_range(), set_samplerate(), and set_standby().

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◆ print_info()

void FXAS21002C::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 594 of file FXAS21002C.cpp.

References _bad_registers, _checked_next, _checked_registers, _checked_values, _duplicates, _errors, _px4_gyro, _read, _sample_perf, FXAS21002C_NUM_CHECKED_REGISTERS, perf_print_counter(), PX4Gyroscope::print_status(), and read_reg().

Referenced by fxas21002c::info().

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◆ print_registers()

void FXAS21002C::print_registers ( )

dump register values

Definition at line 618 of file FXAS21002C.cpp.

References DEF_REG, FXAS21002C_CTRL_REG0, FXAS21002C_CTRL_REG1, FXAS21002C_CTRL_REG2, FXAS21002C_CTRL_REG3, FXAS21002C_DR_STATUS, FXAS21002C_F_EVENT, FXAS21002C_F_SETUP, FXAS21002C_F_STATUS, FXAS21002C_INT_SRC_FLAG, FXAS21002C_OUT_X_LSB, FXAS21002C_OUT_X_MSB, FXAS21002C_OUT_Y_LSB, FXAS21002C_OUT_Y_MSB, FXAS21002C_OUT_Z_LSB, FXAS21002C_OUT_Z_MSB, FXAS21002C_RT_CFG, FXAS21002C_RT_COUNT, FXAS21002C_RT_SRC, FXAS21002C_RT_THS, FXAS21002C_STATUS, FXAS21002C_TEMP, FXAS21002C_WHO_AM_I, name, and read_reg().

Referenced by fxas21002c::regdump().

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◆ probe()

int FXAS21002C::probe ( )

protectedvirtual

Definition at line 261 of file FXAS21002C.cpp.

References _checked_values, FXAS21002C_WHO_AM_I, OK, read_reg(), and WHO_AM_I.

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◆ read_reg()

uint8_t FXAS21002C::read_reg ( unsigned reg )

private

Read a register from the FXAS21002C.

Parameters

The	register to read.

Returns: The value that was read.

Definition at line 275 of file FXAS21002C.cpp.

References DIR_READ.

Referenced by check_registers(), measure(), modify_reg(), print_info(), print_registers(), and probe().

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◆ reset()

void FXAS21002C::reset ( )

private

Reset chip.

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

Definition at line 230 of file FXAS21002C.cpp.

References _read, CTRL_REG0_BW_LOW, CTRL_REG0_FS_2000_DPS, CTRL_REG1_ACTIVE, CTRL_REG1_DR_800HZ, FXAS21002C_CTRL_REG0, FXAS21002C_CTRL_REG1, FXAS21002C_DEFAULT_ONCHIP_FILTER_FREQ, FXAS21002C_DEFAULT_RANGE_DPS, FXAS21002C_DEFAULT_RATE, set_onchip_lowpass_filter(), set_range(), set_samplerate(), write_checked_reg(), and write_reg().

Referenced by init().

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◆ Run()

void FXAS21002C::Run ( )

overrideprivate

Definition at line 490 of file FXAS21002C.cpp.

References measure().

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◆ set_onchip_lowpass_filter()

void FXAS21002C::set_onchip_lowpass_filter ( int frequency_hz )

private

Definition at line 438 of file FXAS21002C.cpp.

References _current_rate, CTRL_REG0_BW_HIGH, CTRL_REG0_BW_LOW, CTRL_REG0_BW_MASK, CTRL_REG0_BW_MED, FXAS21002C_CTRL_REG1, modify_reg(), and set_standby().

Referenced by reset().

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◆ set_range()

int FXAS21002C::set_range ( unsigned max_dps )

private

Set the FXAS21002C measurement range.

Parameters

max_dps The measurement range is set to permit reading at least this rate in degrees per second. Zero selects the maximum supported range.

Returns: OK if the value can be supported, -ERANGE otherwise.

Definition at line 320 of file FXAS21002C.cpp.

References _current_rate, _px4_gyro, CTRL_REG0_FS_1000_DPS, CTRL_REG0_FS_2000_DPS, CTRL_REG0_FS_250_DPS, CTRL_REG0_FS_500_DPS, CTRL_REG0_FS_MASK, f(), FXAS21002C_CTRL_REG0, M_PI_F, modify_reg(), OK, PX4Gyroscope::set_scale(), and set_standby().

Referenced by reset().

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◆ set_samplerate()

int FXAS21002C::set_samplerate ( unsigned frequency )

private

Set the FXAS21002C internal sampling frequency.

Parameters

frequency The internal sampling frequency is set to not less than this value. Zero selects the maximum rate supported.

Returns: OK if the value can be supported.

Definition at line 386 of file FXAS21002C.cpp.

References _current_rate, _px4_gyro, CTRL_REG1_DR_100HZ, CTRL_REG1_DR_12_5, CTRL_REG1_DR_200HZ, CTRL_REG1_DR_25HZ, CTRL_REG1_DR_400HZ, CTRL_REG1_DR_50HZ, CTRL_REG1_DR_800HZ, CTRL_REG1_DR_MASK, FXAS21002C_CTRL_REG1, FXAS21002C_DEFAULT_RATE, modify_reg(), OK, PX4Gyroscope::set_sample_rate(), and set_standby().

Referenced by reset().

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◆ set_standby()

void FXAS21002C::set_standby	(	int	rate,
		bool	standby_true
	)

private

Put the chip In stand by.

Definition at line 364 of file FXAS21002C.cpp.

References CTRL_REG1_ACTIVE, CTRL_REG1_READY, FXAS21002C_CTRL_REG1, and modify_reg().

Referenced by set_onchip_lowpass_filter(), set_range(), and set_samplerate().

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◆ start()

void FXAS21002C::start ( )

private

Start automatic measurement.

Definition at line 474 of file FXAS21002C.cpp.

References FXAS21002C_DEFAULT_RATE, FXAS21002C_TIMER_REDUCTION, and stop().

Referenced by init().

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◆ stop()

void FXAS21002C::stop ( )

private

Stop automatic measurement.

Definition at line 484 of file FXAS21002C.cpp.

Referenced by start(), and ~FXAS21002C().

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◆ test_error()

void FXAS21002C::test_error ( )

deliberately trigger an error

Definition at line 654 of file FXAS21002C.cpp.

References FXAS21002C_CTRL_REG1, and write_reg().

Referenced by fxas21002c::test_error().

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◆ write_checked_reg()

void FXAS21002C::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the FXAS21002C, updating _checked_values.

Parameters

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

Definition at line 299 of file FXAS21002C.cpp.

References _checked_registers, _checked_values, FXAS21002C_NUM_CHECKED_REGISTERS, and write_reg().

Referenced by modify_reg(), and reset().

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◆ write_reg()

void FXAS21002C::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the FXAS21002C.

Parameters

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

Definition at line 288 of file FXAS21002C.cpp.

References DIR_WRITE.

Referenced by check_registers(), reset(), test_error(), and write_checked_reg().

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Member Data Documentation

◆ _bad_registers

perf_counter_t FXAS21002C::_bad_registers

private

Definition at line 85 of file FXAS21002C.hpp.

Referenced by check_registers(), measure(), print_info(), and ~FXAS21002C().

◆ _checked_next

uint8_t FXAS21002C::_checked_next {0}

private

Definition at line 97 of file FXAS21002C.hpp.

Referenced by check_registers(), and print_info().

◆ _checked_values

uint8_t FXAS21002C::_checked_values[FXAS21002C_NUM_CHECKED_REGISTERS] {}

private

Definition at line 96 of file FXAS21002C.hpp.

Referenced by check_registers(), print_info(), probe(), and write_checked_reg().

◆ _current_rate

unsigned FXAS21002C::_current_rate {800}

private

Definition at line 79 of file FXAS21002C.hpp.

Referenced by measure(), set_onchip_lowpass_filter(), set_range(), and set_samplerate().

◆ _duplicates

perf_counter_t FXAS21002C::_duplicates

private

Definition at line 86 of file FXAS21002C.hpp.

Referenced by measure(), print_info(), and ~FXAS21002C().

◆ _errors

perf_counter_t FXAS21002C::_errors

private

Definition at line 84 of file FXAS21002C.hpp.

Referenced by print_info(), and ~FXAS21002C().

◆ _px4_gyro

PX4Gyroscope FXAS21002C::_px4_gyro

private

Definition at line 77 of file FXAS21002C.hpp.

Referenced by FXAS21002C(), measure(), print_info(), set_range(), and set_samplerate().

◆ _read

unsigned FXAS21002C::_read {0}

private

Definition at line 81 of file FXAS21002C.hpp.

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

◆ _register_wait

uint8_t FXAS21002C::_register_wait {0}

private

Definition at line 88 of file FXAS21002C.hpp.

Referenced by check_registers(), and measure().

◆ _sample_perf

perf_counter_t FXAS21002C::_sample_perf

private

Definition at line 83 of file FXAS21002C.hpp.

Referenced by measure(), print_info(), and ~FXAS21002C().

◆ FXAS21002C_NUM_CHECKED_REGISTERS

constexpr int FXAS21002C::FXAS21002C_NUM_CHECKED_REGISTERS {6}

staticprivate

Definition at line 94 of file FXAS21002C.hpp.

Referenced by check_registers(), print_info(), and write_checked_reg().

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

src/drivers/imu/fxas21002c/FXAS21002C.hpp
src/drivers/imu/fxas21002c/FXAS21002C.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FXAS21002C()

◆ ~FXAS21002C()

Member Function Documentation

◆ check_registers()

◆ init()

◆ measure()

◆ modify_reg()

◆ print_info()

◆ print_registers()

◆ probe()

◆ read_reg()

◆ reset()

◆ Run()

◆ set_onchip_lowpass_filter()

◆ set_range()

◆ set_samplerate()

◆ set_standby()

◆ start()

◆ stop()

◆ test_error()

◆ write_checked_reg()

◆ write_reg()

Member Data Documentation

◆ _bad_registers

◆ _checked_next

◆ _checked_values

◆ _current_rate

◆ _duplicates

◆ _errors

◆ _px4_gyro

◆ _read

◆ _register_wait

◆ _sample_perf

◆ FXAS21002C_NUM_CHECKED_REGISTERS