ardupilot/libraries/AP_Compass/AP_Compass_Backend.h

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/*
This program 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 program 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/>.
*/
/*
Compass driver backend class. Each supported compass sensor type
needs to have an object derived from this class.
*/
#pragma once
#include "AP_Compass.h"
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#ifndef HAL_MSP_COMPASS_ENABLED
#define HAL_MSP_COMPASS_ENABLED HAL_MSP_SENSORS_ENABLED
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#endif
class Compass; // forward declaration
class AP_Compass_Backend
{
public:
AP_Compass_Backend();
// we declare a virtual destructor so that drivers can
// override with a custom destructor if need be.
virtual ~AP_Compass_Backend(void) {}
// read sensor data
virtual void read(void) = 0;
/*
device driver IDs. These are used to fill in the devtype field
of the device ID, which shows up as COMPASS*ID* parameters to
users. The values are chosen for compatibility with existing PX4
drivers.
If a change is made to a driver that would make existing
calibration values invalid then this number must be changed.
*/
enum DevTypes {
DEVTYPE_HMC5883_OLD = 0x01,
DEVTYPE_HMC5883 = 0x07,
DEVTYPE_LSM303D = 0x02,
DEVTYPE_AK8963 = 0x04,
DEVTYPE_BMM150 = 0x05,
DEVTYPE_LSM9DS1 = 0x06,
DEVTYPE_LIS3MDL = 0x08,
DEVTYPE_AK09916 = 0x09,
DEVTYPE_IST8310 = 0x0A,
DEVTYPE_ICM20948 = 0x0B,
DEVTYPE_MMC3416 = 0x0C,
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DEVTYPE_QMC5883L = 0x0D,
DEVTYPE_MAG3110 = 0x0E,
DEVTYPE_SITL = 0x0F,
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DEVTYPE_IST8308 = 0x10,
DEVTYPE_RM3100 = 0x11,
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DEVTYPE_RM3100_2 = 0x12, // unused, past mistake
DEVTYPE_MMC5983 = 0x13,
DEVTYPE_AK09918 = 0x14,
DEVTYPE_AK09915 = 0x15,
};
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#if HAL_MSP_COMPASS_ENABLED
virtual void handle_msp(const MSP::msp_compass_data_message_t &pkt) {}
#endif
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#if HAL_EXTERNAL_AHRS_ENABLED
virtual void handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt) {}
#endif
protected:
/*
* A compass measurement is expected to pass through the following functions:
* 1. rotate_field - this rotates the measurement in-place from sensor frame
* to body frame
* 2. publish_raw_field - this provides an uncorrected point-sample for
* calibration libraries
* 3. correct_field - this corrects the measurement in-place for hard iron,
* soft iron, motor interference, and non-orthagonality errors
* 4. publish_filtered_field - legacy filtered magnetic field
*
* All those functions expect the mag field to be in milligauss.
*/
void rotate_field(Vector3f &mag, uint8_t instance);
void publish_raw_field(const Vector3f &mag, uint8_t instance);
void correct_field(Vector3f &mag, uint8_t i);
void publish_filtered_field(const Vector3f &mag, uint8_t instance);
void set_last_update_usec(uint32_t last_update, uint8_t instance);
void accumulate_sample(Vector3f &field, uint8_t instance,
uint32_t max_samples = 10);
void drain_accumulated_samples(uint8_t instance, const Vector3f *scale = NULL);
// register a new compass instance with the frontend
bool register_compass(int32_t dev_id, uint8_t& instance) const;
// set dev_id for an instance
void set_dev_id(uint8_t instance, uint32_t dev_id);
// save dev_id, used by SITL
void save_dev_id(uint8_t instance);
// set external state for an instance
void set_external(uint8_t instance, bool external);
// tell if instance is an external compass
bool is_external(uint8_t instance);
// set rotation of an instance
void set_rotation(uint8_t instance, enum Rotation rotation);
// get board orientation (for SITL)
enum Rotation get_board_orientation(void) const;
// access to frontend
Compass &_compass;
// semaphore for access to shared frontend data
HAL_Semaphore _sem;
// Check that the compass field is valid by using a mean filter on the vector length
bool field_ok(const Vector3f &field);
uint32_t get_error_count() const { return _error_count; }
private:
void apply_corrections(Vector3f &mag, uint8_t i);
// mean field length for range filter
float _mean_field_length;
// number of dropped samples. Not used for now, but can be usable to choose more reliable sensor
uint32_t _error_count;
};