mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 10:46:33 +08:00
drivers/magnetometer: Bosch BMM150 rewrite
- same pattern as other new drivers (state machine, checked register mechanism, no sleeps, etc) - self test has been rolled into regular startup sequence - still I2C only, but will be expanded in the future - configure to high accuracy preset
This commit is contained in:
Daniel Agar
GitHub
@@ -28,7 +28,7 @@ px4_add_board(
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imu/invensense/mpu9250
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imu/invensense/mpu9250
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irlock
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irlock
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lights/rgbled_ncp5623c
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lights/rgbled_ncp5623c
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magnetometer/bmm150
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magnetometer/bosch/bmm150
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magnetometer/lis3mdl
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magnetometer/lis3mdl
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magnetometer/isentek/ist8310
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magnetometer/isentek/ist8310
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optical_flow # all available optical flow drivers
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optical_flow # all available optical flow drivers
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@@ -32,7 +32,7 @@
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############################################################################
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############################################################################
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add_subdirectory(akm)
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add_subdirectory(akm)
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add_subdirectory(bmm150)
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add_subdirectory(bosch)
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add_subdirectory(hmc5883)
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add_subdirectory(hmc5883)
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add_subdirectory(qmc5883l)
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add_subdirectory(qmc5883l)
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add_subdirectory(isentek)
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add_subdirectory(isentek)
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File diff suppressed because it is too large
Load Diff
@@ -1,338 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/log.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include <systemlib/conversions.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/i2c.h>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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#define BMM150_SLAVE_ADDRESS 0x10
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#define BMM150_BUS_SPEED 1000*100
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/* Chip Identification number */
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#define BMM150_CHIP_ID 0x32
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/* Chip Id Register */
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#define BMM150_CHIP_ID_REG 0x40
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/* Data Registers */
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#define BMM150_DATA_X_LSB_REG 0x42
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#define BMM150_DATA_X_MSB_REG 0x43
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#define BMM150_DATA_Y_LSB_REG 0x44
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#define BMM150_DATA_Y_MSB_REG 0x45
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#define BMM150_DATA_Z_LSB_REG 0x46
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#define BMM150_DATA_Z_MSB_REG 0x47
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#define BMM150_R_LSB 0x48
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#define BMM150_R_MSB 0x49
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/* Interrupt status registers */
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#define BMM150_INT_STATUS_REG 0x4A
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/* Control Registers */
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#define BMM150_POWER_CTRL_REG 0x4B
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#define BMM150_CTRL_REG 0x4C
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#define BMM150_INT_SETT_CTRL_REG 0x4D
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#define BMM150_AXES_EN_CTRL_REG 0x4E
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#define BMM150_LOW_THRES_SETT_REG 0x4F
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#define BMM150_HIGH_THERS_SETT_REG 0x50
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/* Repetitions control registers */
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#define BMM150_XY_REP_CTRL_REG 0x51
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#define BMM150_Z_REP_CTRL_REG 0x52
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/* Preset mode definitions */
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#define BMM150_PRESETMODE_LOWPOWER 1
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#define BMM150_PRESETMODE_REGULAR 2
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#define BMM150_PRESETMODE_HIGHACCURACY 3
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#define BMM150_PRESETMODE_ENHANCED 4
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/* Data rate value definitions */
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#define BMM150_DATA_RATE_10HZ 0x00
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#define BMM150_DATA_RATE_02HZ 0x08
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#define BMM150_DATA_RATE_06HZ 0x10
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#define BMM150_DATA_RATE_08HZ 0x18
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#define BMM150_DATA_RATE_15HZ 0x20
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#define BMM150_DATA_RATE_20HZ 0x28
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#define BMM150_DATA_RATE_25HZ 0x30
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#define BMM150_DATA_RATE_30HZ 0x38
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/* Advance self-test settings Definitions */
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#define BMM150_ADV_ST_OFF 0x00
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#define BMM150_ADV_ST_NEG 0x80
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#define BMM150_ADV_ST_POS 0xC0
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/* Interrupt settings and axes enable bits definitions */
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#define BMM150_CHANNEL_X_ENABLE 0x08
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#define BMM150_CHANNEL_Y_ENABLE 0x10
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/*Overflow Definitions */
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/* compensated output value returned if sensor had overflow */
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#define BMM150_OVERFLOW_OUTPUT -32768
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#define BMM150_OVERFLOW_OUTPUT_S32 ((int32_t)(-2147483647-1))
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#define BMM150_OVERFLOW_OUTPUT_FLOAT 0.0f
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#define BMM150_FLIP_OVERFLOW_ADCVAL -4096
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#define BMM150_HALL_OVERFLOW_ADCVAL -16384
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/* Preset modes - Repetitions-XY Rates */
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#define BMM150_LOWPOWER_REPXY 1
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#define BMM150_REGULAR_REPXY 10
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#define BMM150_HIGHACCURACY_REPXY 23
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#define BMM150_ENHANCED_REPXY 7
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/* Preset modes - Repetitions-Z Rates */
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#define BMM150_LOWPOWER_REPZ 2
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#define BMM150_REGULAR_REPZ 30
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#define BMM150_HIGHACCURACY_REPZ 82
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#define BMM150_ENHANCED_REPZ 26
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/* Preset modes - Data rates */
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#define BMM150_LOWPOWER_DR BMM150_DATA_RATE_30HZ
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#define BMM150_REGULAR_DR BMM150_DATA_RATE_30HZ
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#define BMM150_HIGHACCURACY_DR BMM150_DATA_RATE_20HZ
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#define BMM150_ENHANCED_DR BMM150_DATA_RATE_10HZ
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/* Power modes value definitions */
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#define BMM150_NORMAL_MODE 0x00
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#define BMM150_FORCED_MODE 0x02
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#define BMM150_SLEEP_MODE 0x06
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/* Default power mode */
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#define BMM150_DEFAULT_POWER_MODE BMM150_NORMAL_MODE
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/* Default output data rate */
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#define BMM150_DEFAULT_ODR BMM150_DATA_RATE_30HZ
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/* Maximum output data rate */
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#define BMM150_MAX_DATA_RATE 30
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/* Default BMM150_INT_SETT_CTRL_REG Value */
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#define BMM150_DEFAULT_INT_SETT 0x3F
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/* Trim Extended Registers */
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#define BMM150_DIG_X1 0x5D
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#define BMM150_DIG_Y1 0x5E
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#define BMM150_DIG_Z4_LSB 0x62
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#define BMM150_DIG_Z4_MSB 0x63
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#define BMM150_DIG_X2 0x64
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#define BMM150_DIG_Y2 0x65
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#define BMM150_DIG_Z2_LSB 0x68
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#define BMM150_DIG_Z2_MSB 0x69
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#define BMM150_DIG_Z1_LSB 0x6A
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#define BMM150_DIG_Z1_MSB 0x6B
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#define BMM150_DIG_XYZ1_LSB 0x6C
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#define BMM150_DIG_XYZ1_MSB 0x6D
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#define BMM150_DIG_Z3_LSB 0x6E
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#define BMM150_DIG_Z3_MSB 0x6F
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#define BMM150_DIG_XY2 0x70
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#define BMM150_DIG_XY1 0x71
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/* Mask definitions for power mode */
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#define BMM150_POWER_MASK 0x06
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/* Mask definitions for data rate */
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#define BMM150_OUTPUT_DATA_RATE_MASK 0x38
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#define BMM150_SOFT_RESET_VALUE 0x82
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/* Mask definitions for Soft-Reset */
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#define BMM150_SOFT_RESET_MASK 0x82
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/* This value is set based on Max output data rate value */
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#define BMM150_CONVERSION_INTERVAL (1000000 / BMM150_MAX_DATA_RATE) /* microseconds */
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struct bmm150_data {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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class BMM150 : public device::I2C, public I2CSPIDriver<BMM150>
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{
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public:
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BMM150(I2CSPIBusOption bus_option, const int bus, int bus_frequency, enum Rotation rotation);
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virtual ~BMM150();
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static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance);
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static void print_usage();
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int init() override;
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void print_status() override;
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void print_registers();
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void RunImpl();
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void custom_method(const BusCLIArguments &cli) override;
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private:
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int probe() override;
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PX4Magnetometer _px4_mag;
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/* altitude conversion calibration */
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unsigned _call_interval{0};
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bool _collect_phase{false};
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uint8_t _power{BMM150_DEFAULT_POWER_MODE};
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uint8_t _output_data_rate{BMM150_DEFAULT_POWER_MODE};
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int8_t _dig_x1{0};/**< trim x1 data */
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int8_t _dig_y1{0};/**< trim y1 data */
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int8_t _dig_x2{0};/**< trim x2 data */
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int8_t _dig_y2{0};/**< trim y2 data */
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uint16_t _dig_z1{0};/**< trim z1 data */
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int16_t _dig_z2{0};/**< trim z2 data */
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int16_t _dig_z3{0};/**< trim z3 data */
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int16_t _dig_z4{0};/**< trim z4 data */
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uint8_t _dig_xy1{0};/**< trim xy1 data */
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int8_t _dig_xy2{0};/**< trim xy2 data */
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uint16_t _dig_xyz1{0};/**< trim xyz1 data */
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int16_t _last_raw_x{0};
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int16_t _last_raw_y{0};
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int16_t _last_raw_z{0};
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uint16_t _last_resistance{0};
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perf_counter_t _sample_perf;
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perf_counter_t _bad_transfers;
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perf_counter_t _good_transfers;
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perf_counter_t _measure_perf;
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perf_counter_t _comms_errors;
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perf_counter_t _duplicates;
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int init_trim_registers();
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/**
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* Start automatic measurement.
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*/
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void start();
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int measure(); //start measure
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int collect(); //get results and publish
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/**
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* Read the specified number of bytes from BMM150.
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*
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* @param reg The register to read.
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* @param data Pointer to buffer for bytes read.
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* @param len Number of bytes to read
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* @return OK if the transfer was successful, -errno otherwise.
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*/
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int get_data(uint8_t reg, uint8_t *data, unsigned len);
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/**
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* Resets the chip.
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*/
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int reset();
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/**
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* Measurement self test
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*
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* @return 0 on success, 1 on failure
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*/
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int self_test();
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/**
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* Read a register from the BMM150
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*
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* @param reg The register to read.
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* @return The value that was read.
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*/
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uint8_t read_reg(uint8_t reg);
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/**
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* Write a register in the BMM150
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*
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* @param reg The register to write.
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* @param value The new value to write.
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* @return OK if the transfer was successful, -errno otherwise.
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*/
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int write_reg(uint8_t reg, uint8_t value);
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/**
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* Modify a register in the BMM150
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*
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* Bits are cleared before bits are set.
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*
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* @param reg The register to modify.
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* @param clearbits Bits in the register to clear.
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* @param setbits Bits in the register to set.
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*/
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void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
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/*
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set the power mode of BMM150.
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*/
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int set_power_mode(uint8_t power);
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/*
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Set the data rate of BMM150.
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*/
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int set_data_rate(uint8_t data_rate);
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/*
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Set the XY-repetitions
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*/
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int set_rep_xy(uint8_t rep_xy);
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/*
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Set the Z- repetitions number
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*/
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int set_rep_z(uint8_t rep_z);
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/*
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Set the preset modes for BMM150 sensor.The preset mode setting is
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depend on Data Rate, XY and Z repetitions
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*/
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int set_presetmode(uint8_t presetmode);
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};
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@@ -0,0 +1,34 @@
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|||||||
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############################################################################
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||||||
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#
|
||||||
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# Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||||
|
#
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||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
add_subdirectory(bmm150)
|
||||||
@@ -0,0 +1,468 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include "BMM150.hpp"
|
||||||
|
|
||||||
|
using namespace time_literals;
|
||||||
|
|
||||||
|
BMM150::BMM150(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
|
||||||
|
I2C(DRV_MAG_DEVTYPE_BMM150, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
|
||||||
|
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
|
||||||
|
_px4_mag(get_device_id(), rotation)
|
||||||
|
{
|
||||||
|
_px4_mag.set_external(external());
|
||||||
|
}
|
||||||
|
|
||||||
|
BMM150::~BMM150()
|
||||||
|
{
|
||||||
|
perf_free(_reset_perf);
|
||||||
|
perf_free(_bad_register_perf);
|
||||||
|
perf_free(_bad_transfer_perf);
|
||||||
|
perf_free(_overflow_perf);
|
||||||
|
}
|
||||||
|
|
||||||
|
int BMM150::init()
|
||||||
|
{
|
||||||
|
int ret = I2C::init();
|
||||||
|
|
||||||
|
if (ret != PX4_OK) {
|
||||||
|
DEVICE_DEBUG("I2C::init failed (%i)", ret);
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
return Reset() ? 0 : -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool BMM150::Reset()
|
||||||
|
{
|
||||||
|
RegisterWrite(Register::POWER_CONTROL, 0);
|
||||||
|
_state = STATE::RESET;
|
||||||
|
ScheduleClear();
|
||||||
|
ScheduleDelayed(1_ms);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void BMM150::print_status()
|
||||||
|
{
|
||||||
|
I2CSPIDriverBase::print_status();
|
||||||
|
|
||||||
|
perf_print_counter(_reset_perf);
|
||||||
|
perf_print_counter(_bad_register_perf);
|
||||||
|
perf_print_counter(_bad_transfer_perf);
|
||||||
|
perf_print_counter(_overflow_perf);
|
||||||
|
}
|
||||||
|
|
||||||
|
int BMM150::probe()
|
||||||
|
{
|
||||||
|
const uint8_t POWER_CONTROL = RegisterRead(Register::POWER_CONTROL);
|
||||||
|
const uint8_t CHIP_ID = RegisterRead(Register::CHIP_ID);
|
||||||
|
|
||||||
|
PX4_DEBUG("POWER_CONTROL: 0x%02hhX, CHIP_ID: 0x%02hhX", POWER_CONTROL, CHIP_ID);
|
||||||
|
|
||||||
|
// either power control bit is set and chip ID can be read, or both registers are 0x00
|
||||||
|
if ((POWER_CONTROL & POWER_CONTROL_BIT::PowerControl) && (CHIP_ID == chip_identification_number)) {
|
||||||
|
return PX4_OK;
|
||||||
|
|
||||||
|
} else if ((POWER_CONTROL == 0) && (CHIP_ID == 0)) {
|
||||||
|
return PX4_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
return PX4_ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
float BMM150::compensate_x(int16_t mag_data_x, uint16_t data_rhall)
|
||||||
|
{
|
||||||
|
float retval = 0;
|
||||||
|
|
||||||
|
// Processing compensation equations
|
||||||
|
// not documented, but derived from https://github.com/BoschSensortec/BMM150-Sensor-API/blob/a20641f216057f0c54de115fe81b57368e119c01/bmm150.c#L1624-L1633 as of 2020-09-25
|
||||||
|
float process_comp_x0 = (((float)_trim_data.dig_xyz1) * 16384.f / data_rhall);
|
||||||
|
retval = (process_comp_x0 - 16384.f);
|
||||||
|
float process_comp_x1 = ((float)_trim_data.dig_xy2) * (retval * retval / 268435456.f);
|
||||||
|
float process_comp_x2 = process_comp_x1 + retval * ((float)_trim_data.dig_xy1) / 16384.f;
|
||||||
|
float process_comp_x3 = ((float)_trim_data.dig_x2) + 160.f;
|
||||||
|
float process_comp_x4 = mag_data_x * ((process_comp_x2 + 256.f) * process_comp_x3);
|
||||||
|
retval = ((process_comp_x4 / 8192.f) + (((float)_trim_data.dig_x1) * 8.f)) / 16.f;
|
||||||
|
|
||||||
|
return retval;
|
||||||
|
}
|
||||||
|
|
||||||
|
float BMM150::compensate_y(int16_t mag_data_y, uint16_t data_rhall)
|
||||||
|
{
|
||||||
|
float retval = 0;
|
||||||
|
|
||||||
|
// Processing compensation equations
|
||||||
|
// not documented, but derived from https://github.com/BoschSensortec/BMM150-Sensor-API/blob/a20641f216057f0c54de115fe81b57368e119c01/bmm150.c#L1660-L1667 as of 2020-09-25
|
||||||
|
float process_comp_y0 = ((float)_trim_data.dig_xyz1) * 16384.f / data_rhall;
|
||||||
|
retval = process_comp_y0 - 16384.f;
|
||||||
|
float process_comp_y1 = ((float)_trim_data.dig_xy2) * (retval * retval / 268435456.f);
|
||||||
|
float process_comp_y2 = process_comp_y1 + retval * ((float)_trim_data.dig_xy1) / 16384.f;
|
||||||
|
float process_comp_y3 = ((float)_trim_data.dig_y2) + 160.0f;
|
||||||
|
float process_comp_y4 = mag_data_y * (((process_comp_y2) + 256.f) * process_comp_y3);
|
||||||
|
retval = ((process_comp_y4 / 8192.f) + (((float)_trim_data.dig_y1) * 8.f)) / 16.f;
|
||||||
|
|
||||||
|
return retval;
|
||||||
|
}
|
||||||
|
|
||||||
|
float BMM150::compensate_z(int16_t mag_data_z, uint16_t data_rhall)
|
||||||
|
{
|
||||||
|
float retval = 0;
|
||||||
|
|
||||||
|
// Processing compensation equations
|
||||||
|
// not documented, but derived from https://github.com/BoschSensortec/BMM150-Sensor-API/blob/a20641f216057f0c54de115fe81b57368e119c01/bmm150.c#L1696-L1703 as of 2020-09-25
|
||||||
|
float process_comp_z0 = ((float)mag_data_z) - ((float)_trim_data.dig_z4);
|
||||||
|
float process_comp_z1 = ((float)data_rhall) - ((float)_trim_data.dig_xyz1);
|
||||||
|
float process_comp_z2 = (((float)_trim_data.dig_z3) * process_comp_z1);
|
||||||
|
float process_comp_z3 = ((float)_trim_data.dig_z1) * ((float)data_rhall) / 32768.f;
|
||||||
|
float process_comp_z4 = ((float)_trim_data.dig_z2) + process_comp_z3;
|
||||||
|
float process_comp_z5 = (process_comp_z0 * 131072.f) - process_comp_z2;
|
||||||
|
retval = (process_comp_z5 / ((process_comp_z4) * 4.f)) / 16.f;
|
||||||
|
|
||||||
|
return retval;
|
||||||
|
}
|
||||||
|
|
||||||
|
static constexpr int16_t combine_xy_int13(const uint8_t msb, const uint8_t lsb)
|
||||||
|
{
|
||||||
|
int16_t x = ((msb << 8) | lsb);
|
||||||
|
return x / 8; // arithmetic shift by 3 (13 bit signed integer)
|
||||||
|
}
|
||||||
|
|
||||||
|
static constexpr int16_t combine_z_int15(const uint8_t msb, const uint8_t lsb)
|
||||||
|
{
|
||||||
|
int16_t z = ((msb << 8) | lsb);
|
||||||
|
return z / 2; // arithmetic shift by 1 (15 bit signed integer)
|
||||||
|
}
|
||||||
|
|
||||||
|
static constexpr uint16_t combine_rhall_uint14(const uint8_t msb, const uint8_t lsb)
|
||||||
|
{
|
||||||
|
uint16_t rhall = ((msb << 8) | lsb);
|
||||||
|
return (rhall >> 2) & 0x3FFF; // 14 bit unsigned integer
|
||||||
|
}
|
||||||
|
|
||||||
|
void BMM150::RunImpl()
|
||||||
|
{
|
||||||
|
const hrt_abstime now = hrt_absolute_time();
|
||||||
|
|
||||||
|
switch (_state) {
|
||||||
|
case STATE::RESET:
|
||||||
|
// POWER_CONTROL: soft reset
|
||||||
|
RegisterWrite(Register::POWER_CONTROL, POWER_CONTROL_BIT::SoftReset | POWER_CONTROL_BIT::PowerControl);
|
||||||
|
_reset_timestamp = now;
|
||||||
|
_failure_count = 0;
|
||||||
|
_state = STATE::WAIT_FOR_RESET;
|
||||||
|
perf_count(_reset_perf);
|
||||||
|
ScheduleDelayed(3_ms); // 3.0 ms start-up time from suspend to sleep
|
||||||
|
break;
|
||||||
|
|
||||||
|
case STATE::WAIT_FOR_RESET:
|
||||||
|
|
||||||
|
// Soft reset always brings the device into sleep mode (power off -> suspend -> sleep)
|
||||||
|
if ((RegisterRead(Register::CHIP_ID) == chip_identification_number)
|
||||||
|
&& (RegisterRead(Register::POWER_CONTROL) == POWER_CONTROL_BIT::PowerControl)
|
||||||
|
&& (RegisterRead(Register::OP_MODE) == OP_MODE_BIT::Opmode_Sleep)) {
|
||||||
|
|
||||||
|
// if reset succeeded then start self test
|
||||||
|
RegisterSetBits(Register::OP_MODE, OP_MODE_BIT::Self_Test);
|
||||||
|
|
||||||
|
_state = STATE::SELF_TEST_CHECK;
|
||||||
|
ScheduleDelayed(10_ms);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
// RESET not complete
|
||||||
|
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
|
||||||
|
PX4_DEBUG("Reset failed, retrying");
|
||||||
|
_state = STATE::RESET;
|
||||||
|
ScheduleDelayed(100_ms);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
PX4_DEBUG("Reset not complete, check again in 10 ms");
|
||||||
|
ScheduleDelayed(10_ms);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case STATE::SELF_TEST_CHECK: {
|
||||||
|
// After performing self test OpMode "Self test" bit is set to 0
|
||||||
|
const bool opmode_self_test_cleared = ((RegisterRead(Register::OP_MODE) & OP_MODE_BIT::Self_Test) == 0);
|
||||||
|
|
||||||
|
// When self-test is successful, the corresponding self-test result bits are set
|
||||||
|
// “X-Self-Test” register 0x42 bit0
|
||||||
|
// “Y-Self-Test” register 0x44 bit0
|
||||||
|
// “Z-Self-Test” register 0x46 bit0
|
||||||
|
const bool x_success = RegisterRead(Register::DATAX_LSB) & Bit0;
|
||||||
|
const bool y_success = RegisterRead(Register::DATAY_LSB) & Bit0;
|
||||||
|
const bool z_success = RegisterRead(Register::DATAZ_LSB) & Bit0;
|
||||||
|
|
||||||
|
if (opmode_self_test_cleared && (!x_success || !y_success || !z_success)) {
|
||||||
|
PX4_DEBUG("self test failed, resetting");
|
||||||
|
perf_count(_self_test_failed_perf);
|
||||||
|
_state = STATE::RESET;
|
||||||
|
ScheduleDelayed(1000_ms);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
_state = STATE::READ_TRIM;
|
||||||
|
ScheduleDelayed(1_ms);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case STATE::READ_TRIM: {
|
||||||
|
// Trim register value is read
|
||||||
|
uint8_t cmd = static_cast<uint8_t>(Register::DIG_X1);
|
||||||
|
uint8_t trim_x1y1[2] {};
|
||||||
|
|
||||||
|
if (transfer(&cmd, 1, trim_x1y1, 2) == PX4_OK) {
|
||||||
|
cmd = static_cast<uint8_t>(Register::DIG_Z4_LSB);
|
||||||
|
uint8_t trim_xyz_data[4] {};
|
||||||
|
|
||||||
|
if (transfer(&cmd, 1, trim_xyz_data, 4) == PX4_OK) {
|
||||||
|
cmd = static_cast<uint8_t>(Register::DIG_Z2_LSB);
|
||||||
|
uint8_t trim_xy1xy2[10] {};
|
||||||
|
|
||||||
|
if (transfer(&cmd, 1, trim_xy1xy2, 10) == PX4_OK) {
|
||||||
|
_trim_data.dig_x1 = (int8_t)trim_x1y1[0];
|
||||||
|
_trim_data.dig_y1 = (int8_t)trim_x1y1[1];
|
||||||
|
|
||||||
|
_trim_data.dig_x2 = (int8_t)trim_xyz_data[2];
|
||||||
|
_trim_data.dig_y2 = (int8_t)trim_xyz_data[3];
|
||||||
|
|
||||||
|
uint16_t temp_msb;
|
||||||
|
temp_msb = ((uint16_t)trim_xy1xy2[3]) << 8;
|
||||||
|
_trim_data.dig_z1 = (uint16_t)(temp_msb | trim_xy1xy2[2]);
|
||||||
|
|
||||||
|
temp_msb = ((uint16_t)trim_xy1xy2[1]) << 8;
|
||||||
|
_trim_data.dig_z2 = (int16_t)(temp_msb | trim_xy1xy2[0]);
|
||||||
|
|
||||||
|
temp_msb = ((uint16_t)trim_xy1xy2[7]) << 8;
|
||||||
|
_trim_data.dig_z3 = (int16_t)(temp_msb | trim_xy1xy2[6]);
|
||||||
|
|
||||||
|
temp_msb = ((uint16_t)trim_xyz_data[1]) << 8;
|
||||||
|
_trim_data.dig_z4 = (int16_t)(temp_msb | trim_xyz_data[0]);
|
||||||
|
|
||||||
|
_trim_data.dig_xy1 = trim_xy1xy2[9];
|
||||||
|
_trim_data.dig_xy2 = (int8_t)trim_xy1xy2[8];
|
||||||
|
|
||||||
|
temp_msb = ((uint16_t)(trim_xy1xy2[5] & 0x7F)) << 8;
|
||||||
|
_trim_data.dig_xyz1 = (uint16_t)(temp_msb | trim_xy1xy2[4]);
|
||||||
|
|
||||||
|
if ((_trim_data.dig_xyz1 != 0) && (_trim_data.dig_z2 != 0) && (_trim_data.dig_z1 != 0)) {
|
||||||
|
_state = STATE::CONFIGURE;
|
||||||
|
ScheduleDelayed(1_ms);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// reset if reading trim failed
|
||||||
|
PX4_DEBUG("reading trim failed, resetting");
|
||||||
|
perf_count(_bad_register_perf);
|
||||||
|
_state = STATE::RESET;
|
||||||
|
ScheduleDelayed(100_ms);
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case STATE::CONFIGURE:
|
||||||
|
if (Configure()) {
|
||||||
|
// if configure succeeded then start reading every 50 ms (20 Hz)
|
||||||
|
_state = STATE::READ;
|
||||||
|
ScheduleOnInterval(50_ms, 50_ms);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
// CONFIGURE not complete
|
||||||
|
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
|
||||||
|
PX4_DEBUG("Configure failed, resetting");
|
||||||
|
_state = STATE::RESET;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
PX4_DEBUG("Configure failed, retrying");
|
||||||
|
}
|
||||||
|
|
||||||
|
ScheduleDelayed(100_ms);
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case STATE::READ: {
|
||||||
|
struct TransferBuffer {
|
||||||
|
uint8_t DATAX_LSB;
|
||||||
|
uint8_t DATAX_MSB;
|
||||||
|
uint8_t DATAY_LSB;
|
||||||
|
uint8_t DATAY_MSB;
|
||||||
|
uint8_t DATAZ_LSB;
|
||||||
|
uint8_t DATAZ_MSB;
|
||||||
|
uint8_t RHALL_LSB;
|
||||||
|
uint8_t RHALL_MSB;
|
||||||
|
uint8_t STATUS;
|
||||||
|
} buffer{};
|
||||||
|
|
||||||
|
bool success = false;
|
||||||
|
// 0x42 to 0x4A with a burst read.
|
||||||
|
uint8_t cmd = static_cast<uint8_t>(Register::DATAX_LSB);
|
||||||
|
|
||||||
|
if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
|
||||||
|
|
||||||
|
int16_t x = combine_xy_int13(buffer.DATAX_MSB, buffer.DATAX_LSB);
|
||||||
|
int16_t y = combine_xy_int13(buffer.DATAY_MSB, buffer.DATAY_LSB);
|
||||||
|
int16_t z = combine_z_int15(buffer.DATAZ_MSB, buffer.DATAZ_LSB);
|
||||||
|
uint16_t rhall = combine_rhall_uint14(buffer.RHALL_MSB, buffer.RHALL_LSB);
|
||||||
|
|
||||||
|
const bool data_ready = buffer.RHALL_LSB & Bit0;
|
||||||
|
|
||||||
|
if (data_ready && (rhall != 0)) {
|
||||||
|
if ((buffer.STATUS & STATUS_BIT::Overflow) ||
|
||||||
|
(x == OVERFLOW_XYAXES) || (y == OVERFLOW_XYAXES) || (z == OVERFLOW_ZAXIS)) {
|
||||||
|
// overflow ADC value, record error, but don't publish
|
||||||
|
perf_count(_overflow_perf);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
_px4_mag.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf));
|
||||||
|
_px4_mag.update(now, compensate_x(x, rhall), compensate_y(y, rhall), compensate_z(z, rhall));
|
||||||
|
|
||||||
|
success = true;
|
||||||
|
|
||||||
|
if (_failure_count > 0) {
|
||||||
|
_failure_count--;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} else {
|
||||||
|
perf_count(_bad_transfer_perf);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!success) {
|
||||||
|
_failure_count++;
|
||||||
|
|
||||||
|
// full reset if things are failing consistently
|
||||||
|
if (_failure_count > 10) {
|
||||||
|
Reset();
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
|
||||||
|
// check configuration registers periodically or immediately following any failure
|
||||||
|
if (RegisterCheck(_register_cfg[_checked_register])) {
|
||||||
|
_last_config_check_timestamp = now;
|
||||||
|
_checked_register = (_checked_register + 1) % size_register_cfg;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
// register check failed, force reset
|
||||||
|
perf_count(_bad_register_perf);
|
||||||
|
Reset();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
bool BMM150::Configure()
|
||||||
|
{
|
||||||
|
// first set and clear all configured register bits
|
||||||
|
for (const auto ®_cfg : _register_cfg) {
|
||||||
|
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||||
|
}
|
||||||
|
|
||||||
|
// now check that all are configured
|
||||||
|
bool success = true;
|
||||||
|
|
||||||
|
for (const auto ®_cfg : _register_cfg) {
|
||||||
|
if (!RegisterCheck(reg_cfg)) {
|
||||||
|
success = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// microTesla -> Gauss
|
||||||
|
_px4_mag.set_scale(0.01f);
|
||||||
|
|
||||||
|
return success;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool BMM150::RegisterCheck(const register_config_t ®_cfg)
|
||||||
|
{
|
||||||
|
bool success = true;
|
||||||
|
|
||||||
|
const uint8_t reg_value = RegisterRead(reg_cfg.reg);
|
||||||
|
|
||||||
|
if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
|
||||||
|
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
|
||||||
|
success = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
|
||||||
|
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
|
||||||
|
success = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
return success;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t BMM150::RegisterRead(Register reg)
|
||||||
|
{
|
||||||
|
const uint8_t cmd = static_cast<uint8_t>(reg);
|
||||||
|
uint8_t buffer{};
|
||||||
|
int ret = transfer(&cmd, 1, &buffer, 1);
|
||||||
|
|
||||||
|
if (ret != PX4_OK) {
|
||||||
|
PX4_DEBUG("register read 0x%02hhX failed, ret = %d", cmd, ret);
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
return buffer;
|
||||||
|
}
|
||||||
|
|
||||||
|
void BMM150::RegisterWrite(Register reg, uint8_t value)
|
||||||
|
{
|
||||||
|
uint8_t buffer[2] { (uint8_t)reg, value };
|
||||||
|
int ret = transfer(buffer, sizeof(buffer), nullptr, 0);
|
||||||
|
|
||||||
|
if (ret != PX4_OK) {
|
||||||
|
PX4_DEBUG("register write 0x%02hhX failed, ret = %d", (uint8_t)reg, ret);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void BMM150::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
|
||||||
|
{
|
||||||
|
const uint8_t orig_val = RegisterRead(reg);
|
||||||
|
uint8_t val = (orig_val & ~clearbits) | setbits;
|
||||||
|
|
||||||
|
if (orig_val != val) {
|
||||||
|
RegisterWrite(reg, val);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,137 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file BMM150.hpp
|
||||||
|
*
|
||||||
|
* Driver for the Bosch BMM150 connected via I2C.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "Bosch_BMM150_registers.hpp"
|
||||||
|
|
||||||
|
#include <drivers/drv_hrt.h>
|
||||||
|
#include <lib/drivers/device/i2c.h>
|
||||||
|
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
|
||||||
|
#include <lib/perf/perf_counter.h>
|
||||||
|
#include <px4_platform_common/i2c_spi_buses.h>
|
||||||
|
|
||||||
|
using namespace Bosch_BMM150;
|
||||||
|
|
||||||
|
class BMM150 : public device::I2C, public I2CSPIDriver<BMM150>
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
BMM150(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
|
||||||
|
~BMM150() override;
|
||||||
|
|
||||||
|
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||||
|
int runtime_instance);
|
||||||
|
static void print_usage();
|
||||||
|
|
||||||
|
void RunImpl();
|
||||||
|
|
||||||
|
int init() override;
|
||||||
|
void print_status() override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
struct trim_registers {
|
||||||
|
int8_t dig_x1; // trim x1 data
|
||||||
|
int8_t dig_y1; // trim y1 data
|
||||||
|
int8_t dig_x2; // trim x2 data
|
||||||
|
int8_t dig_y2; // trim y2 data
|
||||||
|
uint16_t dig_z1; // trim z1 data
|
||||||
|
int16_t dig_z2; // trim z2 data
|
||||||
|
int16_t dig_z3; // trim z3 data
|
||||||
|
int16_t dig_z4; // trim z4 data
|
||||||
|
uint8_t dig_xy1; // trim xy1 data
|
||||||
|
int8_t dig_xy2; // trim xy2 data
|
||||||
|
uint16_t dig_xyz1; // trim xyz1 data
|
||||||
|
} _trim_data{};
|
||||||
|
|
||||||
|
// Sensor Configuration
|
||||||
|
struct register_config_t {
|
||||||
|
Register reg;
|
||||||
|
uint8_t set_bits{0};
|
||||||
|
uint8_t clear_bits{0};
|
||||||
|
};
|
||||||
|
|
||||||
|
int probe() override;
|
||||||
|
bool Reset();
|
||||||
|
bool Configure();
|
||||||
|
bool RegisterCheck(const register_config_t ®_cfg);
|
||||||
|
|
||||||
|
uint8_t RegisterRead(Register reg);
|
||||||
|
void RegisterWrite(Register reg, uint8_t value);
|
||||||
|
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
|
||||||
|
void RegisterClearBits(Register reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); };
|
||||||
|
void RegisterSetBits(Register reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); };
|
||||||
|
|
||||||
|
// obtain the compensated magnetometer data in micro-tesla.
|
||||||
|
float compensate_x(int16_t mag_data_x, uint16_t data_rhall);
|
||||||
|
float compensate_y(int16_t mag_data_y, uint16_t data_rhall);
|
||||||
|
float compensate_z(int16_t mag_data_z, uint16_t data_rhall);
|
||||||
|
|
||||||
|
PX4Magnetometer _px4_mag;
|
||||||
|
|
||||||
|
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
|
||||||
|
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
|
||||||
|
perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
|
||||||
|
perf_counter_t _overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": overflow")};
|
||||||
|
perf_counter_t _self_test_failed_perf{perf_alloc(PC_COUNT, MODULE_NAME": self test failed")};
|
||||||
|
|
||||||
|
hrt_abstime _reset_timestamp{0};
|
||||||
|
hrt_abstime _last_config_check_timestamp{0};
|
||||||
|
int _failure_count{0};
|
||||||
|
|
||||||
|
enum class STATE : uint8_t {
|
||||||
|
RESET,
|
||||||
|
WAIT_FOR_RESET,
|
||||||
|
SELF_TEST_CHECK,
|
||||||
|
READ_TRIM,
|
||||||
|
CONFIGURE,
|
||||||
|
READ,
|
||||||
|
} _state{STATE::RESET};
|
||||||
|
|
||||||
|
uint8_t _checked_register{0};
|
||||||
|
static constexpr uint8_t size_register_cfg{4};
|
||||||
|
register_config_t _register_cfg[size_register_cfg] {
|
||||||
|
// Register | Set bits, Clear bits
|
||||||
|
{ Register::POWER_CONTROL, POWER_CONTROL_BIT::PowerControl, POWER_CONTROL_BIT::SoftReset },
|
||||||
|
{ Register::OP_MODE, OP_MODE_BIT::ODR_20Hz, OP_MODE_BIT::Opmode_Sleep | OP_MODE_BIT::Self_Test },
|
||||||
|
{ Register::REPXY, REPXY_BIT::XY_HA_SET, REPXY_BIT::XY_HA_CLEAR },
|
||||||
|
{ Register::REPZ, REPZ_BIT::Z_HA_SET, REPZ_BIT::Z_HA_CLEAR },
|
||||||
|
};
|
||||||
|
};
|
||||||
@@ -0,0 +1,125 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file Bosch_BMM150_registers.hpp
|
||||||
|
*
|
||||||
|
* Bosch BMM150 registers.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <cstdint>
|
||||||
|
|
||||||
|
// TODO: move to a central header
|
||||||
|
static constexpr uint8_t Bit0 = (1 << 0);
|
||||||
|
static constexpr uint8_t Bit1 = (1 << 1);
|
||||||
|
static constexpr uint8_t Bit2 = (1 << 2);
|
||||||
|
static constexpr uint8_t Bit3 = (1 << 3);
|
||||||
|
static constexpr uint8_t Bit4 = (1 << 4);
|
||||||
|
static constexpr uint8_t Bit5 = (1 << 5);
|
||||||
|
static constexpr uint8_t Bit6 = (1 << 6);
|
||||||
|
static constexpr uint8_t Bit7 = (1 << 7);
|
||||||
|
|
||||||
|
namespace Bosch_BMM150
|
||||||
|
{
|
||||||
|
static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
|
||||||
|
static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x10;
|
||||||
|
|
||||||
|
static constexpr uint8_t chip_identification_number = 0x32;
|
||||||
|
|
||||||
|
static constexpr int16_t OVERFLOW_XYAXES = -4096;
|
||||||
|
static constexpr int16_t OVERFLOW_ZAXIS = -16384;
|
||||||
|
|
||||||
|
enum class Register : uint8_t {
|
||||||
|
CHIP_ID = 0x40, // magnetometer chip identification number
|
||||||
|
|
||||||
|
DATAX_LSB = 0x42, // 5-bit LSB of x-axis magnetic field data
|
||||||
|
DATAX_MSB = 0x43, // 8-bit MSB of x-axis magnetic field data
|
||||||
|
DATAY_LSB = 0x44, // 5-bit LSB of y-axis magnetic field data
|
||||||
|
DATAY_MSB = 0x45, // 8-bit MSB of y-axis magnetic field data
|
||||||
|
DATAZ_LSB = 0x46, // 7-bit LSB of z-axis magnetic field data
|
||||||
|
DATAZ_MSB = 0x47, // 8-bit MSB of z-axis magnetic field data
|
||||||
|
RHALL_LSB = 0x48, // 6-bit LSB of hall resistance
|
||||||
|
RHALL_MSB = 0x49, // 8-bit MSB of hall resistance
|
||||||
|
STATUS = 0x4A, // Status register
|
||||||
|
POWER_CONTROL = 0x4B, // power control, soft reset and interface SPI mode selection
|
||||||
|
OP_MODE = 0x4C, // operation mode, output data rate and self-test
|
||||||
|
|
||||||
|
REPXY = 0x51, // number of repetitions for x/y-axis
|
||||||
|
REPZ = 0x52, // number of repetitions for z-axis
|
||||||
|
|
||||||
|
DIG_X1 = 0x5D,
|
||||||
|
|
||||||
|
DIG_Z4_LSB = 0x62,
|
||||||
|
|
||||||
|
DIG_Z2_LSB = 0x68,
|
||||||
|
};
|
||||||
|
|
||||||
|
// POWER_CONTROL
|
||||||
|
enum POWER_CONTROL_BIT : uint8_t {
|
||||||
|
SoftReset = Bit7 | Bit1, // soft reset trigger bits.
|
||||||
|
PowerControl = Bit0, // When set to “0”, suspend mode is selected
|
||||||
|
};
|
||||||
|
|
||||||
|
// OP_MODE
|
||||||
|
enum OP_MODE_BIT : uint8_t {
|
||||||
|
// 5:3 Data rate control
|
||||||
|
ODR_20Hz = Bit5 | Bit3, // ODR 20 Hz
|
||||||
|
|
||||||
|
// 2:1 Operation mode control
|
||||||
|
Opmode_Sleep = Bit2 | Bit1, // Sleep mode
|
||||||
|
Self_Test = Bit0,
|
||||||
|
};
|
||||||
|
|
||||||
|
// STATUS
|
||||||
|
enum STATUS_BIT : uint8_t {
|
||||||
|
Overflow = Bit6, // one or more axes exceeded maximum range of the device
|
||||||
|
};
|
||||||
|
|
||||||
|
// REPXY
|
||||||
|
enum REPXY_BIT : uint8_t {
|
||||||
|
// high accurary preset nXY = 47, REPXY = 0x17 = 0b0001'0111
|
||||||
|
XY_HA_SET = Bit4 | Bit2 | Bit1 | Bit0,
|
||||||
|
XY_HA_CLEAR = Bit7 | Bit6 | Bit5 | Bit3,
|
||||||
|
};
|
||||||
|
|
||||||
|
// REPZ
|
||||||
|
enum REPZ_BIT : uint8_t {
|
||||||
|
// high accurary preset nZ = 83, REPZ = 0x52 = 0b0101'0010
|
||||||
|
Z_HA_SET = Bit6 | Bit4 | Bit1,
|
||||||
|
Z_HA_CLEAR = Bit7 | Bit5 | Bit3 | Bit2 | Bit0,
|
||||||
|
};
|
||||||
|
|
||||||
|
} // namespace Bosch_BMM150
|
||||||
+7
-3
@@ -1,6 +1,6 @@
|
|||||||
############################################################################
|
############################################################################
|
||||||
#
|
#
|
||||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||||
#
|
#
|
||||||
# Redistribution and use in source and binary forms, with or without
|
# Redistribution and use in source and binary forms, with or without
|
||||||
# modification, are permitted provided that the following conditions
|
# modification, are permitted provided that the following conditions
|
||||||
@@ -30,12 +30,16 @@
|
|||||||
# POSSIBILITY OF SUCH DAMAGE.
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
#
|
#
|
||||||
############################################################################
|
############################################################################
|
||||||
|
|
||||||
px4_add_module(
|
px4_add_module(
|
||||||
MODULE drivers__bmm150
|
MODULE drivers__magnetometer__bosch__bmm150
|
||||||
MAIN bmm150
|
MAIN bmm150
|
||||||
COMPILE_FLAGS
|
COMPILE_FLAGS
|
||||||
SRCS
|
SRCS
|
||||||
bmm150.cpp
|
BMM150.cpp
|
||||||
|
BMM150.hpp
|
||||||
|
bmm150_main.cpp
|
||||||
|
Bosch_BMM150_registers.hpp
|
||||||
DEPENDS
|
DEPENDS
|
||||||
drivers_magnetometer
|
drivers_magnetometer
|
||||||
px4_work_queue
|
px4_work_queue
|
||||||
@@ -0,0 +1,106 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include "BMM150.hpp"
|
||||||
|
|
||||||
|
#include <px4_platform_common/getopt.h>
|
||||||
|
#include <px4_platform_common/module.h>
|
||||||
|
|
||||||
|
I2CSPIDriverBase *BMM150::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||||
|
int runtime_instance)
|
||||||
|
{
|
||||||
|
BMM150 *instance = new BMM150(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
|
||||||
|
|
||||||
|
if (!instance) {
|
||||||
|
PX4_ERR("alloc failed");
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (instance->init() != PX4_OK) {
|
||||||
|
delete instance;
|
||||||
|
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
return instance;
|
||||||
|
}
|
||||||
|
|
||||||
|
void BMM150::print_usage()
|
||||||
|
{
|
||||||
|
PRINT_MODULE_USAGE_NAME("bmm150", "driver");
|
||||||
|
PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
|
||||||
|
PRINT_MODULE_USAGE_COMMAND("start");
|
||||||
|
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
|
||||||
|
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
||||||
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||||
|
}
|
||||||
|
|
||||||
|
extern "C" int bmm150_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
int ch;
|
||||||
|
using ThisDriver = BMM150;
|
||||||
|
BusCLIArguments cli{true, false};
|
||||||
|
cli.default_i2c_frequency = I2C_SPEED;
|
||||||
|
|
||||||
|
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
|
||||||
|
switch (ch) {
|
||||||
|
case 'R':
|
||||||
|
cli.rotation = (enum Rotation)atoi(cli.optarg());
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
const char *verb = cli.optarg();
|
||||||
|
|
||||||
|
if (!verb) {
|
||||||
|
ThisDriver::print_usage();
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_BMM150);
|
||||||
|
|
||||||
|
if (!strcmp(verb, "start")) {
|
||||||
|
return ThisDriver::module_start(cli, iterator);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(verb, "stop")) {
|
||||||
|
return ThisDriver::module_stop(iterator);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(verb, "status")) {
|
||||||
|
return ThisDriver::module_status(iterator);
|
||||||
|
}
|
||||||
|
|
||||||
|
ThisDriver::print_usage();
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user