ardupilot/libraries/AP_Compass/AP_Compass_AK09916.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_Math/AP_Math.h>
#include "AP_Compass.h"
#include "AP_Compass_Backend.h"
#ifndef HAL_COMPASS_AK09916_I2C_ADDR
# define HAL_COMPASS_AK09916_I2C_ADDR 0x0C
#endif
#ifndef HAL_COMPASS_ICM20948_I2C_ADDR
# define HAL_COMPASS_ICM20948_I2C_ADDR 0x69
#endif
#ifndef HAL_COMPASS_ICM20948_I2C_ADDR2
# define HAL_COMPASS_ICM20948_I2C_ADDR2 0x68
#endif
class AuxiliaryBus;
class AuxiliaryBusSlave;
class AP_InertialSensor;
class AP_AK09916_BusDriver;
class AP_Compass_AK09916 : public AP_Compass_Backend
{
public:
/* Probe for AK09916 standalone on I2C bus */
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation);
/* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
bool force_external,
enum Rotation rotation);
/* Probe for AK09916 on auxiliary bus of ICM20948, connected through SPI by default */
static AP_Compass_Backend *probe_ICM20948(uint8_t mpu9250_instance, enum Rotation rotation);
static AP_Compass_Backend *probe_ICM20948_SPI(uint8_t mpu9250_instance,
enum Rotation rotation);
/* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
static AP_Compass_Backend *probe_ICM20948_I2C(uint8_t mpu9250_instance,
enum Rotation rotation);
static constexpr const char *name = "AK09916";
virtual ~AP_Compass_AK09916();
void read() override;
private:
AP_Compass_AK09916(AP_AK09916_BusDriver *bus, bool force_external,
enum Rotation rotation);
bool init();
void _make_factory_sensitivity_adjustment(Vector3f &field) const;
void _make_adc_sensitivity_adjustment(Vector3f &field) const;
bool _reset();
bool _setup_mode();
bool _check_id();
bool _calibrate();
void _update();
AP_AK09916_BusDriver *_bus;
float _magnetometer_ASA[3] {0, 0, 0};
bool _force_external;
uint8_t _compass_instance;
bool _initialized;
enum Rotation _rotation;
enum AP_Compass_Backend::DevTypes _devtype;
};
class AP_AK09916_BusDriver
{
public:
virtual ~AP_AK09916_BusDriver() { }
virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) = 0;
virtual bool register_read(uint8_t reg, uint8_t *val) = 0;
virtual bool register_write(uint8_t reg, uint8_t val) = 0;
virtual AP_HAL::Semaphore *get_semaphore() = 0;
virtual bool configure() { return true; }
virtual bool start_measurements() { return true; }
virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;
// set device type within a device class
virtual void set_device_type(uint8_t devtype) = 0;
// return 24 bit bus identifier
virtual uint32_t get_bus_id(void) const = 0;
};
class AP_AK09916_BusDriver_HALDevice: public AP_AK09916_BusDriver
{
public:
AP_AK09916_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
virtual bool register_read(uint8_t reg, uint8_t *val) override;
virtual bool register_write(uint8_t reg, uint8_t val) override;
virtual AP_HAL::Semaphore *get_semaphore() override;
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
// set device type within a device class
void set_device_type(uint8_t devtype) override {
_dev->set_device_type(devtype);
}
// return 24 bit bus identifier
uint32_t get_bus_id(void) const override {
return _dev->get_bus_id();
}
private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};
class AP_AK09916_BusDriver_Auxiliary : public AP_AK09916_BusDriver
{
public:
AP_AK09916_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
uint8_t backend_instance, uint8_t addr);
~AP_AK09916_BusDriver_Auxiliary();
bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
bool register_read(uint8_t reg, uint8_t *val) override;
bool register_write(uint8_t reg, uint8_t val) override;
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
AP_HAL::Semaphore *get_semaphore() override;
bool configure() override;
bool start_measurements() override;
// set device type within a device class
void set_device_type(uint8_t devtype) override;
// return 24 bit bus identifier
uint32_t get_bus_id(void) const override;
private:
AuxiliaryBus *_bus;
AuxiliaryBusSlave *_slave;
bool _started;
};