drivers/magnetometer/qmc5883l: clarify set/clear bits and add overflow perf count

src/drivers/magnetometer/qmc5883l/QMC5883L.cpp

@@ -52,6 +52,7 @@ QMC5883L::~QMC5883L()
 	perf_free(_reset_perf);
 	perf_free(_bad_register_perf);
 	perf_free(_bad_transfer_perf);
+	perf_free(_overflow_perf);
 }
 
 int QMC5883L::init()
@@ -81,6 +82,7 @@ void QMC5883L::print_status()
 	perf_print_counter(_reset_perf);
 	perf_print_counter(_bad_register_perf);
 	perf_print_counter(_bad_transfer_perf);
+	perf_print_counter(_overflow_perf);
 }
 
 int QMC5883L::probe()
@@ -137,8 +139,8 @@ void QMC5883L::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -180,32 +182,35 @@ void QMC5883L::RunImpl()
 			uint8_t cmd = static_cast<uint8_t>(Register::X_LSB);
 
 			if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
-				// process data if successful transfer, no overflow
-				if ((buffer.STATUS & STATUS_BIT::OVL) == 0) {
-					int16_t x = combine(buffer.X_MSB, buffer.X_LSB);
-					int16_t y = combine(buffer.Y_MSB, buffer.Y_LSB);
-					int16_t z = combine(buffer.Z_MSB, buffer.Z_LSB);
 
-					if (x != _prev_data[0] || y != _prev_data[1] || z != _prev_data[2]) {
-						_prev_data[0] = x;
-						_prev_data[1] = y;
-						_prev_data[2] = z;
+				const int16_t x = combine(buffer.X_MSB, buffer.X_LSB);
+				const int16_t y = combine(buffer.Y_MSB, buffer.Y_LSB);
+				const int16_t z = combine(buffer.Z_MSB, buffer.Z_LSB);
 
-						// Sensor orientation
-						//  Forward X := +X
-						//  Right   Y := -Y
-						//  Down    Z := -Z
-						y = (y == INT16_MIN) ? INT16_MAX : -y; // -y
-						z = (z == INT16_MIN) ? INT16_MAX : -z; // -z
+				const bool data_ready = (buffer.STATUS & STATUS_BIT::DRDY);
+				const bool overflow = (buffer.STATUS & STATUS_BIT::OVL);
 
-						_px4_mag.update(now, x, y, z);
+				const bool data_changed = ((x != _prev_data[0] || y != _prev_data[1] || z != _prev_data[2]));
+				_prev_data[0] = x;
+				_prev_data[1] = y;
+				_prev_data[2] = z;
 
-						success = true;
+				// publish data if successful transfer of new data, no overflow
+				if (data_ready && !overflow && data_changed) {
+					// Sensor orientation
+					//  Forward X := +X
+					//  Right   Y := -Y
+					//  Down    Z := -Z
+					_px4_mag.update(now, x, math::negate(y), math::negate(z));
 
-						if (_failure_count > 0) {
-							_failure_count--;
-						}
+					success = true;
+
+					if (_failure_count > 0) {
+						_failure_count--;
 					}
+
+				} else if (overflow) {
+					perf_count(_overflow_perf);
 				}
 
 			} else {

src/drivers/magnetometer/qmc5883l/QMC5883L.hpp

@@ -88,6 +88,7 @@ private:
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
+	perf_counter_t _overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": data overflow")};
 
 	hrt_abstime _reset_timestamp{0};
 	hrt_abstime _last_config_check_timestamp{0};
@@ -106,7 +107,7 @@ private:
 	static constexpr uint8_t size_register_cfg{3};
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register                   | Set bits, Clear bits
-		{ Register::CNTL1,            CNTL1_BIT::ODR_50HZ | CNTL1_BIT::Mode_Continuous, CNTL1_BIT::OSR_512 | CNTL1_BIT::RNG_2G},
+		{ Register::CNTL1,            CNTL1_BIT::ODR_50HZ_SET | CNTL1_BIT::Mode_Continuous_SET, CNTL1_BIT::OSR_512_CLEAR | CNTL1_BIT::RNG_2G_CLEAR | CNTL1_BIT::ODR_50HZ_CLEAR | CNTL1_BIT::Mode_Continuous_CLEAR},
 		{ Register::CNTL2,            CNTL2_BIT::ROL_PNT, CNTL2_BIT::SOFT_RST},
 		{ Register::SET_RESET_PERIOD, SET_RESET_PERIOD_BIT::FBR, 0 },
 	};

src/drivers/magnetometer/qmc5883l/QST_QMC5883L_registers.hpp

@@ -87,16 +87,18 @@ enum STATUS_BIT : uint8_t {
 // CNTL1
 enum CNTL1_BIT : uint8_t {
 	// OSR[7:6]
-	OSR_512         = Bit7 | Bit6, // 00
+	OSR_512_CLEAR         = Bit7 | Bit6, // 00: 512
 
 	// RNG[5:4]
-	RNG_2G          = Bit5 | Bit4, // 00
+	RNG_2G_CLEAR          = Bit5 | Bit4, // 00: 2G
 
 	// ODR[3:2]
-	ODR_50HZ        = Bit2,        // 01
+	ODR_50HZ_SET          = Bit2,        // 01: 50Hz
+	ODR_50HZ_CLEAR        = Bit3,
 
 	// MODE[1:0]
-	Mode_Continuous = Bit0,        // 01
+	Mode_Continuous_SET   = Bit0,        // 01: Continuous
+	Mode_Continuous_CLEAR = Bit1,
 };
 
 // CNTL2