aboutsummaryrefslogtreecommitdiff
path: root/src/drivers/hmc5883/hmc5883.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'src/drivers/hmc5883/hmc5883.cpp')
-rw-r--r--src/drivers/hmc5883/hmc5883.cpp253
1 files changed, 135 insertions, 118 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index d4dbf3778..fe70bd37f 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -34,7 +34,7 @@
/**
* @file hmc5883.cpp
*
- * Driver for the HMC5883 magnetometer connected via I2C.
+ * Driver for the HMC5883 / HMC5983 magnetometer connected via I2C or SPI.
*/
#include <nuttx/config.h>
@@ -74,11 +74,12 @@
#include <getopt.h>
#include <lib/conversion/rotation.h>
+#include "hmc5883.h"
+
/*
* HMC5883 internal constants and data structures.
*/
-#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883
#define HMC5883L_DEVICE_PATH_INT "/dev/hmc5883_int"
#define HMC5883L_DEVICE_PATH_EXT "/dev/hmc5883_ext"
@@ -95,9 +96,6 @@
#define ADDR_DATA_OUT_Y_MSB 0x07
#define ADDR_DATA_OUT_Y_LSB 0x08
#define ADDR_STATUS 0x09
-#define ADDR_ID_A 0x0a
-#define ADDR_ID_B 0x0b
-#define ADDR_ID_C 0x0c
/* modes not changeable outside of driver */
#define HMC5883L_MODE_NORMAL (0 << 0) /* default */
@@ -115,10 +113,11 @@
#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'
-
+enum HMC5883_BUS {
+ HMC5883_BUS_ALL,
+ HMC5883_BUS_INTERNAL,
+ HMC5883_BUS_EXTERNAL
+};
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@@ -130,10 +129,10 @@ static const int ERROR = -1;
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
-class HMC5883 : public device::I2C
+class HMC5883 : public device::CDev
{
public:
- HMC5883(int bus, const char *path, enum Rotation rotation);
+ HMC5883(device::Device *interface, const char *path, enum Rotation rotation);
virtual ~HMC5883();
virtual int init();
@@ -147,7 +146,7 @@ public:
void print_info();
protected:
- virtual int probe();
+ Device *_interface;
private:
work_s _work;
@@ -174,7 +173,6 @@ private:
bool _sensor_ok; /**< sensor was found and reports ok */
bool _calibrated; /**< the calibration is valid */
- int _bus; /**< the bus the device is connected to */
enum Rotation _rotation;
struct mag_report _last_report; /**< used for info() */
@@ -183,15 +181,6 @@ private:
uint8_t _conf_reg;
/**
- * Test whether the device supported by the driver is present at a
- * specific address.
- *
- * @param address The I2C bus address to probe.
- * @return True if the device is present.
- */
- int probe_address(uint8_t address);
-
- /**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
@@ -349,8 +338,9 @@ private:
extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
-HMC5883::HMC5883(int bus, const char *path, enum Rotation rotation) :
- I2C("HMC5883", path, bus, HMC5883L_ADDRESS, 400000),
+HMC5883::HMC5883(device::Device *interface, const char *path, enum Rotation rotation) :
+ CDev("HMC5883", path),
+ _interface(interface),
_work{},
_measure_ticks(0),
_reports(nullptr),
@@ -369,7 +359,6 @@ HMC5883::HMC5883(int bus, const char *path, enum Rotation rotation) :
_conf_errors(perf_alloc(PC_COUNT, "hmc5883_conf_errors")),
_sensor_ok(false),
_calibrated(false),
- _bus(bus),
_rotation(rotation),
_last_report{0},
_range_bits(0),
@@ -416,9 +405,11 @@ HMC5883::init()
{
int ret = ERROR;
- /* do I2C init (and probe) first */
- if (I2C::init() != OK)
+ ret = CDev::init();
+ if (ret != OK) {
+ debug("CDev init failed");
goto out;
+ }
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(mag_report));
@@ -429,20 +420,7 @@ HMC5883::init()
reset();
_class_instance = register_class_devname(MAG_DEVICE_PATH);
-
- switch (_class_instance) {
- case CLASS_DEVICE_PRIMARY:
- _mag_orb_id = ORB_ID(sensor_mag0);
- break;
-
- case CLASS_DEVICE_SECONDARY:
- _mag_orb_id = ORB_ID(sensor_mag1);
- break;
-
- case CLASS_DEVICE_TERTIARY:
- _mag_orb_id = ORB_ID(sensor_mag2);
- break;
- }
+ _mag_orb_id = ORB_ID_TRIPLE(sensor_mag, _class_instance);
ret = OK;
/* sensor is ok, but not calibrated */
@@ -559,30 +537,6 @@ void HMC5883::check_conf(void)
}
}
-int
-HMC5883::probe()
-{
- uint8_t data[3] = {0, 0, 0};
-
- _retries = 10;
-
- if (read_reg(ADDR_ID_A, data[0]) ||
- read_reg(ADDR_ID_B, data[1]) ||
- read_reg(ADDR_ID_C, data[2]))
- debug("read_reg fail");
-
- _retries = 2;
-
- if ((data[0] != ID_A_WHO_AM_I) ||
- (data[1] != ID_B_WHO_AM_I) ||
- (data[2] != ID_C_WHO_AM_I)) {
- debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]);
- return -EIO;
- }
-
- return OK;
-}
-
ssize_t
HMC5883::read(struct file *filp, char *buffer, size_t buflen)
{
@@ -643,6 +597,8 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
int
HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
{
+ unsigned dummy = arg;
+
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
@@ -768,14 +724,12 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
return check_calibration();
case MAGIOCGEXTERNAL:
- if (_bus == PX4_I2C_BUS_EXPANSION)
- return 1;
- else
- return 0;
+ debug("MAGIOCGEXTERNAL in main driver");
+ return _interface->ioctl(cmd, dummy);
default:
/* give it to the superclass */
- return I2C::ioctl(filp, cmd, arg);
+ return CDev::ioctl(filp, cmd, arg);
}
}
@@ -890,7 +844,6 @@ HMC5883::collect()
} report;
int ret;
- uint8_t cmd;
uint8_t check_counter;
perf_begin(_sample_perf);
@@ -908,8 +861,7 @@ HMC5883::collect()
*/
/* get measurements from the device */
- cmd = ADDR_DATA_OUT_X_MSB;
- ret = transfer(&cmd, 1, (uint8_t *)&hmc_report, sizeof(hmc_report));
+ ret = _interface->read(ADDR_DATA_OUT_X_MSB, (uint8_t *)&hmc_report, sizeof(hmc_report));
if (ret != OK) {
perf_count(_comms_errors);
@@ -946,14 +898,14 @@ HMC5883::collect()
/* scale values for output */
-#ifdef PX4_I2C_BUS_ONBOARD
- if (_bus == PX4_I2C_BUS_ONBOARD) {
+ // XXX revisit for SPI part, might require a bus type IOCTL
+ unsigned dummy;
+ if (!_interface->ioctl(MAGIOCGEXTERNAL, dummy)) {
// convert onboard so it matches offboard for the
// scaling below
report.y = -report.y;
report.x = -report.x;
}
-#endif
/* the standard external mag by 3DR has x pointing to the
* right, y pointing backwards, and z down, therefore switch x
@@ -1291,15 +1243,17 @@ int HMC5883::set_excitement(unsigned enable)
int
HMC5883::write_reg(uint8_t reg, uint8_t val)
{
- uint8_t cmd[] = { reg, val };
-
- return transfer(&cmd[0], 2, nullptr, 0);
+ uint8_t buf = val;
+ return _interface->write(reg, &buf, 1);
}
int
HMC5883::read_reg(uint8_t reg, uint8_t &val)
{
- return transfer(&reg, 1, &val, 1);
+ uint8_t buf = val;
+ int ret = _interface->read(reg, &buf, 1);
+ val = buf;
+ return ret;
}
float
@@ -1351,6 +1305,7 @@ void test(int bus);
void reset(int bus);
int info(int bus);
int calibrate(int bus);
+const char* get_path(int bus);
void usage();
/**
@@ -1360,43 +1315,99 @@ void usage();
* is either successfully up and running or failed to start.
*/
void
-start(int bus, enum Rotation rotation)
+start(int external_bus, enum Rotation rotation)
{
int fd;
/* create the driver, attempt expansion bus first */
- if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
- if (g_dev_ext != nullptr)
- errx(0, "already started external");
- g_dev_ext = new HMC5883(PX4_I2C_BUS_EXPANSION, HMC5883L_DEVICE_PATH_EXT, rotation);
- if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
- delete g_dev_ext;
- g_dev_ext = nullptr;
+ if (g_dev_ext != nullptr) {
+ warnx("already started external");
+ } else if (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_EXTERNAL) {
+
+ device::Device *interface = nullptr;
+
+ /* create the driver, only attempt I2C for the external bus */
+ if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) {
+ interface = HMC5883_I2C_interface(PX4_I2C_BUS_EXPANSION);
+
+ if (interface->init() != OK) {
+ delete interface;
+ interface = nullptr;
+ warnx("no device on I2C bus #%u", PX4_I2C_BUS_EXPANSION);
+ }
+ }
+
+#ifdef PX4_I2C_BUS_ONBOARD
+ if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) {
+ interface = HMC5883_I2C_interface(PX4_I2C_BUS_ONBOARD);
+
+ if (interface->init() != OK) {
+ delete interface;
+ interface = nullptr;
+ warnx("no device on I2C bus #%u", PX4_I2C_BUS_ONBOARD);
+ }
+ }
+#endif
+
+ /* interface will be null if init failed */
+ if (interface != nullptr) {
+
+ g_dev_ext = new HMC5883(interface, HMC5883L_DEVICE_PATH_EXT, rotation);
+ if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
+ delete g_dev_ext;
+ g_dev_ext = nullptr;
+ }
+
}
}
-#ifdef PX4_I2C_BUS_ONBOARD
/* if this failed, attempt onboard sensor */
- if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) {
- if (g_dev_int != nullptr)
- errx(0, "already started internal");
- g_dev_int = new HMC5883(PX4_I2C_BUS_ONBOARD, HMC5883L_DEVICE_PATH_INT, rotation);
- if (g_dev_int != nullptr && OK != g_dev_int->init()) {
+ if (g_dev_int != nullptr) {
+ warnx("already started internal");
+ } else if (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_INTERNAL) {
- /* tear down the failing onboard instance */
- delete g_dev_int;
- g_dev_int = nullptr;
+ device::Device *interface = nullptr;
- if (bus == PX4_I2C_BUS_ONBOARD) {
- goto fail;
- }
+ /* create the driver, try SPI first, fall back to I2C if unsuccessful */
+#ifdef PX4_SPIDEV_HMC
+ if (HMC5883_SPI_interface != nullptr) {
+ interface = HMC5883_SPI_interface(PX4_SPI_BUS_SENSORS);
}
- if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) {
+#endif
+
+#ifdef PX4_I2C_BUS_ONBOARD
+ /* this device is already connected as external if present above */
+ if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) {
+ interface = HMC5883_I2C_interface(PX4_I2C_BUS_ONBOARD);
+ }
+#endif
+ if (interface == nullptr) {
+ warnx("no internal bus scanned");
goto fail;
}
+
+ if (interface->init() != OK) {
+ delete interface;
+ warnx("no device on internal bus");
+ } else {
+
+ g_dev_int = new HMC5883(interface, HMC5883L_DEVICE_PATH_INT, rotation);
+ if (g_dev_int != nullptr && OK != g_dev_int->init()) {
+
+ /* tear down the failing onboard instance */
+ delete g_dev_int;
+ g_dev_int = nullptr;
+
+ if (external_bus == HMC5883_BUS_INTERNAL) {
+ goto fail;
+ }
+ }
+ if (g_dev_int == nullptr && external_bus == HMC5883_BUS_INTERNAL) {
+ goto fail;
+ }
+ }
}
-#endif
if (g_dev_int == nullptr && g_dev_ext == nullptr)
goto fail;
@@ -1425,11 +1436,11 @@ start(int bus, enum Rotation rotation)
exit(0);
fail:
- if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) {
+ if (g_dev_int != nullptr && (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_INTERNAL)) {
delete g_dev_int;
g_dev_int = nullptr;
}
- if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) {
+ if (g_dev_ext != nullptr && (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_EXTERNAL)) {
delete g_dev_ext;
g_dev_ext = nullptr;
}
@@ -1448,7 +1459,7 @@ test(int bus)
struct mag_report report;
ssize_t sz;
int ret;
- const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT);
+ const char *path = get_path(bus);
int fd = open(path, O_RDONLY);
@@ -1549,7 +1560,7 @@ test(int bus)
int calibrate(int bus)
{
int ret;
- const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT);
+ const char *path = get_path(bus);
int fd = open(path, O_RDONLY);
@@ -1576,7 +1587,7 @@ int calibrate(int bus)
void
reset(int bus)
{
- const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT);
+ const char *path = get_path(bus);
int fd = open(path, O_RDONLY);
@@ -1600,12 +1611,12 @@ info(int bus)
{
int ret = 1;
- HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
+ HMC5883 *g_dev = (bus == HMC5883_BUS_INTERNAL ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
warnx("not running on bus %d", bus);
} else {
- warnx("running on bus: %d (%s)\n", bus, ((PX4_I2C_BUS_ONBOARD) ? "onboard" : "offboard"));
+ warnx("running on bus: %d (%s)\n", bus, ((HMC5883_BUS_INTERNAL) ? "onboard" : "offboard"));
g_dev->print_info();
ret = 0;
@@ -1614,6 +1625,12 @@ info(int bus)
return ret;
}
+const char*
+get_path(int bus)
+{
+ return ((bus == HMC5883_BUS_INTERNAL) ? HMC5883L_DEVICE_PATH_INT : HMC5883L_DEVICE_PATH_EXT);
+}
+
void
usage()
{
@@ -1622,7 +1639,7 @@ usage()
warnx(" -R rotation");
warnx(" -C calibrate on start");
warnx(" -X only external bus");
-#ifdef PX4_I2C_BUS_ONBOARD
+#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
warnx(" -I only internal bus");
#endif
}
@@ -1633,7 +1650,7 @@ int
hmc5883_main(int argc, char *argv[])
{
int ch;
- int bus = -1;
+ int bus = HMC5883_BUS_ALL;
enum Rotation rotation = ROTATION_NONE;
bool calibrate = false;
@@ -1642,13 +1659,13 @@ hmc5883_main(int argc, char *argv[])
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
-#ifdef PX4_I2C_BUS_ONBOARD
+#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
case 'I':
- bus = PX4_I2C_BUS_ONBOARD;
+ bus = HMC5883_BUS_INTERNAL;
break;
#endif
case 'X':
- bus = PX4_I2C_BUS_EXPANSION;
+ bus = HMC5883_BUS_EXTERNAL;
break;
case 'C':
calibrate = true;
@@ -1692,13 +1709,13 @@ hmc5883_main(int argc, char *argv[])
* Print driver information.
*/
if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
- if (bus == -1) {
+ if (bus == HMC5883_BUS_ALL) {
int ret = 0;
- if (hmc5883::info(PX4_I2C_BUS_ONBOARD)) {
+ if (hmc5883::info(HMC5883_BUS_INTERNAL)) {
ret = 1;
}
- if (hmc5883::info(PX4_I2C_BUS_EXPANSION)) {
+ if (hmc5883::info(HMC5883_BUS_EXTERNAL)) {
ret = 1;
}
exit(ret);
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-05 10:31:33 +0000