mirror of https://github.com/ArduPilot/ardupilot
123 lines
3.4 KiB
C++
123 lines
3.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include <AP_HAL/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 AuxiliaryBus;
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class AuxiliaryBusSlave;
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class AP_InertialSensor;
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class AP_HMC5843_SerialBus;
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class AP_Compass_HMC5843 : public AP_Compass_Backend
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{
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public:
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static AP_Compass_Backend *detect_i2c(Compass &compass,
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AP_HAL::I2CDriver *i2c);
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static AP_Compass_Backend *detect_mpu6000(Compass &compass);
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AP_Compass_HMC5843(Compass &compass, AP_HMC5843_SerialBus *bus);
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~AP_Compass_HMC5843();
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bool init();
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void read();
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void accumulate();
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private:
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static AP_Compass_Backend *_detect(Compass &compass,
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AP_HMC5843_SerialBus *bus);
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bool read_raw();
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bool re_initialise();
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bool read_register(uint8_t address, uint8_t *value);
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bool write_register(uint8_t address, uint8_t value);
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bool _calibrate(uint8_t calibration_gain, uint16_t expected_x,
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uint16_t expected_yz);
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bool _detect_version();
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AP_HMC5843_SerialBus *_bus;
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AP_HAL::Semaphore *_bus_sem;
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float _scaling[3];
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float _gain_multiple;
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uint32_t _last_accum_time;
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// when unhealthy the millis() value to retry at
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uint32_t _retry_time;
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int16_t _mag_x;
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int16_t _mag_y;
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int16_t _mag_z;
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int16_t _mag_x_accum;
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int16_t _mag_y_accum;
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int16_t _mag_z_accum;
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uint8_t _accum_count;
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uint8_t _base_config;
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uint8_t _compass_instance;
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uint8_t _product_id;
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bool _initialised;
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};
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class AP_HMC5843_SerialBus
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{
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public:
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struct PACKED raw_value {
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uint8_t val[6];
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};
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virtual ~AP_HMC5843_SerialBus() { };
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virtual void set_high_speed(bool val) = 0;
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virtual uint8_t register_read(uint8_t reg, uint8_t *buf, uint8_t size) = 0;
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uint8_t register_read(uint8_t reg, uint8_t *val)
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{
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return register_read(reg, val, 1);
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}
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virtual uint8_t 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 uint8_t read_raw(struct raw_value *rv) = 0;
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virtual bool configure() { return true; }
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virtual bool start_measurements() { return true; }
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};
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class AP_HMC5843_SerialBus_I2C : public AP_HMC5843_SerialBus
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{
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public:
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AP_HMC5843_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
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void set_high_speed(bool val) override;
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uint8_t register_read(uint8_t reg, uint8_t *buf, uint8_t size) override;
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uint8_t register_write(uint8_t reg, uint8_t val) override;
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AP_HAL::Semaphore* get_semaphore() override;
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uint8_t read_raw(struct raw_value *rv) override;
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private:
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AP_HAL::I2CDriver *_i2c;
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uint8_t _addr;
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};
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class AP_HMC5843_SerialBus_MPU6000 : public AP_HMC5843_SerialBus
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{
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public:
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AP_HMC5843_SerialBus_MPU6000(AP_InertialSensor &ins, uint8_t addr);
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~AP_HMC5843_SerialBus_MPU6000();
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void set_high_speed(bool val) override;
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uint8_t register_read(uint8_t reg, uint8_t *buf, uint8_t size) override;
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uint8_t register_write(uint8_t reg, uint8_t val) override;
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AP_HAL::Semaphore* get_semaphore() override;
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uint8_t read_raw(struct raw_value *rv) override;
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bool configure() override;
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bool start_measurements() 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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