text: /****************************************************************************
   *
   *   Copyright (c) 2018 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 <drivers/drv_hrt.h>
  #include <drivers/device/spi.h>
  #include <drivers/drv_mag.h>
  #include <lib/perf/perf_counter.h>
  #include <px4_platform_common/i2c_spi_buses.h>
  #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
  
  // Register mapping
  static constexpr uint8_t WHO_AM_I_M = 0x4F;
  
  static constexpr uint8_t CFG_REG_A_M = 0x60;
  
  struct CFG_REG_A_M_BITS {
  	uint8_t
  	: 1, // unused
  	: 1, // unused
  	SOFT_RST	: 1,
  	LP			: 1,
  	ODR1		: 1,
  	ODR0		: 1,
  	MD1			: 1,
  	MD0			: 1;
  };
  
  static constexpr uint8_t CFG_REG_A_M_SOFT_RST	= (1 << 5);
  static constexpr uint8_t CFG_REG_A_M_ODR1		= (1 << 3);
  static constexpr uint8_t CFG_REG_A_M_ODR0		= (1 << 2);
  static constexpr uint8_t CFG_REG_A_M_MD1		= (1 << 1);
  static constexpr uint8_t CFG_REG_A_M_MD0		= (1 << 0);
  
  static constexpr uint8_t CFG_REG_B_M = 0x61;
  static constexpr uint8_t CFG_REG_B_M_OFF_CANC	= (1 << 1);
  static constexpr uint8_t CFG_REG_B_M_OFF_LPF	= (1 << 0);
  
  static constexpr uint8_t CFG_REG_C_M = 0x62;
  static constexpr uint8_t CFG_REG_C_M_I2C_DIS	= (1 << 5);
  static constexpr uint8_t CFG_REG_C_M_BDU		= (1 << 4);
  static constexpr uint8_t CFG_REG_C_M_Self_test	= (1 << 1);
  
  static constexpr uint8_t STATUS_REG_M = 0x67;
  static constexpr uint8_t STATUS_REG_M_Zyxda		= (1 << 3);
  
  // Magnetometer output registers
  static constexpr uint8_t OUTX_L_REG_M = 0x68;
  static constexpr uint8_t OUTX_H_REG_M = 0x69;
  static constexpr uint8_t OUTY_L_REG_M = 0x6A;
  static constexpr uint8_t OUTY_H_REG_M = 0x6B;
  static constexpr uint8_t OUTZ_L_REG_M = 0x6C;
  static constexpr uint8_t OUTZ_H_REG_M = 0x6D;
  
  class LSM303AGR : public device::SPI, public I2CSPIDriver<LSM303AGR>
  {
  public:
  	LSM303AGR(I2CSPIBusOption bus_option, int bus, int device, enum Rotation rotation, int bus_frequency,
  		  spi_mode_e spi_mode);
  	virtual ~LSM303AGR();
  
  	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
  					     int runtime_instance);
  	static void print_usage();
  
  	int		init() override;
  
  	void			print_status() override;
  
  	void			RunImpl();
  
  private:
  	int		probe() override;
  
  	PX4Magnetometer		_px4_mag;
  
  	bool			_collect_phase{false};
  
  	unsigned		_measure_interval{0};
  
  	unsigned		_call_mag_interval{0};
  
  	static constexpr float	_mag_range_ga{49.152f};
  
  	unsigned		_mag_samplerate{100};
  
  	perf_counter_t		_mag_sample_perf;
  	perf_counter_t		_bad_registers;
  	perf_counter_t		_bad_values;
  
  	/**
  	 * Start automatic measurement.
  	 */
  	void			start();
  
  	/**
  	 * Reset chip.
  	 *
  	 * Resets the chip and measurements ranges, but not scale and offset.
  	 */
  	int			reset();
  
  
  	bool			self_test();
  
  	/**
  	 * Issue a measurement command.
  	 *
  	 * @return		OK if the measurement command was successful.
  	 */
  	void			measure();
  
  	/**
  	 * Collect the result of the most recent measurement.
  	 */
  	int			collect();
  
  	/**
  	 * Read a register from the LSM303AGR
  	 *
  	 * @param		The register to read.
  	 * @return		The value that was read.
  	 */
  	uint8_t			read_reg(unsigned reg);
  
  	/**
  	 * Write a register in the LSM303AGR
  	 *
  	 * @param reg		The register to write.
  	 * @param value		The new value to write.
  	 */
  	void			write_reg(unsigned reg, uint8_t value);
  };
  