TMAG5273 Class Reference

Implementation of TMAG5273 sensor driver. More...

#include <TMAG5273.hxx>

Inheritance diagram for TMAG5273:

Public Types
enum	I2CAddress : uint8_t { ADDR_A = 0x35 , ADDR_B = 0x22 , ADDR_C = 0x78 , ADDR_D = 0x44 }
	Supported I2C addresses. More...
enum class	DeviceID : uint8_t { UNKNOWN = 0x00 , MT_40_AND_80 = 0x01 , MT_133_AND_266 = 0x02 , ERROR = 0xFF }
	Device Identifier. More...
enum class	ChannelEnable : uint8_t {   ALL_OFF = 0x00 , X_ENABLE = 0x10 , Y_ENABLE = 0x20 , XY_ENABLE = 0x30 ,   Z_ENABLE = 0x40 , XZ_ENABLE = 0x50 , YZ_ENABLE = 0x60 , XYZ_ENABLE = 0x70 ,   XYX_ENABLE = 0x80 , YXY_ENABLE = 0x90 , YZY_ENABLE = 0xA0 , XZX_ENABLE = 0xB0 }
	Channels to enabled. More...
enum class	SleepTime : uint8_t {   SLEEP_1_MSEC = 0x00 , SLEEP_5_MSEC = 0x01 , SLEEP_10_MSEC = 0x02 , SLEEP_15_MSEC = 0x03 ,   SLEEP_20_MSEC = 0x04 , SLEEP_30_MSEC = 0x05 , SLEEP_50_MSEC = 0x06 , SLEEP_100_MSEC = 0x07 ,   SLEEP_500_MSEC = 0x08 , SLEEP_1000_MSEC = 0x09 , SLEEP_2000_MSEC = 0x0A , SLEEP_5000_MSEC = 0x0B ,   SLEEP_20000_MSEC = 0x0C }
	Sleep time between conversions when operating mode is wake-up and sleep. More...
enum class	DeviceStatus : uint8_t {   INT_N_PIN_RESET_LEVEL_MASK = 0x10 , OSC_ERROR_MASK = 0x08 , INT_N_PIN_ERROR_MASK = 0x04 , OTP_CRC_ERROR_MASK = 0x02 ,   VCC_UV_ERROR_MASK = 0x01 }
	Device status bit masks. More...
enum class	InterruptConfig : uint8_t {   CONVERSION_COMPLETE_ENABLE = 0x80 , THRESHOLD_ENABLE = 0x40 , STATE_MASK = 0x20 , MODE_NONE = (0 << 2) ,   MODE_INT_N = (1 << 2) , MODE_INT_N_EXCEPT_I2C_BUSY = (2 << 2) , MODE_SCL = (3 << 2) , MODE_SCL_EXCEPT_I2C_BUSY = (4 << 2) ,   MASK_INT_N_MASK = 0x01 }
	Interrupt configuration. More...
enum class	ConversionStatus : uint8_t {   SET_COUNT_MASK = 0xE0 , SET_COUNT_SHIFT = 5 , POR_MASK = 0x10 , DIAG_STATUS_MASK = 0x02 ,   RESULT_STATUS_MASK = 0x01 }
	conversion status. More...
enum class	ConversionAverage : uint8_t {   AVG_1 = (0 << 2) , AVG_2 = (1 << 2) , AVG_4 = (2 << 2) , AVG_8 = (3 << 2) ,   AVG_16 = (4 << 2) , AVG_32 = (5 << 2) }
	Conversion oversampling average configuration. More...
enum class	AngleEnable : uint8_t { OFF = (0 << 2) , XY_ENABLE = (1 << 2) , YZ_ENABLE = (2 << 2) , XZ_ENABLE = (3 << 2) }
	Angle calculation to enable. More...
enum class	OperatingMode : uint8_t { STANDBY = 0x00 , SLEEP = 0x01 , CONTINUOUS = 0x02 , WAKE_UP_AND_SLEEP = 0x03 }
	Operating modes of the device. More...

Public Member Functions
	TMAG5273 (uint8_t address=ADDR_A)
	Constructor.
	TMAG5273 (const char *i2c_path, uint8_t address=ADDR_A)
	Constructor.
	~TMAG5273 ()
	Destructor.
void	init (const char *i2c_path)
void	init (int i2c_fd)
	Initializes the device.
DeviceID	is_present ()
	Checks whether the magnetic sensor is present.
DeviceStatus	get_device_status ()
	Get the device status.
void	clr_device_status (DeviceStatus status)
	Get the device status.
void	enable_channels (ChannelEnable enable)
	Enable/disable channels.
void	set_sleep_time (SleepTime t)
	Set the sleep time between channels in wake and sleep mode.
void	set_interrupt_config (InterruptConfig config)
	Set the interrupt config.
void	set_operating_mode (OperatingMode mode)
	Set the operating mode.
uint8_t	get_conversion_status ()
	Get the conversion status.
void	clr_por_conversion_status ()
	Clear the power on reset bit of the conversion status.
void	set_oversampling (ConversionAverage avg)
	Sets the oversampling+averaging mode.
void	set_angle_en (AngleEnable angle)
	Sets whether angle measurement should be enabled.
void	set_angle_gain (uint8_t gain, bool second)
	Sets angle gain parameters.
void	set_offset_1 (int8_t offset)
	Sets offset correction for the first axis.
void	set_offset_2 (int8_t offset)
	Sets offset correction for the second axis.
DeviceID	get_device_id ()
void	read_conversion_results (int16_t xyz[3])
	Read the conversion results.
int16_t	read_angle_result ()
	Read the angle result.

Private Types
enum	BitMasks {   DCONF1_AVG_MASK = 0b11100 , DCONF2_OPERATING_MODE_MASK = 0b11 , SCONF1_MAG_CH_MASK = 0b11110000 , SCONF1_SLEEP_TIME_MASK = 0b00001111 ,   SCONF2_MAG_GAIN_CH_MASK = 1 << 4 , SCONF2_MAG_GAIN_CH_ADJ1 = 0 , SCONF2_MAG_GAIN_CH_ADJ2 = SCONF2_MAG_GAIN_CH_MASK , SCONF2_ANGLE_EN_MASK = 0b1100 ,   DEVICE_ID_RESERVED_MASK = 0b11111100 , DEVICE_ID_VERSION_MASK = 0b00000011 }
	Useful bit masks. More...
enum	Registers {   DEVICE_CONFIG_1 = 0x0 , DEVICE_CONFIG_2 = 0x1 , SENSOR_CONFIG_1 = 0x2 , SENSOR_CONFIG_2 = 0x3 ,   X_THR_CONFIG = 0x4 , Y_THR_CONFIG = 0x5 , Z_THR_CONFIG = 0x6 , T_CONFIG = 0x7 ,   INT_CONFIG_1 = 0x8 , MAG_GAIN_CONFIG = 0x9 , MAG_OFFSET_CONFIG_1 = 0xA , MAG_OFFSET_CONFIG_2 = 0xB ,   I2C_ADDRESS = 0xC , DEVICE_ID = 0xD , MANUFACTURER_ID_LSB = 0xE , MANUFACTURER_ID_MSB = 0xF ,   T_MSB_RESULT = 0x10 , T_LSB_RESULT = 0x11 , X_MSB_RESULT = 0x12 , X_LSB_RESULT = 0x13 ,   Y_MSB_RESULT = 0x14 , Y_LSB_RESULT = 0x15 , Z_MSB_RESULT = 0x16 , Z_LSB_RESULT = 0x17 ,   CONV_STATUS = 0x18 , ANGLE_RESULT_MSB = 0x19 , ANGLE_RESULT_LSB = 0x1A , MAGNITUDE_RESULT = 0x1B ,   DEVICE_STATUS = 0x1C }
	Device register address offsets. More...

Private Member Functions
int	register_read (uint8_t reg, uint8_t *data, uint16_t len)
	Reads one or more (sequential) registers.
void	register_write (uint8_t reg, const uint8_t *data, uint16_t len)
	Writes one or more (sequential) register.
void	register_write (uint8_t reg, uint8_t value)
	Writes one register.
uint8_t	register_read (uint8_t reg)
	Reads a single register.
void	register_modify (uint8_t reg, uint8_t mask, uint8_t value)
	Modifies a register value in place.
Private Member Functions inherited from Atomic
void	lock ()
void	unlock ()

Private Attributes
int	fd_ = -1
	I2C device.
const uint8_t	i2cAddress_
	7-bit address, right aligned.

Friends
class	MagSensorTest
class	Input

Detailed Description

Implementation of TMAG5273 sensor driver.

Definition at line 49 of file TMAG5273.hxx.

Member Enumeration Documentation

AngleEnable

enum class TMAG5273::AngleEnable : uint8_t

strong

Angle calculation to enable.

Enumerator
OFF	angle not enabled
XY_ENABLE	X + Y derived angle.
YZ_ENABLE	Y + Z derived angle.
XZ_ENABLE	X + Z derived angle.

Definition at line 170 of file TMAG5273.hxx.

BitMasks

enum TMAG5273::BitMasks

private

Useful bit masks.

Enumerator
DCONF1_AVG_MASK	Mask for averaging field in DEVICE_CONFIG_1 register.
DCONF2_OPERATING_MODE_MASK	Mask for the operating mode in DEVICE_CONFIG_2 register.
SCONF1_MAG_CH_MASK	Channel enable mask.
SCONF1_SLEEP_TIME_MASK	sleep time mask.
SCONF2_MAG_GAIN_CH_MASK	Mask for MAG_GAIN_CH bits in the SENSOR_CONFIG_2 register.
SCONF2_ANGLE_EN_MASK	Mask for ANGLE_EN bits in the SENSOR_CONFIG_2 register.
DEVICE_ID_RESERVED_MASK	reserved bits.
DEVICE_ID_VERSION_MASK	version bits.

Definition at line 398 of file TMAG5273.hxx.

ChannelEnable

enum class TMAG5273::ChannelEnable : uint8_t

strong

Channels to enabled.

Enumerator
ALL_OFF	all channels off, default
X_ENABLE	X channel enabled.
Y_ENABLE	Y channel enabled.
XY_ENABLE	X and Y channels enabled.
Z_ENABLE	Z channel enabled.
XZ_ENABLE	X and Z channels enabled.
YZ_ENABLE	Y and Z channels enabled.
XYZ_ENABLE	X, Y, and Z channels enabled.
XYX_ENABLE	pseudo-simultaneous X plus Y channels enabled
YXY_ENABLE	pseudo-simultaneous Y plus X channels enabled
YZY_ENABLE	pseudo-simultaneous Y plus Z channels enabled
XZX_ENABLE	pseudo-simultaneous X plus Z channels enabled

Definition at line 71 of file TMAG5273.hxx.

ConversionAverage

enum class TMAG5273::ConversionAverage : uint8_t

strong

Conversion oversampling average configuration.

Enumerator
AVG_1	average 1 saple
AVG_2	average 2 saples
AVG_4	average 4 saples
AVG_8	average 8 saples
AVG_16	average 16 saples
AVG_32	average 32 saples

Definition at line 159 of file TMAG5273.hxx.

ConversionStatus

enum class TMAG5273::ConversionStatus : uint8_t

strong

conversion status.

Enumerator
SET_COUNT_MASK	rolling count of conversion data sets mask
SET_COUNT_SHIFT	rolling count of conversion data sets shift
POR_MASK	Device powered up, 0 = no power on reset, 1 = power on reset.
DIAG_STATUS_MASK	Diagnositic status, 0 = no diag fail, 1 diag fail detected.
RESULT_STATUS_MASK	Conversion, 0 = conversion not complete, 1 = conversion complete.

Definition at line 144 of file TMAG5273.hxx.

DeviceID

enum class TMAG5273::DeviceID : uint8_t

strong

Device Identifier.

Enumerator
UNKNOWN	ID unknown or device not detected.
MT_40_AND_80	40-mT and 80-mT range supported
MT_133_AND_266	133-mT and 266-mT range supported
ERROR	some kind of error occured

Definition at line 62 of file TMAG5273.hxx.

DeviceStatus

enum class TMAG5273::DeviceStatus : uint8_t

strong

Device status bit masks.

Enumerator
INT_N_PIN_RESET_LEVEL_MASK	value of the INT_N pin read at reset, 0 = low, 1 = high
OSC_ERROR_MASK	Oscillator error, 0 = no error, 1 = error, write 1 to clear.
INT_N_PIN_ERROR_MASK	INT_N pin error, 0 = no error, 1 = error, write 1 to clear.
OTP_CRC_ERROR_MASK	OTP CRC error, 0 = no error, 1 = error, write 1 to clear.
VCC_UV_ERROR_MASK	VCC < 2.3V, 0 = no VCC UV, 1 = VCC UV, write 1 to clear.

Definition at line 106 of file TMAG5273.hxx.

I2CAddress

enum TMAG5273::I2CAddress : uint8_t

Supported I2C addresses.

Enumerator
ADDR_A	A1 and A2 device address.
ADDR_B	B1 and B2 device address.
ADDR_C	C1 and C2 device address.
ADDR_D	D1 and D2 device address.

Definition at line 53 of file TMAG5273.hxx.

InterruptConfig

enum class TMAG5273::InterruptConfig : uint8_t

strong

Interrupt configuration.

Enumerator
CONVERSION_COMPLETE_ENABLE	interrupt on conversion complete, 0 = disable, 1 = enable
THRESHOLD_ENABLE	interrupt on threshold, 0 = disabled, 1 = enabled
STATE_MASK	interrupt state, 0 = lached until clear, 1 = pulse for 10 usec
MODE_NONE	no interrupt
MODE_INT_N	interrupt mode through INT_N
MODE_INT_N_EXCEPT_I2C_BUSY	interrupt mode through INT_N, except when I2C is busy
MODE_SCL	interrupt mode through SCL
MODE_SCL_EXCEPT_I2C_BUSY	interrupt mode through SCL, except when I2C is busy
MASK_INT_N_MASK	mask interrupt pin when INT_N is connected to ground

Definition at line 121 of file TMAG5273.hxx.

OperatingMode

enum class TMAG5273::OperatingMode : uint8_t

strong

Operating modes of the device.

Enumerator
STANDBY	starts new conversion at trigger event
SLEEP	sleep
CONTINUOUS	continuous measurement mode
WAKE_UP_AND_SLEEP	wake-up and sleep mode

Definition at line 179 of file TMAG5273.hxx.

Registers

enum TMAG5273::Registers

private

Device register address offsets.

Definition at line 422 of file TMAG5273.hxx.

SleepTime

enum class TMAG5273::SleepTime : uint8_t

strong

Sleep time between conversions when operating mode is wake-up and sleep.

Enumerator
SLEEP_1_MSEC	1 millisecond, default
SLEEP_5_MSEC	5 milliseconds
SLEEP_10_MSEC	10 milliseconds
SLEEP_15_MSEC	15 milliseconds
SLEEP_20_MSEC	20 milliseconds
SLEEP_30_MSEC	30 milliseconds
SLEEP_50_MSEC	50 milliseconds
SLEEP_100_MSEC	100 milliseconds
SLEEP_500_MSEC	500 milliseconds
SLEEP_1000_MSEC	1000 milliseconds
SLEEP_2000_MSEC	2000 milliseconds
SLEEP_5000_MSEC	5000 milliseconds
SLEEP_20000_MSEC	20000 milliseconds

Definition at line 88 of file TMAG5273.hxx.

Constructor & Destructor Documentation

TMAG5273() [1/2]

TMAG5273::TMAG5273 ( uint8_t  address = ADDR_A )

inline

Constructor.

Parameters

address

is the 7-bit address (right aligned), typically 0x35, 0x22, 0x78 or 0x44. Default is the A1/A2 device.

Definition at line 190 of file TMAG5273.hxx.

TMAG5273() [2/2]

TMAG5273::TMAG5273 ( const char *  i2c_path, uint8_t  address = ADDR_A  )

inline

Constructor.

Can only be called from thread context.

Parameters

i2c_path	path to the i2c bus to use.
address	is the 7-bit address (right aligned), typically 0x35, 0x22, 0x78 or 0x44. Default is the A1/A2 device.

Definition at line 198 of file TMAG5273.hxx.

~TMAG5273()

TMAG5273::~TMAG5273 ( )

inline

Destructor.

Definition at line 205 of file TMAG5273.hxx.

Member Function Documentation

clr_device_status()

void TMAG5273::clr_device_status ( DeviceStatus  status )

inline

Get the device status.

Parameters

bit	mask of DeviceStatus bits to clear

Definition at line 267 of file TMAG5273.hxx.

clr_por_conversion_status()

void TMAG5273::clr_por_conversion_status ( )

inline

Clear the power on reset bit of the conversion status.

Definition at line 313 of file TMAG5273.hxx.

enable_channels()

void TMAG5273::enable_channels ( ChannelEnable  enable )

inline

Enable/disable channels.

Parameters

enable

The channel set to enable. Default is all channels off.

Definition at line 274 of file TMAG5273.hxx.

get_conversion_status()

uint8_t TMAG5273::get_conversion_status ( )

inline

Get the conversion status.

Returns

mask of ConversionStatus bits

Definition at line 305 of file TMAG5273.hxx.

get_device_id()

DeviceID TMAG5273::get_device_id ( )

inline

Returns

Device ID (die version / sensitivity range). Mask off the reserved bits of the Device ID register. Deprecated, recommend is_present() API instead.

Definition at line 371 of file TMAG5273.hxx.

get_device_status()

DeviceStatus TMAG5273::get_device_status ( )

inline

Get the device status.

Returns

bit mask of DeviceStatus

Definition at line 258 of file TMAG5273.hxx.

init() [1/2]

void TMAG5273::init ( const char *  i2c_path )

inline

Definition at line 213 of file TMAG5273.hxx.

init() [2/2]

void TMAG5273::init ( int  i2c_fd )

inline

Initializes the device.

Parameters

i2c_fd

is the file descriptor of the i2c port to use.

Definition at line 222 of file TMAG5273.hxx.

is_present()

DeviceID TMAG5273::is_present ( )

inline

Checks whether the magnetic sensor is present.

Returns

device identifier, else ID_UNKNOWN if not detected or unknown device

Definition at line 233 of file TMAG5273.hxx.

read_angle_result()

int16_t TMAG5273::read_angle_result ( )

inline

Read the angle result.

Returns

angle in degrees (0 - 360) * 16

Definition at line 389 of file TMAG5273.hxx.

read_conversion_results()

void TMAG5273::read_conversion_results ( int16_t  xyz[3] )

inline

Read the conversion results.

Parameters

xyz	results as a three item array in order of X, Y, and Z

Definition at line 379 of file TMAG5273.hxx.

register_modify()

void TMAG5273::register_modify ( uint8_t  reg, uint8_t  mask, uint8_t  value  )

inlineprivate

Modifies a register value in place.

Parameters

reg	register address to modify.
mask	bitmask of which bits to modify
value	new value of these bits (shifted to the right position). Any bits set outside the mask will be ignored.

Definition at line 528 of file TMAG5273.hxx.

register_read() [1/2]

uint8_t TMAG5273::register_read ( uint8_t  reg )

inlineprivate

Reads a single register.

Parameters

reg	register number.

Returns

the register's current value.

Definition at line 514 of file TMAG5273.hxx.

register_read() [2/2]

int TMAG5273::register_read ( uint8_t  reg, uint8_t *  data, uint16_t  len  )

inlineprivate

Reads one or more (sequential) registers.

Parameters

reg	starting register offset.
data	where to write payload
len	number of registers to read (1 byte each). Returns when the read is complete.

Returns

-1 on error (see errno), 0 on success

Definition at line 461 of file TMAG5273.hxx.

register_write() [1/2]

void TMAG5273::register_write ( uint8_t  reg, const uint8_t *  data, uint16_t  len  )

inlineprivate

Writes one or more (sequential) register.

Parameters

reg	starting register offset.
data	payload to write
len	number of bytes to write. Returns when the write is complete.

Definition at line 478 of file TMAG5273.hxx.

register_write() [2/2]

void TMAG5273::register_write ( uint8_t  reg, uint8_t  value  )

inlineprivate

Writes one register.

Parameters

reg	starting register offset.
value	payload to write Returns when the write is complete.

Definition at line 503 of file TMAG5273.hxx.

set_angle_en()

void TMAG5273::set_angle_en ( AngleEnable  angle )

inline

Sets whether angle measurement should be enabled.

Parameters

angle

angle measurement to enabld (or disable)

Definition at line 329 of file TMAG5273.hxx.

set_angle_gain()

void TMAG5273::set_angle_gain ( uint8_t  gain, bool  second  )

inline

Sets angle gain parameters.

Parameters

gain	8-bit gain value (interpreted as 0..1)
second	true if the second channel is larger than the first channel

Definition at line 340 of file TMAG5273.hxx.

set_interrupt_config()

void TMAG5273::set_interrupt_config ( InterruptConfig  config )

inline

Set the interrupt config.

Parameters

config

InterruptConfig options or'd together.

Definition at line 290 of file TMAG5273.hxx.

set_offset_1()

void TMAG5273::set_offset_1 ( int8_t  offset )

inline

Sets offset correction for the first axis.

The maximum correction is -2048 .. +2032.

Parameters

offset

8-bit signed value to write to offset correction. The counts offset are offset * 16.

Definition at line 353 of file TMAG5273.hxx.

set_offset_2()

void TMAG5273::set_offset_2 ( int8_t  offset )

inline

Sets offset correction for the second axis.

The maximum correction is -2048 .. +2032.

Parameters

offset

8-bit signed value to write to offset correction.

Definition at line 363 of file TMAG5273.hxx.

set_operating_mode()

void TMAG5273::set_operating_mode ( OperatingMode  mode )

inline

Set the operating mode.

Parameters

mode	operating mode to set

Definition at line 297 of file TMAG5273.hxx.

set_oversampling()

void TMAG5273::set_oversampling ( ConversionAverage  avg )

inline

Sets the oversampling+averaging mode.

Parameters

avg	average oversample setting

Definition at line 321 of file TMAG5273.hxx.

set_sleep_time()

void TMAG5273::set_sleep_time ( SleepTime  t )

inline

Set the sleep time between channels in wake and sleep mode.

Parameters

t	The sleep time between conversions.

Definition at line 282 of file TMAG5273.hxx.

Friends And Related Symbol Documentation

Input

friend class Input

friend

Definition at line 228 of file TMAG5273.hxx.

MagSensorTest

friend class MagSensorTest

friend

Definition at line 227 of file TMAG5273.hxx.

Member Data Documentation

fd_

int TMAG5273::fd_ = -1

private

I2C device.

Definition at line 537 of file TMAG5273.hxx.

i2cAddress_

const uint8_t TMAG5273::i2cAddress_

private

7-bit address, right aligned.

Definition at line 539 of file TMAG5273.hxx.

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The documentation for this class was generated from the following file:

• TMAG5273.hxx