linguini1 opened a new pull request, #15703: URL: https://github.com/apache/nuttx/pull/15703
## Summary This PR introduces a driver for the LIS2MDL magnetometer by ST Microelectronics. It is capable of being driven in interrupt mode, or use a kernel thread to poll the sensor in applications without an interrupt pin. The following features are supported: - Calibration - Interval selection - Activation/deactivation - Interrupt or polling driven - Setting of calibration values (hard iron offsets) - Getting sensor information - Custom commands for entering low-power mode/rebooting ## Impact This will add another UORB capable driver to NuttX, which allows more users to put it in their applications. Its interface being interrupt-driven or polled also gives flexibility to more applications. This magnetometer is being used on both my flight computer and InSpace's flight computer for rocketry applications. We hope adding a UORB driver for it will help other enthusiasts! ## Testing Documentation was tested by building the docs locally and verifying that they render properly in the browser. All hardware testing was performed on my RP2040-based flight computer. Verification of magnetometer data was done by using the ``uorb_listener`` application and viewing the displayed readings in NSH. I moved a small magnet around the magnetometer during this time and was able to see the values change in accordance with the positive/negative directions of each of the X, Y, Z axes. ```console nsh> uorb_listener Mointor objects num:1 object_name:sensor_mag, object_instance:0 sensor_mag(now:59820000):timestamp:59820000,x:-54.599998,y:22.200001,z:-201.150009,temperature:23.578125,status:0 sensor_mag(now:59930000):timestamp:59930000,x:-24.000000,y:-5.100000,z:-233.999985,temperature:24.375000,status:0 sensor_mag(now:60040000):timestamp:60040000,x:-22.949999,y:-4.800000,z:-234.599991,temperature:24.402344,status:0 sensor_mag(now:60150000):timestamp:60150000,x:-24.000000,y:-4.500000,z:-233.250000,temperature:24.375000,status:0 sensor_mag(now:60260000):timestamp:60260000,x:-24.000000,y:-5.550000,z:-234.599991,temperature:24.375000,status:0 ``` I also tried selecting different measurement rates with ``uorb_listener`` to verify that data was properly output faster/slower depending on the rate, and that the data was not static but being read as fast as the ODR was set to. I tried registering the device driver in interrupt-driven mode without `CONFIG_SCHED_HPWORK` enabled, and verified that the driver registration function returned `ENOSYS` and logged an error. ```console nsh> dmesg nx_start: Entry nx_start_application: Starting init thread lis2mdl_register: LIS2MDL driver needs `CONFIG_SCHED_HPWORK` in order to be interrupt driven. Couldn't register LIS2MDL 0x1E: -38 uart_registeconsole uart_register: Registering /dev/ttyACM0 nx_start: CPU0: Beginning Idle Loop ``` I also tried register the device driver in kernel thread polling mode without `CONFIG_SCHED_HPWORK` enabled and verified that it did work as expected: ```console nsh> dmesg nx_start: Entry nx_start_application: Starting init thread nxtask_activate: lis2mdl_thread pid=2,TCB=0x20005978 lis2mdl_register: Registered driver with kernel polling thread. lis2mdl_register: Registered LIS2MDL driver. uart_register: Registering /dev/console uart_register: Registering /dev/ttyACM0 nx_start: CPU0: Beginning Idle Loop ``` -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: commits-unsubscr...@nuttx.apache.org For queries about this service, please contact Infrastructure at: us...@infra.apache.org
