PNI RM3100 magnetometer driver (#10302)

* tested on SPI (px4fmu-v4pro)
 * WIP I2C support

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -322,6 +322,9 @@ then
 
 	# Possible external compasses
 	hmc5883 -C -T -X start
+
+	#RM3100
+	rm3100 start
 fi
 
 if ver hwcmp PX4FMU_V5

src/drivers/boards/px4fmu-v4pro/board_config.h

@@ -153,6 +153,8 @@
 #define PX4_SPI_BUS_EXT0       5
 #define PX4_SPI_BUS_EXT1       6
 
+#define PX4_SPI_BUS_EXT		PX4_SPI_BUS_EXT0
+
 /* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
 
 #define PX4_SPIDEV_GYRO         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
@@ -171,6 +173,8 @@
 #define PX4_SPIDEV_EXT0         PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT0, 1)
 #define PX4_SPIDEV_EXT1         PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT1, 1)
 
+#define PX4_SPIDEV_RM_EXT	PX4_SPIDEV_EXT0
+
 /* I2C busses */
 #define PX4_I2C_BUS_ONBOARD     1
 #define PX4_I2C_BUS_EXPANSION   2

src/drivers/drv_sensor.h

@@ -58,6 +58,7 @@
 #define DRV_MAG_DEVTYPE_MPU9250  0x04
 #define DRV_MAG_DEVTYPE_LIS3MDL  0x05
 #define DRV_MAG_DEVTYPE_IST8310  0x06
+#define DRV_MAG_DEVTYPE_RM3100   0x07
 #define DRV_ACC_DEVTYPE_LSM303D  0x11
 #define DRV_ACC_DEVTYPE_BMA180   0x12
 #define DRV_ACC_DEVTYPE_MPU6000  0x13

src/drivers/magnetometer/CMakeLists.txt

@@ -36,3 +36,4 @@ add_subdirectory(hmc5883)
 add_subdirectory(ist8310)
 add_subdirectory(lis3mdl)
 add_subdirectory(lsm303agr)
+add_subdirectory(rm3100)

src/drivers/magnetometer/rm3100/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__rm3100
+	MAIN rm3100
+	STACK_MAIN 1200
+	COMPILE_FLAGS
+	SRCS
+		rm3100_i2c.cpp
+		rm3100_spi.cpp
+		rm3100_main.cpp
+		rm3100.cpp
+	DEPENDS
+	)

src/drivers/magnetometer/rm3100/rm3100.h

@@ -0,0 +1,252 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 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_defines.h>
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+/**
+ * RM3100 internal constants and data structures.
+ */
+
+#define RM3100_CONVERSION_INTERVAL	6850	// Microseconds, corresponds to 146 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:
+	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:
+	work_s _work;
+
+	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_ticks;
+
+	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 cycle();
+
+	/**
+	 * @brief Static trampoline from the workq context; because we don't have a
+	 *         generic workq wrapper yet.
+	 *
+	 * @param arg Instance pointer for the driver that is polling.
+	 */
+	static void cycle_trampoline(void *arg);
+
+	/**
+	 * 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

src/drivers/magnetometer/rm3100/rm3100_i2c.cpp

@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 rm3100_i2c.cpp
+ *
+ * I2C interface for RM3100
+ */
+
+#include <px4_config.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/i2c.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_device.h>
+
+#include "board_config.h"
+#include "rm3100.h"
+
+#if defined(PX4_I2C_BUS_ONBOARD) || defined(PX4_I2C_BUS_EXPANSION)
+
+#define RM3100_ADDRESS		0x20
+
+#define DIR_READ		(1<<7)
+#define DIR_WRITE		(0<<7)
+
+class RM3100_I2C : public device::I2C
+{
+public:
+	RM3100_I2C(int bus);
+	virtual ~RM3100_I2C() = default;
+
+	virtual int     init();
+	virtual int     ioctl(unsigned operation, unsigned &arg);
+	virtual int     read(unsigned address, void *data, unsigned count);
+	virtual int     write(unsigned address, void *data, unsigned count);
+
+protected:
+	virtual int     probe();
+
+};
+
+device::Device *
+RM3100_I2C_interface(int bus);
+
+device::Device *
+RM3100_I2C_interface(int bus)
+{
+	return new RM3100_I2C(bus);
+}
+
+RM3100_I2C::RM3100_I2C(int bus) :
+	I2C("RM300_I2C", nullptr, bus, RM3100_ADDRESS, 400000)
+{
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_RM3100;
+}
+
+int
+RM3100_I2C::init()
+{
+	/* this will call probe() */
+	return I2C::init();
+}
+
+int
+RM3100_I2C::ioctl(unsigned operation, unsigned &arg)
+{
+	switch (operation) {
+
+	case MAGIOCGEXTERNAL:
+		return external();
+
+	case DEVIOCGDEVICEID:
+		return CDev::ioctl(nullptr, operation, arg);
+
+	default:
+		return  -EINVAL;
+	}
+}
+
+int
+RM3100_I2C::probe()
+{
+	uint8_t data = 0;
+
+	_retries = 10;
+
+	if (read(ADDR_REVID, &data, 1)) {
+		DEVICE_DEBUG("RM3100 read_reg fail");
+		return -EIO;
+	}
+
+	_retries = 2;
+
+	if (data != RM3100_REVID) {
+		DEVICE_DEBUG("RM3100 bad ID: %02x", data);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int
+RM3100_I2C::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t cmd = address | DIR_READ;
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}
+
+int
+RM3100_I2C::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address | DIR_WRITE;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], count + 1, nullptr, 0);
+}
+
+#endif /* PX4_I2C_OBDEV_RM3100 */

src/drivers/magnetometer/rm3100/rm3100_main.cpp

@@ -0,0 +1,360 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 rm3100_main.cpp
+ *
+ * Driver for the RM3100 magnetometer connected via I2C or SPI.
+ */
+
+#include "rm3100_main.h"
+#include <px4_getopt.h>
+
+/**
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int rm3100_main(int argc, char *argv[]);
+
+int
+rm3100::info(RM3100_BUS bus_id)
+{
+	struct rm3100_bus_option &bus = find_bus(bus_id);
+
+	PX4_WARN("running on bus: %u (%s)\n", (unsigned)bus.bus_id, bus.devpath);
+	bus.dev->print_info();
+	return 1;
+}
+
+bool
+rm3100::init(RM3100_BUS bus_id)
+{
+	struct rm3100_bus_option &bus = find_bus(bus_id);
+	const char *path = bus.devpath;
+
+	int fd = open(path, O_RDONLY);
+
+	if (fd < 0) {
+		return false;
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		close(fd);
+		errx(1, "Failed to setup poll rate");
+		return false;
+
+	} else {
+		PX4_INFO("Poll rate set to max (146 Hz)");
+	}
+
+	close(fd);
+
+	return true;
+}
+
+bool
+rm3100::start_bus(struct rm3100_bus_option &bus, Rotation rotation)
+{
+	if (bus.dev != nullptr) {
+		errx(1, "bus option already started");
+		return false;
+	}
+
+	device::Device *interface = bus.interface_constructor(bus.busnum);
+
+	if (interface->init() != OK) {
+		delete interface;
+		warnx("no device on bus %u", (unsigned)bus.bus_id);
+
+		return false;
+	}
+
+	bus.dev = new RM3100(interface, bus.devpath, rotation);
+
+	if (bus.dev != nullptr &&
+	    bus.dev->init() != OK) {
+		delete bus.dev;
+		bus.dev = NULL;
+		return false;
+	}
+
+	return true;
+}
+
+int
+rm3100::start(RM3100_BUS bus_id, Rotation rotation)
+{
+	bool started = false;
+
+	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if (bus_id == RM3100_BUS_ALL && bus_options[i].dev != NULL) {
+			// this device is already started
+			continue;
+		}
+
+		if (bus_id != RM3100_BUS_ALL && bus_options[i].bus_id != bus_id) {
+			// not the one that is asked for
+			continue;
+		}
+
+		started |= start_bus(bus_options[i], rotation);
+		//init(bus_id);
+	}
+
+	return started;
+}
+
+int
+rm3100::stop()
+{
+	bool stopped = false;
+
+	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if (bus_options[i].dev != nullptr) {
+			bus_options[i].dev->stop();
+			delete bus_options[i].dev;
+			bus_options[i].dev = nullptr;
+			stopped = true;
+		}
+	}
+
+	return !stopped;
+}
+
+bool
+rm3100::test(RM3100_BUS bus_id)
+{
+	struct rm3100_bus_option &bus = find_bus(bus_id);
+	struct mag_report report;
+	ssize_t sz;
+	int ret;
+	const char *path = bus.devpath;
+
+	int fd = open(path, O_RDONLY);
+
+	if (fd < 0) {
+		PX4_WARN("%s open failed (try 'rm3100 start')", path);
+		return 1;
+	}
+
+	/* do a simple demand read */
+	sz = read(fd, &report, sizeof(report));
+
+	if (sz != sizeof(report)) {
+		PX4_WARN("immediate read failed");
+		return 1;
+	}
+
+	print_message(report);
+
+	/* check if mag is onboard or external */
+	if (ioctl(fd, MAGIOCGEXTERNAL, 0) < 0) {
+		PX4_WARN("failed to get if mag is onboard or external");
+		return 1;
+	}
+
+	/* set the queue depth to 5 */
+	if (ioctl(fd, SENSORIOCSQUEUEDEPTH, 10) != OK) {
+		PX4_WARN("failed to set queue depth");
+		return 1;
+	}
+
+	/* start the sensor polling at 2Hz */
+	if (ioctl(fd, SENSORIOCSPOLLRATE, 2) != OK) {
+		PX4_WARN("failed to set 2Hz poll rate");
+		return 1;
+	}
+
+	struct pollfd fds;
+
+	/* read the sensor 5x and report each value */
+	for (unsigned i = 0; i < 5; i++) {
+
+		/* wait for data to be ready */
+		fds.fd = fd;
+		fds.events = POLLIN;
+		ret = poll(&fds, 1, 2000);
+
+		if (ret != 1) {
+			PX4_WARN("timed out waiting for sensor data");
+			return 1;
+		}
+
+		/* now go get it */
+		sz = read(fd, &report, sizeof(report));
+
+		if (sz != sizeof(report)) {
+			PX4_WARN("periodic read failed");
+			return 1;
+		}
+
+		print_message(report);
+	}
+
+	PX4_INFO("PASS");
+	return 1;
+}
+
+bool
+rm3100::reset(RM3100_BUS bus_id)
+{
+	struct rm3100_bus_option &bus = find_bus(bus_id);
+	const char *path = bus.devpath;
+
+	int fd = open(path, O_RDONLY);
+
+	if (fd < 0) {
+		PX4_WARN("open failed ");
+		return 1;
+	}
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+		PX4_WARN("driver reset failed");
+		return 1;
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		PX4_WARN("driver poll restart failed");
+		return 1;
+	}
+
+	return 0;
+}
+
+void
+rm3100::usage()
+{
+	PX4_WARN("missing command: try 'start', 'info', 'test', 'reset', 'info'");
+	PX4_WARN("options:");
+	PX4_WARN("    -R rotation");
+	PX4_WARN("    -X external I2C bus");
+	PX4_WARN("    -I internal I2C bus");
+	PX4_WARN("    -S external SPI bus");
+	PX4_WARN("    -s internal SPI bus");
+}
+
+int
+rm3100_main(int argc, char *argv[])
+{
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+
+	enum RM3100_BUS bus_id = RM3100_BUS_ALL;
+	enum Rotation rotation = ROTATION_NONE;
+
+	while ((ch = px4_getopt(argc, argv, "XISR:T", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'R':
+			rotation = (enum Rotation)atoi(myoptarg);
+			break;
+
+		case 'I':
+			bus_id = RM3100_BUS_I2C_INTERNAL;
+			break;
+
+		case 'X':
+			bus_id = RM3100_BUS_I2C_EXTERNAL;
+			break;
+
+		case 'S':
+			bus_id = RM3100_BUS_SPI_EXTERNAL;
+			break;
+
+		case 's':
+			bus_id = RM3100_BUS_SPI_INTERNAL;
+			break;
+
+		default:
+			rm3100::usage();
+			return 0;
+		}
+	}
+
+	if (myoptind >= argc) {
+		rm3100::usage();
+		return -1;
+	}
+
+	const char *verb = argv[myoptind];
+
+	// Start/load the driver
+	if (!strcmp(verb, "start")) {
+
+		if (rm3100::start(bus_id, rotation)) {
+
+			rm3100::init(bus_id);
+
+			return 0;
+
+		} else {
+			return 1;
+		}
+	}
+
+	// Stop the driver
+	if (!strcmp(verb, "stop")) {
+		return rm3100::stop();
+	}
+
+	// Test the driver/device
+	if (!strcmp(verb, "test")) {
+		return rm3100::test(bus_id);
+	}
+
+	// Reset the driver
+	if (!strcmp(verb, "reset")) {
+		return rm3100::reset(bus_id);
+	}
+
+	// Print driver information
+	if (!strcmp(verb, "info") ||
+	    !strcmp(verb, "status")) {
+		return rm3100::info(bus_id);
+	}
+
+	PX4_INFO("unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	return 1;
+}
+
+struct
+rm3100::rm3100_bus_option &rm3100::find_bus(RM3100_BUS bus_id)
+{
+	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if ((bus_id == RM3100_BUS_ALL ||
+		     bus_id == bus_options[i].bus_id) && bus_options[i].dev != NULL) {
+			return bus_options[i];
+		}
+	}
+
+	errx(1, "bus %u not started", (unsigned)bus_id);
+}

src/drivers/magnetometer/rm3100/rm3100_main.h

@@ -0,0 +1,122 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 rm3100_main.h
+ */
+
+#pragma once
+
+#include "rm3100.h"
+
+namespace rm3100
+{
+/**
+ * @struct List of supported bus configurations
+ */
+struct rm3100_bus_option {
+	RM3100_BUS bus_id;
+	const char *devpath;
+	RM3100_constructor interface_constructor;
+	uint8_t busnum;
+	RM3100 *dev;
+} bus_options[] = {
+#ifdef PX4_I2C_BUS_EXPANSION
+	{ RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
+#endif /* PX4_I2C_BUS_EXPANSION */
+#ifdef PX4_I2C_BUS_EXPANSION1
+	{ RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext1", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION1, NULL },
+#endif /* PX4_I2C_BUS_EXPANSION1 */
+#ifdef PX4_I2C_BUS_EXPANSION2
+	{ RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext2", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION2, NULL },
+#endif /* PX4_I2C_BUS_EXPANSION2 */
+#ifdef PX4_I2C_BUS_ONBOARD
+	{ RM3100_BUS_I2C_INTERNAL, "/dev/rm3100_int", &RM3100_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
+#endif /* PX4_I2C_BUS_ONBOARD */
+#ifdef PX4_SPIDEV_RM
+	{ RM3100_BUS_SPI_INTERNAL, "/dev/rm3100_spi_int", &RM3100_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
+#endif /* PX4_SPIDEV_RM */
+#ifdef PX4_SPIDEV_RM_EXT
+	{ RM3100_BUS_SPI_EXTERNAL, "/dev/rm3100_spi_ext", &RM3100_SPI_interface, PX4_SPI_BUS_EXT, NULL },
+#endif /* PX4_SPIDEV_RM_EXT */
+};
+
+/**
+ * @brief Finds a bus structure for a bus_id
+ */
+rm3100_bus_option &find_bus(RM3100_BUS bus_id);
+
+/**
+ * @brief Prints info about the driver.
+ */
+int info(RM3100_BUS bus_id);
+
+/**
+ * @brief Initializes the driver -- sets defaults and starts a cycle
+ */
+bool init(RM3100_BUS bus_id);
+
+/**
+ * @brief Resets the driver.
+ */
+bool reset(RM3100_BUS bus_id);
+
+/**
+ * @brief Starts the driver for a specific bus option
+ */
+bool start_bus(struct rm3100_bus_option &bus, Rotation rotation);
+
+/**
+ * @brief Starts the driver. This function call only returns once the driver
+ *        is either successfully up and running or failed to start.
+ */
+int start(RM3100_BUS bus_id, Rotation rotation);
+
+/**
+ * @brief Stop the driver.
+ */
+int stop();
+
+/**
+ * @brief Perform some basic functional tests on the driver;
+ * 	  make sure we can collect data from the sensor in polled
+ * 	  and automatic modes.
+ */
+bool test(RM3100_BUS bus_id);
+
+/**
+ * @brief Prints info about the driver argument usage.
+ */
+void usage();
+
+} // namespace RM3100

src/drivers/magnetometer/rm3100/rm3100_spi.cpp

@@ -0,0 +1,176 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 rm3100_spi.cpp
+ *
+ * SPI interface for RM3100
+ */
+
+#include <px4_config.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_device.h>
+
+#include "board_config.h"
+#include "rm3100.h"
+
+#if defined(PX4_SPIDEV_RM) || defined (PX4_SPIDEV_RM_EXT)
+
+/* SPI protocol address bits */
+#define DIR_READ        (1<<7)
+#define DIR_WRITE       (0<<7)
+
+class RM3100_SPI : public device::SPI
+{
+public:
+	RM3100_SPI(int bus, uint32_t device);
+	virtual ~RM3100_SPI() = default;
+
+	virtual int     init();
+	virtual int     ioctl(unsigned operation, unsigned &arg);
+	virtual int     read(unsigned address, void *data, unsigned count);
+	virtual int     write(unsigned address, void *data, unsigned count);
+};
+
+device::Device *
+RM3100_SPI_interface(int bus);
+
+device::Device *
+RM3100_SPI_interface(int bus)
+{
+#ifdef PX4_SPIDEV_RM_EXT
+	return new RM3100_SPI(bus, PX4_SPIDEV_RM_EXT);
+#else
+	return new RM3100_SPI(bus, PX4_SPIDEV_RM);
+#endif
+}
+
+RM3100_SPI::RM3100_SPI(int bus, uint32_t device) :
+	SPI("RM3100_SPI", nullptr, bus, device, SPIDEV_MODE3, 1 * 1000 * 1000 /* */)
+{
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_RM3100;
+}
+
+int
+RM3100_SPI::init()
+{
+	int ret;
+
+	ret = SPI::init();
+
+	if (ret != OK) {
+		DEVICE_DEBUG("SPI init failed");
+		return -EIO;
+	}
+
+	// Read REV_ID value
+	uint8_t data = 0;
+
+	if (read(ADDR_REVID, &data, 1)) {
+		DEVICE_DEBUG("RM3100 read_reg fail");
+	}
+
+	if (data != RM3100_REVID) {
+		DEVICE_DEBUG("RM3100 ID: %02x", data);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int
+RM3100_SPI::ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+
+	case MAGIOCGEXTERNAL:
+		return external();
+
+	case DEVIOCGDEVICEID:
+		return CDev::ioctl(nullptr, operation, arg);
+
+	default: {
+			ret = -EINVAL;
+		}
+	}
+
+	return ret;
+}
+
+int
+RM3100_SPI::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address | DIR_READ;
+
+	int ret = transfer(&buf[0], &buf[0], count + 1);
+	memcpy(data, &buf[1], count);
+	return ret;
+}
+
+int
+RM3100_SPI::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address | DIR_WRITE;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], &buf[0], count + 1);
+}
+
+#endif /* PX4_SPIDEV_RM || PX4_SPIDEV_RM_EXT */