1 files changed, 0 insertions, 386 deletions
diff --git a/nuttx/configs/px4fmu/src/drv_hmc5833l.c b/nuttx/configs/px4fmu/src/drv_hmc5833l.c
deleted file mode 100644
index d51d654f7..000000000
--- a/nuttx/configs/px4fmu/src/drv_hmc5833l.c
+++ /dev/null
@@ -1,386 +0,0 @@
-/*
- *   Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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 drv_hmc5883l.c
- * Driver for the Honeywell/ST HMC5883L MEMS magnetometer
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/i2c.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_hmc5883l.h>
-
-#define ADDR_CONF_A				0x00
-#define ADDR_CONF_B				0x01
-#define ADDR_MODE				0x02
-#define ADDR_DATA_OUT_X_MSB		0x03
-#define ADDR_DATA_OUT_X_LSB		0x04
-#define ADDR_DATA_OUT_Z_MSB		0x05
-#define ADDR_DATA_OUT_Z_LSB		0x06
-#define ADDR_DATA_OUT_Y_MSB		0x07
-#define ADDR_DATA_OUT_Y_LSB		0x08
-#define ADDR_STATUS				0x09
-#define ADDR_ID_A				0x10
-#define ADDR_ID_B				0x11
-#define ADDR_ID_C				0x12
-
-#define HMC5883L_ADDRESS		0x1E
-
-/* modes not changeable outside of driver */
-#define HMC5883L_MODE_NORMAL			(0 << 0)  /* default */
-#define HMC5883L_MODE_POSITIVE_BIAS		(1 << 0)  /* positive bias */
-#define HMC5883L_MODE_NEGATIVE_BIAS		(1 << 1)  /* negative bias */
-
-#define HMC5883L_AVERAGING_1		(0 << 5) /* conf a register */
-#define HMC5883L_AVERAGING_2		(1 << 5)
-#define HMC5883L_AVERAGING_4		(2 << 5)
-#define HMC5883L_AVERAGING_8		(3 << 5)
-
-#define MODE_REG_CONTINOUS_MODE		(0 << 0)
-#define MODE_REG_SINGLE_MODE		(1 << 0) /* default */
-
-#define STATUS_REG_DATA_OUT_LOCK	(1 << 1) /* page 16: set if data is only partially read, read device to reset */
-#define STATUS_REG_DATA_READY		(1 << 0) /* page 16: set if all axes have valid measurements */
-
-#define ID_A_WHO_AM_I			'H'
-#define ID_B_WHO_AM_I			'4'
-#define ID_C_WHO_AM_I			'3'
-
-static FAR struct hmc5883l_dev_s	hmc5883l_dev;
-
-static ssize_t hmc5883l_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations hmc5883l_fops = {
-	.open  = 0,
-	.close = 0,
-	.read  = hmc5883l_read,
-	.write = 0,
-	.seek  = 0,
-	.ioctl = hmc5883l_ioctl,
-#ifndef CONFIG_DISABLE_POLL
-	.poll  = 0
-#endif
-};
-
-struct hmc5883l_dev_s
-{
-	struct i2c_dev_s	*i2c;
-	uint8_t			rate;
-	struct hmc5883l_buffer	*buffer;
-};
-static bool hmc5883l_calibration_enabled = false;
-
-static int hmc5883l_write_reg(uint8_t address, uint8_t data);
-static int hmc5883l_read_reg(uint8_t address);
-static int hmc5883l_reset(void);
-
-static int
-hmc5883l_write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[] = {address, data};
-	return I2C_WRITE(hmc5883l_dev.i2c, cmd, 2);
-}
-
-static int
-hmc5883l_read_reg(uint8_t address)
-{
-	uint8_t cmd = address;
-	uint8_t data;
-
-	int ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, &data, 1);
-	/* return data on success, error code on failure */
-	if (ret == OK) {
-		ret = data;
-	}
-	return ret;
-}
-
-static int
-hmc5883l_set_range(uint8_t range)
-{
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-
-
-	/* mask out illegal bit positions */
-	uint8_t write_range = range; //& REG4_RANGE_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_range != range) return EINVAL;
-	/* set remaining bits to a sane value */
-//	write_range |= REG4_BDU;
-	/* write to device */
-	hmc5883l_write_reg(ADDR_CONF_B, write_range);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(hmc5883l_read_reg(ADDR_CONF_B) == write_range);
-}
-
-static int
-hmc5883l_set_rate(uint8_t rate)
-{
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-	/* mask out illegal bit positions */
-	uint8_t write_rate = rate;// & REG1_RATE_LP_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_rate != rate) return EINVAL;
-	/* set remaining bits to a sane value */
-//	write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
-	write_rate |= HMC5883L_AVERAGING_8;
-	/* write to device */
-	hmc5883l_write_reg(ADDR_CONF_A, write_rate);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(hmc5883l_read_reg(ADDR_CONF_A) == write_rate);
-}
-
-static int
-hmc5883l_set_mode(uint8_t mode)
-{
-	// I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-	// /* mask out illegal bit positions */
-	// uint8_t write_mode = mode & 0x03;
-	// /* immediately return if user supplied invalid value */
-	// if (write_mode != mode) return EINVAL;
-	// /* set mode */
-	// write_mode |= hmc5883l_read_reg(ADDR_CONF_A);
-	// /* set remaining bits to a sane value */
-	// write_mode |= HMC5883L_AVERAGING_8;
-	// /* write to device */
-	// hmc5883l_write_reg(ADDR_CONF_A, write_mode);
-	// /* return 0 if register value is now written value, 1 if unchanged */
-	// return !(hmc5883l_read_reg(ADDR_CONF_A) == write_mode);
-}
-
-static bool
-read_values(int16_t *data)
-{
-	struct { /* status register and data as read back from the device */
-		int16_t		x;
-		int16_t		z;
-		int16_t		y;
-		uint8_t		status;
-	} __attribute__((packed))	hmc_report;
-	hmc_report.status = 0;
-
-	static int read_err_count = 0;
-
-	/* exchange the report structure with the device */
-
-	uint8_t cmd = ADDR_DATA_OUT_X_MSB;
-
-	int ret = 0;
-
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-
-	/* set device into single mode, trigger next measurement */
-	ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
-
-	/* Only execute consecutive steps on success */
-	if (ret == OK)
-	  {
-		cmd = ADDR_DATA_OUT_X_MSB;
-		ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, (uint8_t*)&hmc_report, 6);
-		if (ret == OK)
-		  {
-			/* Six bytes to read, stop if timed out */
-			int hmc_status = hmc5883l_read_reg(ADDR_STATUS);
-			if (hmc_status < 0)
-			  {
-			  	//if (hmc_status == ETIMEDOUT)
-			  	hmc5883l_reset();
-			  	ret = hmc_status;
-			  }
-			else
-			  {
-			  	hmc_report.status = hmc_status;
-			  	ret = OK;
-			  }
-		  }
-		  else
-		  {
-		  	if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
-		  }
-	  }
-	  else
-	  {
-	  	if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
-	  }
-
-	if (ret != OK)
-	{
-		read_err_count++;
-		/* If the last reads failed as well, reset the bus and chip */
-		if (read_err_count > 3) hmc5883l_reset();
-
-		*get_errno_ptr() = -ret;
-	} else {
-		read_err_count = 0;
-		/* write values, and exchange the two 8bit blocks (big endian to little endian) */
-		data[0] = ((hmc_report.x & 0x00FF) << 8) | ((hmc_report.x & 0xFF00) >> 8);
-		data[1] = ((hmc_report.y & 0x00FF) << 8) | ((hmc_report.y & 0xFF00) >> 8);
-		data[2] = ((hmc_report.z & 0x00FF) << 8) | ((hmc_report.z & 0xFF00) >> 8);
-		// XXX TODO
-		// write mode, range and lp-frequency enum values into data[3]-[6]
-		if ((hmc_report.status & STATUS_REG_DATA_READY) > 0)
-		{
-			ret = 14;
-		} else {
-			ret = -EAGAIN;
-		}
-	}
-
-	/* return len if new data is available, error else. hmc_report.status is 0 on errors */
-	return ret;
-}
-
-static ssize_t
-hmc5883l_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 14) {
-		return read_values((int16_t *)buffer);
-	}
-
-	/* buffer too small */
-	*get_errno_ptr() = ENOSPC;
-	return -ERROR;
-}
-
-static int
-hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-
-	switch (cmd) {
-	case HMC5883L_SETRATE:
-        	result = hmc5883l_set_rate(arg);
-        	break;
-
-	case HMC5883L_SETRANGE:
-		result = hmc5883l_set_range(arg);
-		break;
-
-	case HMC5883L_CALIBRATION_ON:
-		hmc5883l_calibration_enabled = true;
-		result = OK;
-		break;
-
-	case HMC5883L_CALIBRATION_OFF:
-		hmc5883l_calibration_enabled = false;
-		result = OK;
-		break;
-//
-//    case HMC5883L_SETBUFFER:
-//        hmc5883l_dev.buffer = (struct hmc5883l_buffer *)arg;
-//        result = 0;
-//        break;
-
-	case HMC5883L_RESET:
-            result = hmc5883l_reset();
-            break;
-	}
-
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-extern int up_i2creset(FAR struct i2c_dev_s * dev);
-
-int hmc5883l_reset()
-{
-	int ret;
-#if 1
-	ret = up_i2creset(hmc5883l_dev.i2c);
-	printf("HMC5883: BUS RESET %s\n", ret ? "FAIL" : "OK");
-#else
-	printf("[hmc5883l drv] Resettet I2C2 BUS\n");
-	up_i2cuninitialize(hmc5883l_dev.i2c);
-	hmc5883l_dev.i2c = up_i2cinitialize(2);
-	I2C_SETFREQUENCY(hmc5883l_dev.i2c, 400000);
-#endif
-	return ret;
-}
-
-int
-hmc5883l_attach(struct i2c_dev_s *i2c)
-{
-	int	result = ERROR;
-
-	hmc5883l_dev.i2c = i2c;
-
-//	I2C_LOCK(hmc5883l_dev.i2c, true);
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-
-	uint8_t cmd = ADDR_STATUS;
-	uint8_t status_id[4] = {0, 0, 0, 0};
-
-
-	int ret = I2C_WRITEREAD(i2c, &cmd, 1, status_id, 4);
-
-	/* verify that the device is attached and functioning */
-	if ((ret >= 0) && (status_id[1] == ID_A_WHO_AM_I) && (status_id[2] == ID_B_WHO_AM_I) && (status_id[3] == ID_C_WHO_AM_I)) {
-
-		/* set update rate to 75 Hz */
-		/* set 0.88 Ga range */
-		if ((ret != 0) || (hmc5883l_set_range(HMC5883L_RANGE_0_88GA) != 0) ||
-				(hmc5883l_set_rate(HMC5883L_RATE_75HZ) != 0))
-		{
-			errno = EIO;
-		} else {
-
-			/* set device into single mode, start measurement */
-			ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
-
-			/* make ourselves available */
-			register_driver("/dev/hmc5883l", &hmc5883l_fops, 0666, NULL);
-
-			result = 0;
-		}
-
-	} else {
-		errno = EIO;
-	}
-
-
-
-	return result;
-}