drivers: add lis2mdl mag driver

boards/holybro/durandal-v1/stackcheck.cmake

@@ -38,7 +38,8 @@ px4_add_board(
 		#lights/blinkm
 		#lights/rgbled
 		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
+		#magnetometer # all available magnetometer drivers
+		magnetometer/ist8310
 		#mkblctrl
 		#optical_flow # all available optical flow drivers
 		#osd

boards/px4/fmu-v5/optimized.cmake

@@ -39,7 +39,8 @@ px4_add_board(
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		#lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
+		#magnetometer # all available magnetometer drivers
+		magnetometer/ist8310
 		optical_flow # all available optical flow drivers
 		#pwm_input
 		pwm_out_sim

src/drivers/drv_sensor.h

@@ -63,6 +63,7 @@
 #define DRV_MAG_DEVTYPE_AK09916  0x09
 #define DRV_IMU_DEVTYPE_ICM20948 0x0A
 #define DRV_MAG_DEVTYPE_IST8308  0x0B
+#define DRV_MAG_DEVTYPE_LIS2MDL  0x0C
 
 #define DRV_IMU_DEVTYPE_LSM303D  0x11
 #define DRV_ACC_DEVTYPE_BMA180   0x12
@@ -160,6 +161,7 @@
 #define DRV_MAG_DEVTYPE_UAVCAN	0x88
 #define DRV_DIST_DEVTYPE_UAVCAN	0x89
 
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/drivers/magnetometer/CMakeLists.txt

@@ -37,6 +37,7 @@ add_subdirectory(hmc5883)
 add_subdirectory(qmc5883)
 add_subdirectory(isentek)
 add_subdirectory(ist8310)
+add_subdirectory(lis2mdl)
 add_subdirectory(lis3mdl)
 add_subdirectory(lsm303agr)
 add_subdirectory(rm3100)

src/drivers/magnetometer/lis2mdl/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__lis2mdl
+	MAIN lis2mdl
+	SRCS
+		lis2mdl_i2c.cpp
+		lis2mdl_spi.cpp
+		lis2mdl_main.cpp
+		lis2mdl.cpp
+	)

src/drivers/magnetometer/lis2mdl/lis2mdl.cpp

@@ -0,0 +1,189 @@
+/****************************************************************************
+ *
+ *   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 lis2mdl.cpp
+ *
+ * Driver for the LIS2MDL magnetometer connected via I2C or SPI.
+ *
+ * Based on the LIS2MDL driver.
+ */
+
+#include <px4_platform_common/time.h>
+#include "lis2mdl.h"
+
+LIS2MDL::LIS2MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
+	_px4_mag(interface->get_device_id(), interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
+	_interface(interface),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
+	_conf_errors(perf_alloc(PC_COUNT, MODULE_NAME": conf_errors")),
+	_range_errors(perf_alloc(PC_COUNT, MODULE_NAME": range_errors")),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
+	_measure_interval(0)
+{
+	_px4_mag.set_external(_interface->external());
+	_px4_mag.set_scale(0.0015f); /* 49.152f / (2^15) */
+}
+
+LIS2MDL::~LIS2MDL()
+{
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_range_errors);
+	perf_free(_conf_errors);
+}
+
+int
+LIS2MDL::measure()
+{
+	struct {
+		uint8_t status;
+		uint8_t x[2];
+		uint8_t y[2];
+		uint8_t z[2];
+	}       lis_report;
+
+	struct {
+		int16_t x;
+		int16_t y;
+		int16_t z;
+		int16_t t;
+	} report;
+
+	uint8_t buf_rx[2] = {};
+
+	_px4_mag.set_error_count(perf_event_count(_comms_errors));
+
+	perf_begin(_sample_perf);
+
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+	int ret = _interface->read(ADDR_STATUS_REG, (uint8_t *)&lis_report, sizeof(lis_report));
+
+	/**
+	 * Silicon Bug: the X axis will be read instead of the temperature registers if you do a sequential read through XYZ.
+	 * The temperature registers must be addressed directly.
+	 */
+	ret = _interface->read(ADDR_OUT_T_L, (uint8_t *)&buf_rx, sizeof(buf_rx));
+
+	if (ret != OK) {
+		perf_end(_sample_perf);
+		perf_count(_comms_errors);
+		PX4_WARN("Register read error.");
+		return ret;
+	}
+
+	perf_end(_sample_perf);
+
+	if ((lis_report.status & (1 << 3)) == 0) { // check data ready
+		return 0;
+	}
+
+	report.x = (int16_t)((lis_report.x[1] << 8) | lis_report.x[0]);
+	report.y = (int16_t)((lis_report.y[1] << 8) | lis_report.y[0]);
+	report.z = (int16_t)((lis_report.z[1] << 8) | lis_report.z[0]);
+
+	report.t = (int16_t)((buf_rx[1] << 8) | buf_rx[0]);
+
+	float temperature = report.t;
+	_px4_mag.set_temperature(25.0f + (temperature / 8.0f));
+
+	/* swap x and y axis */
+	_px4_mag.update(timestamp_sample, report.y, report.x, report.z);
+
+	return PX4_OK;
+}
+
+void
+LIS2MDL::RunImpl()
+{
+	/* _measure_interval == 0  is used as _task_should_exit */
+	if (_measure_interval == 0) {
+		return;
+	}
+
+	if (measure() != OK) {
+		PX4_DEBUG("measure error");
+	}
+
+	/* schedule a fresh cycle call when the measurement is done */
+	ScheduleDelayed(LIS2MDL_CONVERSION_INTERVAL);
+}
+
+int
+LIS2MDL::init()
+{
+
+	int ret = write_reg(ADDR_CFG_REG_A, CFG_REG_A_ODR | CFG_REG_A_MD | CFG_REG_A_TEMP_COMP_EN);
+	ret = write_reg(ADDR_CFG_REG_B, 0);
+	ret = write_reg(ADDR_CFG_REG_C, CFG_REG_C_BDU);
+
+	_measure_interval = LIS2MDL_CONVERSION_INTERVAL;
+	start();
+
+	return ret;
+}
+
+void
+LIS2MDL::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	PX4_INFO("poll interval:  %u", _measure_interval);
+	_px4_mag.print_status();
+}
+
+void
+LIS2MDL::start()
+{
+	/* schedule a cycle to start things */
+	ScheduleNow();
+}
+
+int
+LIS2MDL::read_reg(uint8_t reg, uint8_t &val)
+{
+	uint8_t buf = val;
+	int ret = _interface->read(reg, &buf, 1);
+	val = buf;
+	return ret;
+}
+
+int
+LIS2MDL::write_reg(uint8_t reg, uint8_t val)
+{
+	uint8_t buf = val;
+	return _interface->write(reg, &buf, 1);
+}