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fxos8700cq:Part number change fxos8701cq

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This commit is contained in:
David Sidrane
2017-10-02 17:41:09 -10:00
parent 390f93724c
commit b363b794b1
3 changed files with 187 additions and 187 deletions
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2
cmake/configs/nuttx_nxphlite-v3_default.cmake
View File

@@ -19,7 +19,7 @@ set(config_module_list
drivers/device
drivers/ets_airspeed
drivers/frsky_telemetry
drivers/fxos8700cq
drivers/fxos8701cq
drivers/fxas21002c
drivers/gps
drivers/hmc5883

6
src/drivers/fxos8700cq/CMakeLists.txt → src/drivers/fxos8701cq/CMakeLists.txt
View File

@@ -31,12 +31,12 @@
#
############################################################################
px4_add_module(
MODULE drivers__fxos8700cq
MAIN fxos8700cq
MODULE drivers__fxos8701cq
MAIN fxos8701cq
STACK_MAIN 1200
COMPILE_FLAGS
SRCS
fxos8700cq.cpp
fxos8701cq.cpp
DEPENDS
platforms__common
)

366
src/drivers/fxos8700cq/fxos8700cq.cpp → src/drivers/fxos8701cq/fxos8701cq.cpp
View File

@@ -32,8 +32,8 @@
****************************************************************************/
/**
* @file fxos8700cq.cpp
* Driver for the NXP FXOS8700CQ 6-axis sensor with integrated linear accelerometer and
* @file fxos8701cq.cpp
* Driver for the NXP FXOS8701CQ 6-axis sensor with integrated linear accelerometer and
* magnetometer connected via SPI.
*/
@@ -81,38 +81,38 @@
#define ADDR_7(a) ((a) & (1 << 7))
#define swap16(w) __builtin_bswap16((w))
#define swap16RightJustify14(w) (((int16_t)swap16(w)) >> 2)
#define FXOS8700C_DEVICE_PATH_ACCEL "/dev/fxos8700cq_accel"
#define FXOS8700C_DEVICE_PATH_ACCEL_EXT "/dev/fxos8700cq_accel_ext"
#define FXOS8700C_DEVICE_PATH_MAG "/dev/fxos8700cq_mag"
#define FXOS8701C_DEVICE_PATH_ACCEL "/dev/fxos8701cq_accel"
#define FXOS8701C_DEVICE_PATH_ACCEL_EXT "/dev/fxos8701cq_accel_ext"
#define FXOS8701C_DEVICE_PATH_MAG "/dev/fxos8701cq_mag"
#define FXOS8700CQ_DR_STATUS 0x00
#define FXOS8701CQ_DR_STATUS 0x00
# define DR_STATUS_ZYXDR (1 << 3)
#define FXOS8700CQ_OUT_X_MSB 0x01
#define FXOS8701CQ_OUT_X_MSB 0x01
#define FXOS8700CQ_XYZ_DATA_CFG 0x0e
#define FXOS8701CQ_XYZ_DATA_CFG 0x0e
# define XYZ_DATA_CFG_FS_SHIFTS 0
# define XYZ_DATA_CFG_FS_MASK (3 << XYZ_DATA_CFG_FS_SHIFTS)
# define XYZ_DATA_CFG_FS_2G (0 << XYZ_DATA_CFG_FS_SHIFTS)
# define XYZ_DATA_CFG_FS_4G (1 << XYZ_DATA_CFG_FS_SHIFTS)
# define XYZ_DATA_CFG_FS_8G (2 << XYZ_DATA_CFG_FS_SHIFTS)
#define FXOS8700CQ_WHOAMI 0x0d
# define FXOS8700CQ_WHOAMI_VAL 0xC7
#define FXOS8701CQ_WHOAMI 0x0d
# define FXOS8701CQ_WHOAMI_VAL 0xCA
#define FXOS8700CQ_CTRL_REG1 0x2a
#define FXOS8701CQ_CTRL_REG1 0x2a
# define CTRL_REG1_ACTIVE (1 << 0)
# define CTRL_REG1_DR_SHIFTS 3
# define CTRL_REG1_DR_MASK (7 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR(n) (((n) & 7) << CTRL_REG1_DR_SHIFTS)
#define FXOS8700CQ_CTRL_REG2 0x2b
#define FXOS8701CQ_CTRL_REG2 0x2b
# define CTRL_REG2_AUTO_INC (1 << 5)
#define FXOS8700CQ_M_DR_STATUS 0x32
#define FXOS8701CQ_M_DR_STATUS 0x32
# define M_DR_STATUS_ZYXDR (1 << 3)
#define FXOS8700CQ_M_OUT_X_MSB 0x33
#define FXOS8700CQ_TEMP 0x51
#define FXOS8700CQ_M_CTRL_REG1 0x5b
#define FXOS8701CQ_M_OUT_X_MSB 0x33
#define FXOS8701CQ_TEMP 0x51
#define FXOS8701CQ_M_CTRL_REG1 0x5b
# define M_CTRL_REG1_HMS_SHIFTS 0
# define M_CTRL_REG1_HMS_MASK (3 << M_CTRL_REG1_HMS_SHIFTS)
# define M_CTRL_REG1_HMS_A (0 << M_CTRL_REG1_HMS_SHIFTS)
@@ -122,21 +122,21 @@
# define M_CTRL_REG1_OS_MASK (7 << M_CTRL_REG1_HMS_SHIFTS)
# define M_CTRL_REG1_OS(n) (((n) & 7) << M_CTRL_REG1_OS_SHIFTS)
#define FXOS8700CQ_M_CTRL_REG2 0x5c
#define FXOS8700CQ_M_CTRL_REG3 0x5d
#define FXOS8701CQ_M_CTRL_REG2 0x5c
#define FXOS8701CQ_M_CTRL_REG3 0x5d
#define DEF_REG(r) {r, #r}
/* default values for this device */
#define FXOS8700C_ACCEL_DEFAULT_RANGE_G 8
#define FXOS8700C_ACCEL_DEFAULT_RATE 400 /* ODR is 400 in Hybird mode (accel + mag) */
#define FXOS8700C_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 50
#define FXOS8700C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define FXOS8700C_ACCEL_MAX_OUTPUT_RATE 280
#define FXOS8701C_ACCEL_DEFAULT_RANGE_G 8
#define FXOS8701C_ACCEL_DEFAULT_RATE 400 /* ODR is 400 in Hybird mode (accel + mag) */
#define FXOS8701C_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 50
#define FXOS8701C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define FXOS8701C_ACCEL_MAX_OUTPUT_RATE 280
#define FXOS8700C_MAG_DEFAULT_RANGE_GA 12 /* It is fixed at 12 G */
#define FXOS8700C_MAG_DEFAULT_RATE 100
#define FXOS8700C_ONE_G 9.80665f
#define FXOS8701C_MAG_DEFAULT_RANGE_GA 12 /* It is fixed at 12 G */
#define FXOS8701C_MAG_DEFAULT_RATE 100
#define FXOS8701C_ONE_G 9.80665f
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
@@ -150,18 +150,18 @@
This time reduction is enough to cope with worst case timing jitter
due to other timers
*/
#define FXOS8700C_TIMER_REDUCTION 240
#define FXOS8701C_TIMER_REDUCTION 240
extern "C" { __EXPORT int fxos8700cq_main(int argc, char *argv[]); }
extern "C" { __EXPORT int fxos8701cq_main(int argc, char *argv[]); }
class FXOS8700CQ_mag;
class FXOS8701CQ_mag;
class FXOS8700CQ : public device::SPI
class FXOS8701CQ : public device::SPI
{
public:
FXOS8700CQ(int bus, const char *path, uint32_t device, enum Rotation rotation);
virtual ~FXOS8700CQ();
FXOS8701CQ(int bus, const char *path, uint32_t device, enum Rotation rotation);
virtual ~FXOS8701CQ();
virtual int init();
@@ -186,14 +186,14 @@ public:
protected:
virtual int probe();
friend class FXOS8700CQ_mag;
friend class FXOS8701CQ_mag;
virtual ssize_t mag_read(struct file *filp, char *buffer, size_t buflen);
virtual int mag_ioctl(struct file *filp, int cmd, unsigned long arg);
private:
FXOS8700CQ_mag *_mag;
FXOS8701CQ_mag *_mag;
struct hrt_call _accel_call;
struct hrt_call _mag_call;
@@ -251,9 +251,9 @@ private:
// this is used to support runtime checking of key
// configuration registers to detect SPI bus errors and sensor
// reset
#define FXOS8700C_NUM_CHECKED_REGISTERS 5
static const uint8_t _checked_registers[FXOS8700C_NUM_CHECKED_REGISTERS];
uint8_t _checked_values[FXOS8700C_NUM_CHECKED_REGISTERS];
#define FXOS8701C_NUM_CHECKED_REGISTERS 5
static const uint8_t _checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS];
uint8_t _checked_values[FXOS8701C_NUM_CHECKED_REGISTERS];
uint8_t _checked_next;
/**
@@ -333,7 +333,7 @@ private:
int mag_self_test();
/**
* Read a register from the FXOS8700C
* Read a register from the FXOS8701C
*
* @param The register to read.
* @return The value that was read.
@@ -341,7 +341,7 @@ private:
uint8_t read_reg(unsigned reg);
/**
* Write a register in the FXOS8700C
* Write a register in the FXOS8701C
*
* @param reg The register to write.
* @param value The new value to write.
@@ -349,7 +349,7 @@ private:
void write_reg(unsigned reg, uint8_t value);
/**
* Modify a register in the FXOS8700C
* Modify a register in the FXOS8701C
*
* Bits are cleared before bits are set.
*
@@ -360,7 +360,7 @@ private:
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
/**
* Write a register in the FXOS8700C, updating _checked_values
* Write a register in the FXOS8701C, updating _checked_values
*
* @param reg The register to write.
* @param value The new value to write.
@@ -368,7 +368,7 @@ private:
void write_checked_reg(unsigned reg, uint8_t value);
/**
* Set the FXOS8700C accel measurement range.
* Set the FXOS8701C accel measurement range.
*
* @param max_g The measurement range of the accel is in g (9.81m/s^2)
* Zero selects the maximum supported range.
@@ -377,7 +377,7 @@ private:
int accel_set_range(unsigned max_g);
/**
* Set the FXOS8700C mag measurement range.
* Set the FXOS8701C mag measurement range.
*
* @param max_ga The measurement range of the mag is in Ga
* Zero selects the maximum supported range.
@@ -386,7 +386,7 @@ private:
int mag_set_range(unsigned max_g);
/**
* Set the FXOS8700C on-chip anti-alias filter bandwith.
* Set the FXOS8701C on-chip anti-alias filter bandwith.
*
* @param bandwidth The anti-alias filter bandwidth in Hz
* Zero selects the highest bandwidth
@@ -404,7 +404,7 @@ private:
int accel_set_driver_lowpass_filter(float samplerate, float bandwidth);
/**
* Set the FXOS8700C internal accel and mag sampling frequency.
* Set the FXOS8701C internal accel and mag sampling frequency.
*
* @param frequency The internal accel and mag sampling frequency is set to not less than
* this value.
@@ -414,7 +414,7 @@ private:
int accel_set_samplerate(unsigned frequency);
/**
* Set the FXOS8700CQ internal mag sampling frequency.
* Set the FXOS8701CQ internal mag sampling frequency.
*
* @param frequency The mag reporting frequency is set to not less than
* this value. (sampling is all way the same as accel
@@ -426,30 +426,30 @@ private:
/* this class cannot be copied */
FXOS8700CQ(const FXOS8700CQ &);
FXOS8700CQ operator=(const FXOS8700CQ &);
FXOS8701CQ(const FXOS8701CQ &);
FXOS8701CQ operator=(const FXOS8701CQ &);
};
/*
list of registers that will be checked in check_registers(). Note
that ADDR_WHO_AM_I must be first in the list.
*/
const uint8_t FXOS8700CQ::_checked_registers[FXOS8700C_NUM_CHECKED_REGISTERS] = {
FXOS8700CQ_WHOAMI,
FXOS8700CQ_XYZ_DATA_CFG,
FXOS8700CQ_CTRL_REG1,
FXOS8700CQ_M_CTRL_REG1,
FXOS8700CQ_M_CTRL_REG2,
const uint8_t FXOS8701CQ::_checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS] = {
FXOS8701CQ_WHOAMI,
FXOS8701CQ_XYZ_DATA_CFG,
FXOS8701CQ_CTRL_REG1,
FXOS8701CQ_M_CTRL_REG1,
FXOS8701CQ_M_CTRL_REG2,
};
/**
* Helper class implementing the mag driver node.
*/
class FXOS8700CQ_mag : public device::CDev
class FXOS8701CQ_mag : public device::CDev
{
public:
FXOS8700CQ_mag(FXOS8700CQ *parent);
~FXOS8700CQ_mag();
FXOS8701CQ_mag(FXOS8701CQ *parent);
~FXOS8701CQ_mag();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
@@ -457,11 +457,11 @@ public:
virtual int init();
protected:
friend class FXOS8700CQ;
friend class FXOS8701CQ;
void parent_poll_notify();
private:
FXOS8700CQ *_parent;
FXOS8701CQ *_parent;
orb_advert_t _mag_topic;
int _mag_orb_class_instance;
@@ -472,15 +472,15 @@ private:
void measure_trampoline(void *arg);
/* this class does not allow copying due to ptr data members */
FXOS8700CQ_mag(const FXOS8700CQ_mag &);
FXOS8700CQ_mag operator=(const FXOS8700CQ_mag &);
FXOS8701CQ_mag(const FXOS8701CQ_mag &);
FXOS8701CQ_mag operator=(const FXOS8701CQ_mag &);
};
FXOS8700CQ::FXOS8700CQ(int bus, const char *path, uint32_t device, enum Rotation rotation) :
SPI("FXOS8700CQ", path, bus, device, SPIDEV_MODE0,
FXOS8701CQ::FXOS8701CQ(int bus, const char *path, uint32_t device, enum Rotation rotation) :
SPI("FXOS8701CQ", path, bus, device, SPIDEV_MODE0,
1 * 1000 * 1000),
_mag(new FXOS8700CQ_mag(this)),
_mag(new FXOS8701CQ_mag(this)),
_accel_call{},
_mag_call{},
_call_accel_interval(0),
@@ -501,16 +501,16 @@ FXOS8700CQ::FXOS8700CQ(int bus, const char *path, uint32_t device, enum Rotation
_accel_class_instance(-1),
_accel_read(0),
_mag_read(0),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "fxos8700cq_acc_read")),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "fxos8700cq_mag_read")),
_bad_registers(perf_alloc(PC_COUNT, "fxos8700cq_bad_reg")),
_bad_values(perf_alloc(PC_COUNT, "fxos8700cq_bad_val")),
_accel_duplicates(perf_alloc(PC_COUNT, "fxos8700cq_acc_dupe")),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "fxos8701cq_acc_read")),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "fxos8701cq_mag_read")),
_bad_registers(perf_alloc(PC_COUNT, "fxos8701cq_bad_reg")),
_bad_values(perf_alloc(PC_COUNT, "fxos8701cq_bad_val")),
_accel_duplicates(perf_alloc(PC_COUNT, "fxos8701cq_acc_dupe")),
_register_wait(0),
_accel_filter_x(FXOS8700C_ACCEL_DEFAULT_RATE, FXOS8700C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(FXOS8700C_ACCEL_DEFAULT_RATE, FXOS8700C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(FXOS8700C_ACCEL_DEFAULT_RATE, FXOS8700C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_int(1000000 / FXOS8700C_ACCEL_MAX_OUTPUT_RATE, true),
_accel_filter_x(FXOS8701C_ACCEL_DEFAULT_RATE, FXOS8701C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(FXOS8701C_ACCEL_DEFAULT_RATE, FXOS8701C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(FXOS8701C_ACCEL_DEFAULT_RATE, FXOS8701C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_int(1000000 / FXOS8701C_ACCEL_MAX_OUTPUT_RATE, true),
_rotation(rotation),
_constant_accel_count(0),
_last_temperature(0),
@@ -524,11 +524,11 @@ FXOS8700CQ::FXOS8700CQ(int bus, const char *path, uint32_t device, enum Rotation
// enable debug() calls
_debug_enabled = true;
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_FXOS8700C;
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_FXOS8701C;
/* Prime _mag with parents devid. */
_mag->_device_id.devid = _device_id.devid;
_mag->_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_FXOS8700C;
_mag->_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_FXOS8701C;
// default scale factors
@@ -547,7 +547,7 @@ FXOS8700CQ::FXOS8700CQ(int bus, const char *path, uint32_t device, enum Rotation
_mag_scale.z_scale = 1.0f;
}
FXOS8700CQ::~FXOS8700CQ()
FXOS8701CQ::~FXOS8701CQ()
{
/* make sure we are truly inactive */
stop();
@@ -576,7 +576,7 @@ FXOS8700CQ::~FXOS8700CQ()
}
int
FXOS8700CQ::init()
FXOS8701CQ::init()
{
int ret = PX4_ERROR;
@@ -645,50 +645,50 @@ out:
void
FXOS8700CQ::reset()
FXOS8701CQ::reset()
{
/* enable accel set it To Standby */
write_checked_reg(FXOS8700CQ_CTRL_REG1, 0);
write_checked_reg(FXOS8700CQ_XYZ_DATA_CFG, 0);
write_checked_reg(FXOS8701CQ_CTRL_REG1, 0);
write_checked_reg(FXOS8701CQ_XYZ_DATA_CFG, 0);
/* Use hybird mode to read Accel and Mag */
write_checked_reg(FXOS8700CQ_M_CTRL_REG1, M_CTRL_REG1_HMS_AM | M_CTRL_REG1_OS(7));
write_checked_reg(FXOS8701CQ_M_CTRL_REG1, M_CTRL_REG1_HMS_AM | M_CTRL_REG1_OS(7));
/* Use the hybird auto increment mode to read all the data at the same time */
write_checked_reg(FXOS8700CQ_M_CTRL_REG2, CTRL_REG2_AUTO_INC);
write_checked_reg(FXOS8701CQ_M_CTRL_REG2, CTRL_REG2_AUTO_INC);
accel_set_range(FXOS8700C_ACCEL_DEFAULT_RANGE_G);
accel_set_samplerate(FXOS8700C_ACCEL_DEFAULT_RATE);
accel_set_driver_lowpass_filter((float)FXOS8700C_ACCEL_DEFAULT_RATE, (float)FXOS8700C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ);
accel_set_range(FXOS8701C_ACCEL_DEFAULT_RANGE_G);
accel_set_samplerate(FXOS8701C_ACCEL_DEFAULT_RATE);
accel_set_driver_lowpass_filter((float)FXOS8701C_ACCEL_DEFAULT_RATE, (float)FXOS8701C_ACCEL_DEFAULT_DRIVER_FILTER_FREQ);
// we setup the anti-alias on-chip filter as 50Hz. We believe
// this operates in the analog domain, and is critical for
// anti-aliasing. The 2 pole software filter is designed to
// operate in conjunction with this on-chip filter
accel_set_onchip_lowpass_filter_bandwidth(FXOS8700C_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
accel_set_onchip_lowpass_filter_bandwidth(FXOS8701C_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
mag_set_range(FXOS8700C_MAG_DEFAULT_RANGE_GA);
mag_set_range(FXOS8701C_MAG_DEFAULT_RANGE_GA);
/* enable set it To Standby mode at 800 Hz which becomes 400 Hz due to hybird mode */
write_checked_reg(FXOS8700CQ_CTRL_REG1, CTRL_REG1_DR(0) | CTRL_REG1_ACTIVE);
write_checked_reg(FXOS8701CQ_CTRL_REG1, CTRL_REG1_DR(0) | CTRL_REG1_ACTIVE);
_accel_read = 0;
_mag_read = 0;
}
int
FXOS8700CQ::probe()
FXOS8701CQ::probe()
{
/* verify that the device is attached and functioning */
bool success = (read_reg(FXOS8700CQ_WHOAMI) == FXOS8700CQ_WHOAMI_VAL);
bool success = (read_reg(FXOS8701CQ_WHOAMI) == FXOS8701CQ_WHOAMI_VAL);
if (success) {
_checked_values[0] = FXOS8700CQ_WHOAMI_VAL;
_checked_values[0] = FXOS8701CQ_WHOAMI_VAL;
return OK;
}
@@ -696,7 +696,7 @@ FXOS8700CQ::probe()
}
ssize_t
FXOS8700CQ::read(struct file *filp, char *buffer, size_t buflen)
FXOS8701CQ::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct accel_report);
accel_report *arb = reinterpret_cast<accel_report *>(buffer);
@@ -735,7 +735,7 @@ FXOS8700CQ::read(struct file *filp, char *buffer, size_t buflen)
}
ssize_t
FXOS8700CQ::mag_read(struct file *filp, char *buffer, size_t buflen)
FXOS8701CQ::mag_read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct mag_report);
mag_report *mrb = reinterpret_cast<mag_report *>(buffer);
@@ -776,7 +776,7 @@ FXOS8700CQ::mag_read(struct file *filp, char *buffer, size_t buflen)
}
int
FXOS8700CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
FXOS8701CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@@ -801,7 +801,7 @@ FXOS8700CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
return ioctl(filp, SENSORIOCSPOLLRATE, 1600);
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, FXOS8700C_ACCEL_DEFAULT_RATE);
return ioctl(filp, SENSORIOCSPOLLRATE, FXOS8701C_ACCEL_DEFAULT_RATE);
/* adjust to a legal polling interval in Hz */
default: {
@@ -823,7 +823,7 @@ FXOS8700CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
/* XXX this is a bit shady, but no other way to adjust... */
_call_accel_interval = ticks;
_accel_call.period = _call_accel_interval - FXOS8700C_TIMER_REDUCTION;
_accel_call.period = _call_accel_interval - FXOS8701C_TIMER_REDUCTION;
/* if we need to start the poll state machine, do it */
if (want_start) {
@@ -900,7 +900,7 @@ FXOS8700CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / FXOS8700C_ONE_G + 0.5f);
return (unsigned long)((_accel_range_m_s2) / FXOS8701C_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
@@ -917,7 +917,7 @@ FXOS8700CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
}
int
FXOS8700CQ::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
FXOS8701CQ::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@@ -1046,7 +1046,7 @@ FXOS8700CQ::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
}
int
FXOS8700CQ::accel_self_test()
FXOS8701CQ::accel_self_test()
{
/*todo:Implement
* set to 2 Jmode Save current samples
@@ -1065,7 +1065,7 @@ FXOS8700CQ::accel_self_test()
}
int
FXOS8700CQ::mag_self_test()
FXOS8701CQ::mag_self_test()
{
if (_mag_read == 0) {
return 1;
@@ -1091,7 +1091,7 @@ FXOS8700CQ::mag_self_test()
}
uint8_t
FXOS8700CQ::read_reg(unsigned reg)
FXOS8701CQ::read_reg(unsigned reg)
{
uint8_t cmd[3];
@@ -1105,7 +1105,7 @@ FXOS8700CQ::read_reg(unsigned reg)
}
void
FXOS8700CQ::write_reg(unsigned reg, uint8_t value)
FXOS8701CQ::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[3];
@@ -1117,11 +1117,11 @@ FXOS8700CQ::write_reg(unsigned reg, uint8_t value)
}
void
FXOS8700CQ::write_checked_reg(unsigned reg, uint8_t value)
FXOS8701CQ::write_checked_reg(unsigned reg, uint8_t value)
{
write_reg(reg, value);
for (uint8_t i = 0; i < FXOS8700C_NUM_CHECKED_REGISTERS; i++) {
for (uint8_t i = 0; i < FXOS8701C_NUM_CHECKED_REGISTERS; i++) {
if (reg == _checked_registers[i]) {
_checked_values[i] = value;
}
@@ -1129,7 +1129,7 @@ FXOS8700CQ::write_checked_reg(unsigned reg, uint8_t value)
}
void
FXOS8700CQ::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
FXOS8701CQ::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
{
uint8_t val;
@@ -1140,7 +1140,7 @@ FXOS8700CQ::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
}
int
FXOS8700CQ::accel_set_range(unsigned max_g)
FXOS8701CQ::accel_set_range(unsigned max_g)
{
uint8_t setbits = 0;
float lsb_per_g;
@@ -1166,17 +1166,17 @@ FXOS8700CQ::accel_set_range(unsigned max_g)
max_accel_g = 2;
}
_accel_range_scale = (FXOS8700C_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * FXOS8700C_ONE_G;
_accel_range_scale = (FXOS8701C_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * FXOS8701C_ONE_G;
modify_reg(FXOS8700CQ_XYZ_DATA_CFG, XYZ_DATA_CFG_FS_MASK, setbits);
modify_reg(FXOS8701CQ_XYZ_DATA_CFG, XYZ_DATA_CFG_FS_MASK, setbits);
return OK;
}
int
FXOS8700CQ::mag_set_range(unsigned max_ga)
FXOS8701CQ::mag_set_range(unsigned max_ga)
{
_mag_range_ga = 12;
_mag_range_scale = 0.001f;
@@ -1185,13 +1185,13 @@ FXOS8700CQ::mag_set_range(unsigned max_ga)
}
int
FXOS8700CQ::accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
FXOS8701CQ::accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
{
return OK;
}
int
FXOS8700CQ::accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
FXOS8701CQ::accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
{
_accel_filter_x.set_cutoff_frequency(samplerate, bandwidth);
_accel_filter_y.set_cutoff_frequency(samplerate, bandwidth);
@@ -1201,16 +1201,16 @@ FXOS8700CQ::accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
}
int
FXOS8700CQ::accel_set_samplerate(unsigned frequency)
FXOS8701CQ::accel_set_samplerate(unsigned frequency)
{
uint8_t setbits = 0;
/* The selected ODR is reduced by a factor of two when the device is operated in hybrid mode.*/
uint8_t active = read_reg(FXOS8700CQ_CTRL_REG1) & CTRL_REG1_ACTIVE;
uint8_t active = read_reg(FXOS8701CQ_CTRL_REG1) & CTRL_REG1_ACTIVE;
if (frequency == 0 || frequency == ACCEL_SAMPLERATE_DEFAULT) {
frequency = FXOS8700C_ACCEL_DEFAULT_RATE;
frequency = FXOS8701C_ACCEL_DEFAULT_RATE;
}
if (frequency <= 25) {
@@ -1237,14 +1237,14 @@ FXOS8700CQ::accel_set_samplerate(unsigned frequency)
return -EINVAL;
}
modify_reg(FXOS8700CQ_CTRL_REG1, CTRL_REG1_ACTIVE, 0);
modify_reg(FXOS8700CQ_CTRL_REG1, CTRL_REG1_DR_MASK, setbits);
modify_reg(FXOS8700CQ_CTRL_REG1, 0, active);
modify_reg(FXOS8701CQ_CTRL_REG1, CTRL_REG1_ACTIVE, 0);
modify_reg(FXOS8701CQ_CTRL_REG1, CTRL_REG1_DR_MASK, setbits);
modify_reg(FXOS8701CQ_CTRL_REG1, 0, active);
return OK;
}
int
FXOS8700CQ::mag_set_samplerate(unsigned frequency)
FXOS8701CQ::mag_set_samplerate(unsigned frequency)
{
if (frequency == 0) {
frequency = 100;
@@ -1274,7 +1274,7 @@ FXOS8700CQ::mag_set_samplerate(unsigned frequency)
void
FXOS8700CQ::start()
FXOS8701CQ::start()
{
/* make sure we are stopped first */
stop();
@@ -1286,13 +1286,13 @@ FXOS8700CQ::start()
/* start polling at the specified rate */
hrt_call_every(&_accel_call,
1000,
_call_accel_interval - FXOS8700C_TIMER_REDUCTION,
(hrt_callout)&FXOS8700CQ::measure_trampoline, this);
hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&FXOS8700CQ::mag_measure_trampoline, this);
_call_accel_interval - FXOS8701C_TIMER_REDUCTION,
(hrt_callout)&FXOS8701CQ::measure_trampoline, this);
hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&FXOS8701CQ::mag_measure_trampoline, this);
}
void
FXOS8700CQ::stop()
FXOS8701CQ::stop()
{
hrt_cancel(&_accel_call);
hrt_cancel(&_mag_call);
@@ -1306,25 +1306,25 @@ FXOS8700CQ::stop()
}
void
FXOS8700CQ::measure_trampoline(void *arg)
FXOS8701CQ::measure_trampoline(void *arg)
{
FXOS8700CQ *dev = (FXOS8700CQ *)arg;
FXOS8701CQ *dev = (FXOS8701CQ *)arg;
/* make another measurement */
dev->measure();
}
void
FXOS8700CQ::mag_measure_trampoline(void *arg)
FXOS8701CQ::mag_measure_trampoline(void *arg)
{
FXOS8700CQ *dev = (FXOS8700CQ *)arg;
FXOS8701CQ *dev = (FXOS8701CQ *)arg;
/* make another measurement */
dev->mag_measure();
}
void
FXOS8700CQ::check_registers(void)
FXOS8701CQ::check_registers(void)
{
uint8_t v;
@@ -1351,11 +1351,11 @@ FXOS8700CQ::check_registers(void)
_register_wait = 20;
}
_checked_next = (_checked_next + 1) % FXOS8700C_NUM_CHECKED_REGISTERS;
_checked_next = (_checked_next + 1) % FXOS8701C_NUM_CHECKED_REGISTERS;
}
void
FXOS8700CQ::measure()
FXOS8701CQ::measure()
{
/* status register and data as read back from the device */
@@ -1389,8 +1389,8 @@ FXOS8700CQ::measure()
/* fetch data from the sensor */
memset(&raw_accel_mag_report, 0, sizeof(raw_accel_mag_report));
raw_accel_mag_report.cmd[0] = DIR_READ(FXOS8700CQ_DR_STATUS);
raw_accel_mag_report.cmd[1] = ADDR_7(FXOS8700CQ_DR_STATUS);
raw_accel_mag_report.cmd[0] = DIR_READ(FXOS8701CQ_DR_STATUS);
raw_accel_mag_report.cmd[1] = ADDR_7(FXOS8701CQ_DR_STATUS);
transfer((uint8_t *)&raw_accel_mag_report, (uint8_t *)&raw_accel_mag_report, sizeof(raw_accel_mag_report));
if (!(raw_accel_mag_report.status & DR_STATUS_ZYXDR)) {
@@ -1424,9 +1424,9 @@ FXOS8700CQ::measure()
* one device to the next
*/
write_checked_reg(FXOS8700CQ_M_CTRL_REG1, M_CTRL_REG1_HMS_A | M_CTRL_REG1_OS(7));
_last_temperature = (read_reg(FXOS8700CQ_TEMP)) * 0.96f;
write_checked_reg(FXOS8700CQ_M_CTRL_REG1, M_CTRL_REG1_HMS_AM | M_CTRL_REG1_OS(7));
write_checked_reg(FXOS8701CQ_M_CTRL_REG1, M_CTRL_REG1_HMS_A | M_CTRL_REG1_OS(7));
_last_temperature = (read_reg(FXOS8701CQ_TEMP)) * 0.96f;
write_checked_reg(FXOS8701CQ_M_CTRL_REG1, M_CTRL_REG1_HMS_AM | M_CTRL_REG1_OS(7));
accel_report.temperature = _last_temperature;
@@ -1526,7 +1526,7 @@ FXOS8700CQ::measure()
}
void
FXOS8700CQ::mag_measure()
FXOS8701CQ::mag_measure()
{
/* status register and data as read back from the device */
@@ -1591,7 +1591,7 @@ FXOS8700CQ::mag_measure()
}
void
FXOS8700CQ::print_info()
FXOS8701CQ::print_info()
{
printf("accel reads: %u\n", _accel_read);
printf("mag reads: %u\n", _mag_read);
@@ -1604,7 +1604,7 @@ FXOS8700CQ::print_info()
_mag_reports->print_info("mag reports");
::printf("checked_next: %u\n", _checked_next);
for (uint8_t i = 0; i < FXOS8700C_NUM_CHECKED_REGISTERS; i++) {
for (uint8_t i = 0; i < FXOS8701C_NUM_CHECKED_REGISTERS; i++) {
uint8_t v = read_reg(_checked_registers[i]);
if (v != _checked_values[i]) {
@@ -1619,23 +1619,23 @@ FXOS8700CQ::print_info()
}
void
FXOS8700CQ::print_registers()
FXOS8701CQ::print_registers()
{
const struct {
uint8_t reg;
const char *name;
} regmap[] = {
DEF_REG(FXOS8700CQ_DR_STATUS),
DEF_REG(FXOS8700CQ_OUT_X_MSB),
DEF_REG(FXOS8700CQ_XYZ_DATA_CFG),
DEF_REG(FXOS8700CQ_WHOAMI),
DEF_REG(FXOS8700CQ_CTRL_REG1),
DEF_REG(FXOS8700CQ_CTRL_REG2),
DEF_REG(FXOS8700CQ_M_DR_STATUS),
DEF_REG(FXOS8700CQ_M_OUT_X_MSB),
DEF_REG(FXOS8700CQ_M_CTRL_REG1),
DEF_REG(FXOS8700CQ_M_CTRL_REG2),
DEF_REG(FXOS8700CQ_M_CTRL_REG3),
DEF_REG(FXOS8701CQ_DR_STATUS),
DEF_REG(FXOS8701CQ_OUT_X_MSB),
DEF_REG(FXOS8701CQ_XYZ_DATA_CFG),
DEF_REG(FXOS8701CQ_WHOAMI),
DEF_REG(FXOS8701CQ_CTRL_REG1),
DEF_REG(FXOS8701CQ_CTRL_REG2),
DEF_REG(FXOS8701CQ_M_DR_STATUS),
DEF_REG(FXOS8701CQ_M_OUT_X_MSB),
DEF_REG(FXOS8701CQ_M_CTRL_REG1),
DEF_REG(FXOS8701CQ_M_CTRL_REG2),
DEF_REG(FXOS8701CQ_M_CTRL_REG3),
};
for (uint8_t i = 0; i < sizeof(regmap) / sizeof(regmap[0]); i++) {
@@ -1644,14 +1644,14 @@ FXOS8700CQ::print_registers()
}
void
FXOS8700CQ::test_error()
FXOS8701CQ::test_error()
{
// trigger an error
write_reg(FXOS8700CQ_CTRL_REG1, 0);
write_reg(FXOS8701CQ_CTRL_REG1, 0);
}
FXOS8700CQ_mag::FXOS8700CQ_mag(FXOS8700CQ *parent) :
CDev("FXOS8700C_mag", FXOS8700C_DEVICE_PATH_MAG),
FXOS8701CQ_mag::FXOS8701CQ_mag(FXOS8701CQ *parent) :
CDev("FXOS8701C_mag", FXOS8701C_DEVICE_PATH_MAG),
_parent(parent),
_mag_topic(nullptr),
_mag_orb_class_instance(-1),
@@ -1659,7 +1659,7 @@ FXOS8700CQ_mag::FXOS8700CQ_mag(FXOS8700CQ *parent) :
{
}
FXOS8700CQ_mag::~FXOS8700CQ_mag()
FXOS8701CQ_mag::~FXOS8701CQ_mag()
{
if (_mag_class_instance != -1) {
unregister_class_devname(MAG_BASE_DEVICE_PATH, _mag_class_instance);
@@ -1667,7 +1667,7 @@ FXOS8700CQ_mag::~FXOS8700CQ_mag()
}
int
FXOS8700CQ_mag::init()
FXOS8701CQ_mag::init()
{
int ret;
@@ -1681,19 +1681,19 @@ FXOS8700CQ_mag::init()
}
void
FXOS8700CQ_mag::parent_poll_notify()
FXOS8701CQ_mag::parent_poll_notify()
{
poll_notify(POLLIN);
}
ssize_t
FXOS8700CQ_mag::read(struct file *filp, char *buffer, size_t buflen)
FXOS8701CQ_mag::read(struct file *filp, char *buffer, size_t buflen)
{
return _parent->mag_read(filp, buffer, buflen);
}
int
FXOS8700CQ_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
FXOS8701CQ_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case DEVIOCGDEVICEID:
@@ -1706,13 +1706,13 @@ FXOS8700CQ_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
}
void
FXOS8700CQ_mag::measure()
FXOS8701CQ_mag::measure()
{
_parent->mag_measure();
}
void
FXOS8700CQ_mag::measure_trampoline(void *arg)
FXOS8701CQ_mag::measure_trampoline(void *arg)
{
_parent->mag_measure_trampoline(arg);
}
@@ -1720,10 +1720,10 @@ FXOS8700CQ_mag::measure_trampoline(void *arg)
/**
* Local functions in support of the shell command.
*/
namespace fxos8700cq
namespace fxos8701cq
{
FXOS8700CQ *g_dev;
FXOS8701CQ *g_dev;
void start(bool external_bus, enum Rotation rotation, unsigned range);
void test();
@@ -1752,18 +1752,18 @@ start(bool external_bus, enum Rotation rotation, unsigned range)
/* create the driver */
if (external_bus) {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_ACCEL_MAG)
g_dev = new FXOS8700CQ(PX4_SPI_BUS_EXT, FXOS8700C_DEVICE_PATH_ACCEL, PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
g_dev = new FXOS8701CQ(PX4_SPI_BUS_EXT, FXOS8701C_DEVICE_PATH_ACCEL, PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
#else
PX4_ERR("External SPI not available");
exit(0);
#endif
} else {
g_dev = new FXOS8700CQ(PX4_SPI_BUS_SENSORS, FXOS8700C_DEVICE_PATH_ACCEL, PX4_SPIDEV_ACCEL_MAG, rotation);
g_dev = new FXOS8701CQ(PX4_SPI_BUS_SENSORS, FXOS8701C_DEVICE_PATH_ACCEL, PX4_SPIDEV_ACCEL_MAG, rotation);
}
if (g_dev == nullptr) {
PX4_ERR("failed instantiating FXOS8700C obj");
PX4_ERR("failed instantiating FXOS8701C obj");
goto fail;
}
@@ -1772,7 +1772,7 @@ start(bool external_bus, enum Rotation rotation, unsigned range)
}
/* set the poll rate to default, starts automatic data collection */
fd = open(FXOS8700C_DEVICE_PATH_ACCEL, O_RDONLY);
fd = open(FXOS8701C_DEVICE_PATH_ACCEL, O_RDONLY);
if (fd < 0) {
goto fail;
@@ -1786,7 +1786,7 @@ start(bool external_bus, enum Rotation rotation, unsigned range)
goto fail;
}
fd_mag = open(FXOS8700C_DEVICE_PATH_MAG, O_RDONLY);
fd_mag = open(FXOS8701C_DEVICE_PATH_MAG, O_RDONLY);
/* don't fail if open cannot be opened */
if (0 <= fd_mag) {
@@ -1827,10 +1827,10 @@ test()
/* get the driver */
fd_accel = open(FXOS8700C_DEVICE_PATH_ACCEL, O_RDONLY);
fd_accel = open(FXOS8701C_DEVICE_PATH_ACCEL, O_RDONLY);
if (fd_accel < 0) {
PX4_ERR("%s open failed", FXOS8700C_DEVICE_PATH_ACCEL);
PX4_ERR("%s open failed", FXOS8701C_DEVICE_PATH_ACCEL);
goto exit_none;
}
@@ -1860,10 +1860,10 @@ test()
}
/* get the driver */
fd_mag = open(FXOS8700C_DEVICE_PATH_MAG, O_RDONLY);
fd_mag = open(FXOS8701C_DEVICE_PATH_MAG, O_RDONLY);
if (fd_mag < 0) {
PX4_ERR("%s open failed", FXOS8700C_DEVICE_PATH_MAG);
PX4_ERR("%s open failed", FXOS8701C_DEVICE_PATH_MAG);
goto exit_with_accel;
}
@@ -1922,7 +1922,7 @@ exit_none:
void
reset()
{
int fd = open(FXOS8700C_DEVICE_PATH_ACCEL, O_RDONLY);
int fd = open(FXOS8701C_DEVICE_PATH_ACCEL, O_RDONLY);
int rv = 1;
if (fd < 0) {
@@ -1942,7 +1942,7 @@ reset()
close(fd);
fd = open(FXOS8700C_DEVICE_PATH_MAG, O_RDONLY);
fd = open(FXOS8701C_DEVICE_PATH_MAG, O_RDONLY);
if (fd < 0) {
PX4_ERR("mag could not be opened, external mag might be used");
@@ -2025,7 +2025,7 @@ usage()
} // namespace
int
fxos8700cq_main(int argc, char *argv[])
fxos8701cq_main(int argc, char *argv[])
{
bool external_bus = false;
int ch;
@@ -2050,7 +2050,7 @@ fxos8700cq_main(int argc, char *argv[])
break;
default:
fxos8700cq::usage();
fxos8701cq::usage();
exit(0);
}
}
@@ -2062,42 +2062,42 @@ fxos8700cq_main(int argc, char *argv[])
*/
if (!strcmp(verb, "start")) {
fxos8700cq::start(external_bus, rotation, accel_range);
fxos8701cq::start(external_bus, rotation, accel_range);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test")) {
fxos8700cq::test();
fxos8701cq::test();
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset")) {
fxos8700cq::reset();
fxos8701cq::reset();
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
fxos8700cq::info();
fxos8701cq::info();
}
/*
* dump device registers
*/
if (!strcmp(verb, "regdump")) {
fxos8700cq::regdump();
fxos8701cq::regdump();
}
/*
* trigger an error
*/
if (!strcmp(verb, "testerror")) {
fxos8700cq::test_error();
fxos8701cq::test_error();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'testerror' or 'regdump'");