rm3100.h

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/**
 * @file rm3100.h
 *
 * Shared defines for the RM3100 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 <perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <systemlib/err.h>

#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

/**
 * RM3100 internal constants and data structures.
 */

/* At 146 Hz we encounter errors, 100 Hz is safer */
#define RM3100_CONVERSION_INTERVAL  10000   // Microseconds, corresponds to 100 Hz (cycle count 200 on 3 axis)
#define UTESLA_TO_GAUSS         100.0f
#define RM3100_SENSITIVITY      75.0f

#define ADDR_POLL       0x00
#define ADDR_CMM        0x01
#define ADDR_CCX        0x04
#define ADDR_CCY        0x06
#define ADDR_CCZ        0x08
#define ADDR_TMRC       0x0B
#define ADDR_MX         0x24
#define ADDR_MY         0x27
#define ADDR_MZ         0x2A
#define ADDR_BIST       0x33
#define ADDR_STATUS     0x34
#define ADDR_HSHAKE     0x35
#define ADDR_REVID      0x36

#define CCX_DEFAULT_MSB     0x00
#define CCX_DEFAULT_LSB     0xC8
#define CCY_DEFAULT_MSB     CCX_DEFAULT_MSB
#define CCY_DEFAULT_LSB     CCX_DEFAULT_LSB
#define CCZ_DEFAULT_MSB     CCX_DEFAULT_MSB
#define CCZ_DEFAULT_LSB     CCX_DEFAULT_LSB
#define CMM_DEFAULT     0x70    // No continuous mode
#define CONTINUOUS_MODE     (1 << 0)
#define POLLING_MODE        (0 << 0)
#define TMRC_DEFAULT        0x94
#define BIST_SELFTEST       0x8F
#define BIST_DEFAULT        0x00
#define BIST_XYZ_OK     ((1 << 4) | (1 << 5) | (1 << 6))
#define STATUS_DRDY     (1 << 7)
#define POLL_XYZ        0x70
#define RM3100_REVID        0x22

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

/* interface factories */
extern device::Device *RM3100_SPI_interface(int bus);
extern device::Device *RM3100_I2C_interface(int bus);
typedef device::Device *(*RM3100_constructor)(int);

enum RM3100_BUS {
    RM3100_BUS_ALL = 0,
    RM3100_BUS_I2C_INTERNAL,
    RM3100_BUS_I2C_EXTERNAL,
    RM3100_BUS_SPI_INTERNAL,
    RM3100_BUS_SPI_EXTERNAL
};

enum OPERATING_MODE {
    CONTINUOUS = 0,
    SINGLE
};


class RM3100 : public device::CDev, public px4::ScheduledWorkItem
{
public:
    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);

    /**
     * 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_scale;

    uint8_t _check_state_cnt;

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

    /**
     * Run sensor self-test
     *
     * @return 0 if self-test is ok, 1 else
     */
    int self_test();

    /**
     * Check whether new data is available or not
     *
     * @return 0 if new data is available, 1 else
     */
    int check_measurement();

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

    /**
     * @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();

    /* this class has pointer data members, do not allow copying it */
    RM3100(const RM3100 &);

    RM3100 operator=(const RM3100 &);
}; // class RM3100