yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

drivers/magnetometer: Bosch BMM150 rewrite

Browse Source 
- 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
2021-02-06 12:50:23 -05:00
committed by GitHub
parent 8834741be8
commit 41b0f83c0c
10 changed files with 879 additions and 1062 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/drivers/magnetometer/CMakeLists.txt
View File

@@ -32,7 +32,7 @@
############################################################################
add_subdirectory(akm)
add_subdirectory(bmm150)
add_subdirectory(bosch)
add_subdirectory(hmc5883)
add_subdirectory(qmc5883l)
add_subdirectory(isentek)

719
src/drivers/magnetometer/bmm150/bmm150.cpp
View File

@@ -1,719 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 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.cpp
* Driver for the Bosch BMM 150 MEMS magnetometer connected via I2C.
*/
#include "bmm150.hpp"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
BMM150::BMM150(I2CSPIBusOption bus_option, const int bus, int bus_frequency, enum Rotation rotation) :
I2C(DRV_MAG_DEVTYPE_BMM150, MODULE_NAME, bus, BMM150_SLAVE_ADDRESS, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_mag(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good transfers")),
_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicates"))
{
_px4_mag.set_external(external());
// default range scale from uT to gauss
_px4_mag.set_scale(0.01f);
}
BMM150::~BMM150()
{
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_bad_transfers);
perf_free(_good_transfers);
perf_free(_measure_perf);
perf_free(_comms_errors);
perf_free(_duplicates);
}
int BMM150::init()
{
int ret = I2C::init();
/* if probe/setup failed, bail now */
if (ret != OK) {
DEVICE_DEBUG("I2C setup failed");
return ret;
}
/* Bring the device to sleep mode */
modify_reg(BMM150_POWER_CTRL_REG, 1, 1);
px4_usleep(10000);
/* check id*/
if (read_reg(BMM150_CHIP_ID_REG) != BMM150_CHIP_ID) {
DEVICE_DEBUG("id of magnetometer is not: 0x%02x", BMM150_CHIP_ID);
return -EIO;
}
if (reset() != OK) {
goto out;
}
init_trim_registers();
if (measure()) {
return -EIO;
}
px4_usleep(10000);
if (collect()) {
return -EIO;
}
_call_interval = 1000000 / BMM150_MAX_DATA_RATE;
start();
out:
return ret;
}
int BMM150::probe()
{
/* During I2C Initialization, sensor is in suspend mode
* and chip Id will return 0x00, hence returning OK. After
* I2C initialization, sensor is brought to sleep mode
* and Chip Id is verified. In sleep mode, we can read
* chip id. */
/* @Note: Please read BMM150 Datasheet for more details */
return OK;
}
void BMM150::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
/* schedule a cycle to start things */
ScheduleNow();
}
void BMM150::RunImpl()
{
if (_collect_phase) {
collect();
unsigned wait_gap = _call_interval - BMM150_CONVERSION_INTERVAL;
if (wait_gap != 0) {
// need to wait some time before new measurement
ScheduleDelayed(wait_gap);
return;
}
}
measure();
/* schedule a fresh cycle call when the measurement is done */
ScheduleDelayed(BMM150_CONVERSION_INTERVAL);
}
int BMM150::measure()
{
_collect_phase = true;
perf_begin(_measure_perf);
/* start measure */
int ret = set_power_mode(BMM150_FORCED_MODE);
if (ret != OK) {
perf_count(_comms_errors);
perf_cancel(_measure_perf);
return -EIO;
}
perf_end(_measure_perf);
return OK;
}
int BMM150::collect()
{
_collect_phase = false;
uint8_t mag_data[8];
uint16_t resistance, lsb, msb, msblsb;
int16_t x_raw{0};
int16_t y_raw{0};
int16_t z_raw{0};
float x{0.f};
float y{0.f};
float z{0.f};
/* start collecting data */
perf_begin(_sample_perf);
/* Read Magnetometer data*/
const hrt_abstime timestamp_sample = hrt_absolute_time();
if (OK != get_data(BMM150_DATA_X_LSB_REG, mag_data, sizeof(mag_data))) {
return -EIO;
}
/* Array holding the mag XYZ and R data
mag_data[0] - X LSB
mag_data[1] - X MSB
mag_data[2] - Y LSB
mag_data[3] - Y MSB
mag_data[4] - Z LSB
mag_data[5] - Z MSB
mag_data[6] - R LSB
mag_data[7] - R MSB
*/
/* Extract X axis data */
lsb = ((mag_data[0] & 0xF8));
msb = ((uint16_t)(mag_data[1]) << 8);
msblsb = (msb | lsb);
x_raw = (int16_t)msblsb / 8;
/* Extract Y axis data */
lsb = ((mag_data[2] & 0xF8));
msb = (((uint16_t)(mag_data[3])) << 8);
msblsb = (msb | lsb);
y_raw = (int16_t)msblsb / 8;
/* Extract Z axis data */
lsb = ((mag_data[4] & 0xFE));
msb = (((uint16_t)(mag_data[5])) << 8);
msblsb = (msb | lsb);
z_raw = (int16_t)msblsb / 2;
/* Extract Resistance data */
lsb = ((mag_data[6] & 0xFC));
msb = (((uint16_t)mag_data[7]) << 8);
msblsb = (msb | lsb);
resistance = (uint16_t)msblsb / 4;
/* Check whether data is new or old */
if (!(mag_data[6] & 0x01)) {
perf_end(_sample_perf);
perf_count(_duplicates);
return -EIO;
}
if (x_raw == 0 &&
y_raw == 0 &&
z_raw == 0 &&
resistance == 0) {
// all zero data - probably a I2C bus error
perf_count(_comms_errors);
perf_count(_bad_transfers);
perf_end(_sample_perf);
return -EIO;
}
perf_count(_good_transfers);
/* Compensation for X axis */
if (x_raw != BMM150_FLIP_OVERFLOW_ADCVAL) {
/* no overflow */
if ((resistance != 0) && (_dig_xyz1 != 0)) {
/* this is not documented, but derived from https://github.com/BoschSensortec/BMM150-Sensor-API/blob/master/bmm150.c */
x = ((_dig_xyz1 * 16384.0f / resistance) - 16384.0f);
x = (((x_raw * ((((_dig_xy2 * ((float)(x * x / 268435456.0f)) + x * _dig_xy1 /
16384.0f)) + 256.0f) * (_dig_x2 + 160.0f))) / 8192.0f) + (_dig_x1 * 8.0f)) / 16.0f;
} else {
x = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
} else {
x = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
/* Compensation for Y axis */
if (y_raw != BMM150_FLIP_OVERFLOW_ADCVAL) {
/* no overflow */
if ((resistance != 0) && (_dig_xyz1 != 0)) {
y = ((((float)_dig_xyz1) * 16384.0f / resistance) - 16384.0f);
y = (((y_raw * ((((_dig_xy2 * (y * y / 268435456.0f) + y * _dig_xy1 / 16384.0f)) +
256.0f) * (_dig_y2 + 160.0f))) / 8192.0f) + (_dig_y1 * 8.0f)) / 16.0f;
} else {
y = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
} else {
/* overflow, set output to 0.0f */
y = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
/* Compensation for Z axis */
if (z_raw != BMM150_HALL_OVERFLOW_ADCVAL) {
/* no overflow */
if ((_dig_z2 != 0) && (_dig_z1 != 0) && (_dig_xyz1 != 0) && (resistance != 0)) {
z = ((((z_raw - _dig_z4) * 131072.0f) - (_dig_z3 * (resistance - _dig_xyz1))) / ((
_dig_z2 + _dig_z1 * resistance / 32768.0f) * 4.0f)) / 16.0f;
}
} else {
/* overflow, set output to 0.0f */
z = BMM150_OVERFLOW_OUTPUT_FLOAT;
}
// report the error count as the number of bad transfers.
// This allows the higher level code to decide if it
// should use this sensor based on whether it has had failures
_px4_mag.set_error_count(perf_event_count(_bad_transfers));
_px4_mag.update(timestamp_sample, x, y, z);
_last_raw_x = x_raw;
_last_raw_y = y_raw;
_last_raw_z = z_raw;
_last_resistance = resistance;
perf_end(_sample_perf);
return OK;
}
int BMM150::reset()
{
int ret = OK;
/* Soft-reset */
modify_reg(BMM150_POWER_CTRL_REG, BMM150_SOFT_RESET_MASK, BMM150_SOFT_RESET_VALUE);
px4_usleep(5000);
/* Enable Magnetometer in normal mode */
ret += set_power_mode(BMM150_DEFAULT_POWER_MODE);
px4_usleep(1000);
/* Set the data rate to default */
ret += set_data_rate(BMM150_DEFAULT_ODR);
/* set the preset mode as regular*/
ret += set_presetmode(BMM150_PRESETMODE_REGULAR);
return OK;
}
uint8_t BMM150::read_reg(uint8_t reg)
{
const uint8_t cmd = reg;
uint8_t ret{0};
transfer(&cmd, 1, &ret, 1);
return ret;
}
int BMM150::write_reg(uint8_t reg, uint8_t value)
{
const uint8_t cmd[2] = { reg, value};
return transfer(cmd, 2, nullptr, 0);
}
int BMM150::get_data(uint8_t reg, uint8_t *data, unsigned len)
{
const uint8_t cmd = reg;
return transfer(&cmd, 1, data, len);
}
void BMM150::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
{
uint8_t val = read_reg(reg);
val &= ~clearbits;
val |= setbits;
write_reg(reg, val);
}
int BMM150::set_power_mode(uint8_t power_mode)
{
uint8_t setbits = 0;
uint8_t clearbits = BMM150_POWER_MASK;
switch (power_mode) {
case BMM150_NORMAL_MODE:
_power = 0;
break;
case BMM150_FORCED_MODE:
_power = 1;
break;
case BMM150_SLEEP_MODE:
_power = 3;
break;
default:
return -EINVAL;
}
setbits |= power_mode;
modify_reg(BMM150_CTRL_REG, clearbits, setbits);
return OK;
}
int BMM150::set_data_rate(uint8_t data_rate)
{
uint8_t setbits = 0;
uint8_t clearbits = BMM150_OUTPUT_DATA_RATE_MASK;
switch (data_rate) {
case BMM150_DATA_RATE_10HZ:
_output_data_rate = 10;
break;
case BMM150_DATA_RATE_02HZ:
_output_data_rate = 2;
break;
case BMM150_DATA_RATE_06HZ:
_output_data_rate = 6;
break;
case BMM150_DATA_RATE_08HZ:
_output_data_rate = 8;
break;
case BMM150_DATA_RATE_15HZ:
_output_data_rate = 15;
break;
case BMM150_DATA_RATE_20HZ:
_output_data_rate = 20;
break;
case BMM150_DATA_RATE_25HZ:
_output_data_rate = 25;
break;
case BMM150_DATA_RATE_30HZ:
_output_data_rate = 30;
break;
default:
return -EINVAL;
}
setbits |= data_rate;
modify_reg(BMM150_CTRL_REG, clearbits, setbits);
return OK;
}
int BMM150::init_trim_registers()
{
int ret = OK;
uint8_t data[2] = {0};
uint16_t msb, lsb, msblsb;
_dig_x1 = read_reg(BMM150_DIG_X1);
_dig_y1 = read_reg(BMM150_DIG_Y1);
_dig_x2 = read_reg(BMM150_DIG_X2);
_dig_y2 = read_reg(BMM150_DIG_Y2);
_dig_xy1 = read_reg(BMM150_DIG_XY1);
_dig_xy2 = read_reg(BMM150_DIG_XY2);
ret += get_data(BMM150_DIG_Z1_LSB, data, 2);
lsb = data[0];
msb = ((uint16_t)data[1]) << 8;
msblsb = (msb | lsb);
_dig_z1 = (uint16_t)msblsb;
ret += get_data(BMM150_DIG_Z2_LSB, data, 2);
lsb = data[0];
msb = ((uint16_t)data[1]) << 8;
msblsb = (msb | lsb);
_dig_z2 = (int16_t)msblsb;
ret += get_data(BMM150_DIG_Z3_LSB, data, 2);
lsb = data[0];
msb = ((uint16_t)data[1]) << 8;
msblsb = (msb | lsb);
_dig_z3 = (int16_t)msblsb;
ret += get_data(BMM150_DIG_Z4_LSB, data, 2);
lsb = data[0];
msb = ((uint16_t)data[1]) << 8;
msblsb = (msb | lsb);
_dig_z4 = (int16_t)msblsb;
ret += get_data(BMM150_DIG_XYZ1_LSB, data, 2);
lsb = data[0];
msb = ((uint16_t)(data[1] & 0x7F) << 8);
msblsb = (msb | lsb);
_dig_xyz1 = (uint16_t)msblsb;
return ret;
}
int BMM150::set_rep_xy(uint8_t rep_xy)
{
uint8_t cmd[2] = {BMM150_XY_REP_CTRL_REG, rep_xy};
return transfer((const uint8_t *)cmd, sizeof(cmd), nullptr, 0);
}
int BMM150::set_rep_z(uint8_t rep_z)
{
uint8_t cmd[2] = {BMM150_Z_REP_CTRL_REG, rep_z};
return transfer((const uint8_t *)cmd, sizeof(cmd), nullptr, 0);
}
int BMM150::set_presetmode(uint8_t presetmode)
{
int ret = OK;
uint8_t data_rate, rep_xy, rep_z;
if (presetmode == 1) {
data_rate = BMM150_LOWPOWER_DR;
rep_xy = BMM150_LOWPOWER_REPXY;
rep_z = BMM150_LOWPOWER_REPZ;
} else if (presetmode == 2) {
data_rate = BMM150_REGULAR_DR;
rep_xy = BMM150_REGULAR_REPXY;
rep_z = BMM150_REGULAR_REPZ;
} else if (presetmode == 3) {
data_rate = BMM150_HIGHACCURACY_DR;
rep_xy = BMM150_HIGHACCURACY_REPXY;
rep_z = BMM150_HIGHACCURACY_REPZ;
} else if (presetmode == 4) {
data_rate = BMM150_ENHANCED_DR;
rep_xy = BMM150_ENHANCED_REPXY;
rep_z = BMM150_ENHANCED_REPZ;
} else {
return -EINVAL;
}
ret = set_data_rate(data_rate);
ret += set_rep_xy(rep_xy);
ret += set_rep_z(rep_z);
return ret;
}
void BMM150::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_bad_transfers);
perf_print_counter(_good_transfers);
}
int BMM150::self_test()
{
/* normal self-test */
set_power_mode(BMM150_SLEEP_MODE);
modify_reg(BMM150_CTRL_REG, 0, 1);
int i;
for (i = 0; i < 100; ++i) {
px4_usleep(1000);
uint8_t ctrl_reg = read_reg(BMM150_CTRL_REG);
if ((ctrl_reg & 1) == 0) {
break;
}
}
if (i == 100) {
PX4_ERR("timeout");
return -1;
}
uint8_t results[3];
results[0] = read_reg(BMM150_DATA_X_LSB_REG);
results[1] = read_reg(BMM150_DATA_Y_LSB_REG);
results[2] = read_reg(BMM150_DATA_Z_LSB_REG);
bool failed = false;
for (i = 0; i < 3; ++i) {
if ((results[i] & 1) == 0) {
PX4_ERR("Self-test failed for axis %i", i);
failed = true;
}
}
if (failed) {
return -1;
}
PX4_INFO("Success");
return reset();
}
void BMM150::print_registers()
{
printf("BMM150 registers\n");
uint8_t reg = BMM150_CHIP_ID_REG;
uint8_t v = read_reg(reg);
printf("Chip Id: %02x:%02x\n", (unsigned)reg, (unsigned)v);
reg = BMM150_INT_SETT_CTRL_REG;
v = read_reg(reg);
printf("Int sett Ctrl reg: %02x:%02x\n", (unsigned)reg, (unsigned)v);
reg = BMM150_AXES_EN_CTRL_REG;
v = read_reg(reg);
printf("Axes En Ctrl reg: %02x:%02x\n", (unsigned)reg, (unsigned)v);
printf("Trim data: %i %i, %i %i, %i %i %i %i, %i %i, %i\n",
_dig_x1, _dig_y1, _dig_x2, _dig_y2, _dig_z1, _dig_z2, _dig_z3, _dig_z4, _dig_xy1, _dig_xy2, _dig_xyz1);
printf("Latest raw data: x=%i y=%i z=%i resistance=%i\n",
_last_raw_x, _last_raw_y, _last_raw_z, _last_resistance);
}
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_COMMAND("reset");
PRINT_MODULE_USAGE_COMMAND("regdump");
PRINT_MODULE_USAGE_COMMAND("selftest");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
void BMM150::custom_method(const BusCLIArguments &cli)
{
switch (cli.custom1) {
case 0: reset();
break;
case 1: print_registers();
break;
case 2: self_test();
break;
}
}
I2CSPIDriverBase *BMM150::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
BMM150 *interface = new BMM150(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
if (interface == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
if (interface->init() != OK) {
delete interface;
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
return interface;
}
extern "C" __EXPORT int bmm150_main(int argc, char *argv[])
{
int ch;
using ThisDriver = BMM150;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = BMM150_BUS_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);
}
if (!strcmp(verb, "reset")) {
cli.custom1 = 0;
return ThisDriver::module_custom_method(cli, iterator);
}
if (!strcmp(verb, "regdump")) {
cli.custom1 = 1;
return ThisDriver::module_custom_method(cli, iterator);
}
if (!strcmp(verb, "selftest")) {
cli.custom1 = 2;
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}

338
src/drivers/magnetometer/bmm150/bmm150.hpp
View File

@@ -1,338 +0,0 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <systemlib/conversions.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/i2c.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#define BMM150_SLAVE_ADDRESS 0x10
#define BMM150_BUS_SPEED 1000*100
/* Chip Identification number */
#define BMM150_CHIP_ID 0x32
/* Chip Id Register */
#define BMM150_CHIP_ID_REG 0x40
/* Data Registers */
#define BMM150_DATA_X_LSB_REG 0x42
#define BMM150_DATA_X_MSB_REG 0x43
#define BMM150_DATA_Y_LSB_REG 0x44
#define BMM150_DATA_Y_MSB_REG 0x45
#define BMM150_DATA_Z_LSB_REG 0x46
#define BMM150_DATA_Z_MSB_REG 0x47
#define BMM150_R_LSB 0x48
#define BMM150_R_MSB 0x49
/* Interrupt status registers */
#define BMM150_INT_STATUS_REG 0x4A
/* Control Registers */
#define BMM150_POWER_CTRL_REG 0x4B
#define BMM150_CTRL_REG 0x4C
#define BMM150_INT_SETT_CTRL_REG 0x4D
#define BMM150_AXES_EN_CTRL_REG 0x4E
#define BMM150_LOW_THRES_SETT_REG 0x4F
#define BMM150_HIGH_THERS_SETT_REG 0x50
/* Repetitions control registers */
#define BMM150_XY_REP_CTRL_REG 0x51
#define BMM150_Z_REP_CTRL_REG 0x52
/* Preset mode definitions */
#define BMM150_PRESETMODE_LOWPOWER 1
#define BMM150_PRESETMODE_REGULAR 2
#define BMM150_PRESETMODE_HIGHACCURACY 3
#define BMM150_PRESETMODE_ENHANCED 4
/* Data rate value definitions */
#define BMM150_DATA_RATE_10HZ 0x00
#define BMM150_DATA_RATE_02HZ 0x08
#define BMM150_DATA_RATE_06HZ 0x10
#define BMM150_DATA_RATE_08HZ 0x18
#define BMM150_DATA_RATE_15HZ 0x20
#define BMM150_DATA_RATE_20HZ 0x28
#define BMM150_DATA_RATE_25HZ 0x30
#define BMM150_DATA_RATE_30HZ 0x38
/* Advance self-test settings Definitions */
#define BMM150_ADV_ST_OFF 0x00
#define BMM150_ADV_ST_NEG 0x80
#define BMM150_ADV_ST_POS 0xC0
/* Interrupt settings and axes enable bits definitions */
#define BMM150_CHANNEL_X_ENABLE 0x08
#define BMM150_CHANNEL_Y_ENABLE 0x10
/*Overflow Definitions */
/* compensated output value returned if sensor had overflow */
#define BMM150_OVERFLOW_OUTPUT -32768
#define BMM150_OVERFLOW_OUTPUT_S32 ((int32_t)(-2147483647-1))
#define BMM150_OVERFLOW_OUTPUT_FLOAT 0.0f
#define BMM150_FLIP_OVERFLOW_ADCVAL -4096
#define BMM150_HALL_OVERFLOW_ADCVAL -16384
/* Preset modes - Repetitions-XY Rates */
#define BMM150_LOWPOWER_REPXY 1
#define BMM150_REGULAR_REPXY 10
#define BMM150_HIGHACCURACY_REPXY 23
#define BMM150_ENHANCED_REPXY 7
/* Preset modes - Repetitions-Z Rates */
#define BMM150_LOWPOWER_REPZ 2
#define BMM150_REGULAR_REPZ 30
#define BMM150_HIGHACCURACY_REPZ 82
#define BMM150_ENHANCED_REPZ 26
/* Preset modes - Data rates */
#define BMM150_LOWPOWER_DR BMM150_DATA_RATE_30HZ
#define BMM150_REGULAR_DR BMM150_DATA_RATE_30HZ
#define BMM150_HIGHACCURACY_DR BMM150_DATA_RATE_20HZ
#define BMM150_ENHANCED_DR BMM150_DATA_RATE_10HZ
/* Power modes value definitions */
#define BMM150_NORMAL_MODE 0x00
#define BMM150_FORCED_MODE 0x02
#define BMM150_SLEEP_MODE 0x06
/* Default power mode */
#define BMM150_DEFAULT_POWER_MODE BMM150_NORMAL_MODE
/* Default output data rate */
#define BMM150_DEFAULT_ODR BMM150_DATA_RATE_30HZ
/* Maximum output data rate */
#define BMM150_MAX_DATA_RATE 30
/* Default BMM150_INT_SETT_CTRL_REG Value */
#define BMM150_DEFAULT_INT_SETT 0x3F
/* Trim Extended Registers */
#define BMM150_DIG_X1 0x5D
#define BMM150_DIG_Y1 0x5E
#define BMM150_DIG_Z4_LSB 0x62
#define BMM150_DIG_Z4_MSB 0x63
#define BMM150_DIG_X2 0x64
#define BMM150_DIG_Y2 0x65
#define BMM150_DIG_Z2_LSB 0x68
#define BMM150_DIG_Z2_MSB 0x69
#define BMM150_DIG_Z1_LSB 0x6A
#define BMM150_DIG_Z1_MSB 0x6B
#define BMM150_DIG_XYZ1_LSB 0x6C
#define BMM150_DIG_XYZ1_MSB 0x6D
#define BMM150_DIG_Z3_LSB 0x6E
#define BMM150_DIG_Z3_MSB 0x6F
#define BMM150_DIG_XY2 0x70
#define BMM150_DIG_XY1 0x71
/* Mask definitions for power mode */
#define BMM150_POWER_MASK 0x06
/* Mask definitions for data rate */
#define BMM150_OUTPUT_DATA_RATE_MASK 0x38
#define BMM150_SOFT_RESET_VALUE 0x82
/* Mask definitions for Soft-Reset */
#define BMM150_SOFT_RESET_MASK 0x82
/* This value is set based on Max output data rate value */
#define BMM150_CONVERSION_INTERVAL (1000000 / BMM150_MAX_DATA_RATE) /* microseconds */
struct bmm150_data {
int16_t x;
int16_t y;
int16_t z;
};
class BMM150 : public device::I2C, public I2CSPIDriver<BMM150>
{
public:
BMM150(I2CSPIBusOption bus_option, const int bus, int bus_frequency, enum Rotation rotation);
virtual ~BMM150();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
void print_status() override;
void print_registers();
void RunImpl();
void custom_method(const BusCLIArguments &cli) override;
private:
int probe() override;
PX4Magnetometer _px4_mag;
/* altitude conversion calibration */
unsigned _call_interval{0};
bool _collect_phase{false};
uint8_t _power{BMM150_DEFAULT_POWER_MODE};
uint8_t _output_data_rate{BMM150_DEFAULT_POWER_MODE};
int8_t _dig_x1{0};/**< trim x1 data */
int8_t _dig_y1{0};/**< trim y1 data */
int8_t _dig_x2{0};/**< trim x2 data */
int8_t _dig_y2{0};/**< trim y2 data */
uint16_t _dig_z1{0};/**< trim z1 data */
int16_t _dig_z2{0};/**< trim z2 data */
int16_t _dig_z3{0};/**< trim z3 data */
int16_t _dig_z4{0};/**< trim z4 data */
uint8_t _dig_xy1{0};/**< trim xy1 data */
int8_t _dig_xy2{0};/**< trim xy2 data */
uint16_t _dig_xyz1{0};/**< trim xyz1 data */
int16_t _last_raw_x{0};
int16_t _last_raw_y{0};
int16_t _last_raw_z{0};
uint16_t _last_resistance{0};
perf_counter_t _sample_perf;
perf_counter_t _bad_transfers;
perf_counter_t _good_transfers;
perf_counter_t _measure_perf;
perf_counter_t _comms_errors;
perf_counter_t _duplicates;
int init_trim_registers();
/**
* Start automatic measurement.
*/
void start();
int measure(); //start measure
int collect(); //get results and publish
/**
* Read the specified number of bytes from BMM150.
*
* @param reg The register to read.
* @param data Pointer to buffer for bytes read.
* @param len Number of bytes to read
* @return OK if the transfer was successful, -errno otherwise.
*/
int get_data(uint8_t reg, uint8_t *data, unsigned len);
/**
* Resets the chip.
*/
int reset();
/**
* Measurement self test
*
* @return 0 on success, 1 on failure
*/
int self_test();
/**
* Read a register from the BMM150
*
* @param reg The register to read.
* @return The value that was read.
*/
uint8_t read_reg(uint8_t reg);
/**
* Write a register in the BMM150
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK if the transfer was successful, -errno otherwise.
*/
int write_reg(uint8_t reg, uint8_t value);
/**
* Modify a register in the BMM150
*
* Bits are cleared before bits are set.
*
* @param reg The register to modify.
* @param clearbits Bits in the register to clear.
* @param setbits Bits in the register to set.
*/
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
/*
set the power mode of BMM150.
*/
int set_power_mode(uint8_t power);
/*
Set the data rate of BMM150.
*/
int set_data_rate(uint8_t data_rate);
/*
Set the XY-repetitions
*/
int set_rep_xy(uint8_t rep_xy);
/*
Set the Z- repetitions number
*/
int set_rep_z(uint8_t rep_z);
/*
Set the preset modes for BMM150 sensor.The preset mode setting is
depend on Data Rate, XY and Z repetitions
*/
int set_presetmode(uint8_t presetmode);
};

34
src/drivers/magnetometer/bosch/CMakeLists.txt Normal file
View File

@@ -0,0 +1,34 @@
############################################################################
#
# 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.
#
############################################################################
add_subdirectory(bmm150)

468
src/drivers/magnetometer/bosch/bmm150/BMM150.cpp Normal file
View File

@@ -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 &reg_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 &reg_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 &reg_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);
}
}

137
src/drivers/magnetometer/bosch/bmm150/BMM150.hpp Normal file
View File

@@ -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 &reg_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 },
};
};

125
src/drivers/magnetometer/bosch/bmm150/Bosch_BMM150_registers.hpp Normal file
View File

@@ -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

10
src/drivers/magnetometer/bmm150/CMakeLists.txt → src/drivers/magnetometer/bosch/bmm150/CMakeLists.txt
View File

@@ -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
# modification, are permitted provided that the following conditions
@@ -30,12 +30,16 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__bmm150
MODULE drivers__magnetometer__bosch__bmm150
MAIN bmm150
COMPILE_FLAGS
SRCS
bmm150.cpp
BMM150.cpp
BMM150.hpp
bmm150_main.cpp
Bosch_BMM150_registers.hpp
DEPENDS
drivers_magnetometer
px4_work_queue

106
src/drivers/magnetometer/bosch/bmm150/bmm150_main.cpp Normal file
View File

@@ -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;
}