mirror of https://github.com/ArduPilot/ardupilot
130 lines
3.6 KiB
C++
130 lines
3.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AP_Compass_AK8963_H
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#define AP_Compass_AK8963_H
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#include <AP_HAL.h>
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#include "../AP_Common/AP_Common.h"
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#include "../AP_Math/AP_Math.h"
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#include "Compass.h"
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#include "AP_Compass_Backend.h"
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class AP_AK8963_SerialBus
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{
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public:
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struct PACKED raw_value {
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uint8_t info;
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uint8_t st1;
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int16_t val[3];
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uint8_t st2;
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};
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virtual void register_read(uint8_t address, uint8_t *value, uint8_t count) = 0;
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uint8_t register_read(uint8_t address) {
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uint8_t reg;
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register_read(address, ®, 1);
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return reg;
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}
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virtual void register_write(uint8_t address, uint8_t value) = 0;
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virtual AP_HAL::Semaphore* get_semaphore() = 0;
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virtual bool start_conversion() = 0;
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virtual bool configure() = 0;
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virtual void read_raw(struct raw_value *rv) = 0;
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virtual uint32_t get_dev_id() = 0;
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};
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class AP_Compass_AK8963 : public AP_Compass_Backend
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{
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public:
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AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus);
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static AP_Compass_Backend *detect_mpu9250(Compass &compass);
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static AP_Compass_Backend *detect_i2c1(Compass &compass);
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bool init(void);
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void read(void);
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void accumulate(void);
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private:
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typedef enum
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{
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STATE_UNKNOWN,
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STATE_CONVERSION,
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STATE_SAMPLE,
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STATE_ERROR
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} state_t;
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bool _reset();
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bool _configure();
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bool _check_id();
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bool _calibrate();
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void _update();
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bool _collect_samples();
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void _dump_registers();
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bool _sem_take_blocking();
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bool _sem_take_nonblocking();
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bool _sem_give();
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state_t _state;
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float _magnetometer_ASA[3] {0, 0, 0};
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uint8_t _compass_instance;
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float _mag_x_accum;
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float _mag_y_accum;
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float _mag_z_accum;
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uint32_t _accum_count;
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bool _initialized;
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uint32_t _last_update_timestamp;
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uint32_t _last_accum_time;
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AP_AK8963_SerialBus *_bus;
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AP_HAL::Semaphore *_bus_sem;
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};
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class AP_AK8963_SerialBus_MPU9250: public AP_AK8963_SerialBus
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{
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public:
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AP_AK8963_SerialBus_MPU9250();
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void register_read(uint8_t address, uint8_t *value, uint8_t count);
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void register_write(uint8_t address, uint8_t value);
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AP_HAL::Semaphore* get_semaphore();
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bool start_conversion();
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bool configure();
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void read_raw(struct raw_value *rv);
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uint32_t get_dev_id();
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private:
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void _read(uint8_t address, uint8_t *value, uint32_t count);
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void _write(uint8_t address, const uint8_t *value, uint32_t count);
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void _write(uint8_t address, const uint8_t value) {
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_write(address, &value, 1);
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}
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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};
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class AP_AK8963_SerialBus_I2C: public AP_AK8963_SerialBus
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{
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public:
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AP_AK8963_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
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void register_read(uint8_t address, uint8_t *value, uint8_t count);
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void register_write(uint8_t address, uint8_t value);
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AP_HAL::Semaphore* get_semaphore();
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bool start_conversion(){return true;}
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bool configure(){return true;}
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void read_raw(struct raw_value *rv);
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uint32_t get_dev_id();
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private:
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void _read(uint8_t address, uint8_t *value, uint32_t count);
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void _write(uint8_t address, const uint8_t *value, uint32_t count);
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void _write(uint8_t address, const uint8_t value) {
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_write(address, &value, 1);
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}
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AP_HAL::I2CDriver *_i2c;
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uint8_t _addr;
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AP_HAL::Semaphore *_i2c_sem;
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};
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#endif
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