mirror of https://github.com/ArduPilot/ardupilot
148 lines
4.5 KiB
C++
148 lines
4.5 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL/SPIDevice.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_Compass.h"
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#include "AP_Compass_Backend.h"
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class AuxiliaryBus;
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class AuxiliaryBusSlave;
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class AP_InertialSensor;
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class AP_AK8963_BusDriver;
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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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/* Probe for AK8963 standalone on I2C bus */
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static AP_Compass_Backend *probe(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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enum Rotation rotation = ROTATION_NONE);
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/* Probe for AK8963 on auxiliary bus of MPU9250, connected through I2C */
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static AP_Compass_Backend *probe_mpu9250(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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enum Rotation rotation = ROTATION_NONE);
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/* Probe for AK8963 on auxiliary bus of MPU9250, connected through SPI */
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static AP_Compass_Backend *probe_mpu9250(Compass &compass, uint8_t mpu9250_instance,
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enum Rotation rotation = ROTATION_NONE);
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static constexpr const char *name = "AK8963";
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virtual ~AP_Compass_AK8963();
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void read() override;
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private:
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AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
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enum Rotation rotation = ROTATION_NONE);
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bool init();
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void _make_factory_sensitivity_adjustment(Vector3f &field) const;
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void _make_adc_sensitivity_adjustment(Vector3f &field) const;
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bool _reset();
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bool _setup_mode();
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bool _check_id();
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bool _calibrate();
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bool _update();
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void _update_timer();
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AP_AK8963_BusDriver *_bus;
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float _magnetometer_ASA[3] {0, 0, 0};
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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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uint32_t _last_update_timestamp;
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uint8_t _compass_instance;
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bool _initialized;
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bool _timesliced;
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enum Rotation _rotation;
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};
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class AP_AK8963_BusDriver
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{
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public:
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virtual ~AP_AK8963_BusDriver() { }
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virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) = 0;
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virtual bool register_read(uint8_t reg, uint8_t *val) = 0;
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virtual bool register_write(uint8_t reg, uint8_t val) = 0;
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virtual AP_HAL::Semaphore *get_semaphore() = 0;
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virtual bool configure() { return true; }
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virtual bool start_measurements() { return true; }
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virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;
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// set device type within a device class
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virtual void set_device_type(uint8_t devtype) = 0;
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// return 24 bit bus identifier
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virtual uint32_t get_bus_id(void) const = 0;
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};
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class AP_AK8963_BusDriver_HALDevice: public AP_AK8963_BusDriver
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{
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public:
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AP_AK8963_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
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virtual bool register_read(uint8_t reg, uint8_t *val) override;
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virtual bool register_write(uint8_t reg, uint8_t val) override;
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virtual AP_HAL::Semaphore *get_semaphore() override;
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AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
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// set device type within a device class
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void set_device_type(uint8_t devtype) override {
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_dev->set_device_type(devtype);
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}
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// return 24 bit bus identifier
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uint32_t get_bus_id(void) const override {
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return _dev->get_bus_id();
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}
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private:
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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};
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class AP_AK8963_BusDriver_Auxiliary : public AP_AK8963_BusDriver
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{
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public:
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AP_AK8963_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
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uint8_t backend_instance, uint8_t addr);
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~AP_AK8963_BusDriver_Auxiliary();
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bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
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bool register_read(uint8_t reg, uint8_t *val) override;
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bool register_write(uint8_t reg, uint8_t val) override;
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AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
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AP_HAL::Semaphore *get_semaphore() override;
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bool configure();
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bool start_measurements();
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// set device type within a device class
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void set_device_type(uint8_t devtype) override;
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// return 24 bit bus identifier
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uint32_t get_bus_id(void) const override;
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private:
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AuxiliaryBus *_bus;
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AuxiliaryBusSlave *_slave;
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bool _started;
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};
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