ardupilot/libraries/AP_Compass/AP_Compass_AK8963.h

121 lines
3.4 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/SPIDevice.h>
#include <AP_Math/AP_Math.h>
#include "AP_Compass.h"
#include "AP_Compass_Backend.h"
class AuxiliaryBus;
class AuxiliaryBusSlave;
class AP_InertialSensor;
class AP_AK8963_BusDriver;
class AP_Compass_AK8963 : public AP_Compass_Backend
{
public:
/* Probe for AK8963 standalone on I2C bus */
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
/* Probe for AK8963 on auxiliary bus of MPU9250, connected through I2C */
static AP_Compass_Backend *probe_mpu9250(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
/* Probe for AK8963 on auxiliary bus of MPU9250, connected through SPI */
static AP_Compass_Backend *probe_mpu9250(Compass &compass, uint8_t mpu9250_instance);
virtual ~AP_Compass_AK8963();
bool init() override;
void read() override;
private:
AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
uint32_t dev_id);
void _make_factory_sensitivity_adjustment(Vector3f &field) const;
void _make_adc_sensitivity_adjustment(Vector3f &field) const;
Vector3f _get_filtered_field() const;
void _reset_filter();
bool _reset();
bool _setup_mode();
bool _check_id();
bool _calibrate();
void _update();
AP_AK8963_BusDriver *_bus;
AP_HAL::Semaphore *_bus_sem;
float _magnetometer_ASA[3] {0, 0, 0};
float _mag_x_accum;
float _mag_y_accum;
float _mag_z_accum;
uint32_t _accum_count;
uint32_t _last_update_timestamp;
uint32_t _last_accum_time;
uint32_t _dev_id;
uint8_t _compass_instance;
bool _initialized;
bool _timesliced;
};
class AP_AK8963_BusDriver
{
public:
virtual ~AP_AK8963_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; }
};
class AP_AK8963_BusDriver_HALDevice: public AP_AK8963_BusDriver
{
public:
AP_AK8963_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;
private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};
class AP_AK8963_BusDriver_Auxiliary : public AP_AK8963_BusDriver
{
public:
AP_AK8963_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
uint8_t backend_instance, uint8_t addr);
~AP_AK8963_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::Semaphore *get_semaphore() override;
bool configure();
bool start_measurements();
private:
AuxiliaryBus *_bus;
AuxiliaryBusSlave *_slave;
bool _started;
};