ardupilot/libraries/AP_Compass/AP_Compass_AK8963.h

148 lines
4.5 KiB
C++

#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,
enum Rotation rotation = ROTATION_NONE);
/* 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,
enum Rotation rotation = ROTATION_NONE);
/* Probe for AK8963 on auxiliary bus of MPU9250, connected through SPI */
static AP_Compass_Backend *probe_mpu9250(Compass &compass, uint8_t mpu9250_instance,
enum Rotation rotation = ROTATION_NONE);
static constexpr const char *name = "AK8963";
virtual ~AP_Compass_AK8963();
void read() override;
private:
AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
enum Rotation rotation = ROTATION_NONE);
bool init();
void _make_factory_sensitivity_adjustment(Vector3f &field) const;
void _make_adc_sensitivity_adjustment(Vector3f &field) const;
bool _reset();
bool _setup_mode();
bool _check_id();
bool _calibrate();
bool _update();
void _update_timer();
AP_AK8963_BusDriver *_bus;
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;
uint8_t _compass_instance;
bool _initialized;
bool _timesliced;
enum Rotation _rotation;
};
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; }
virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;
// set device type within a device class
virtual void set_device_type(uint8_t devtype) = 0;
// return 24 bit bus identifier
virtual uint32_t get_bus_id(void) const = 0;
};
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;
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
// set device type within a device class
void set_device_type(uint8_t devtype) override {
_dev->set_device_type(devtype);
}
// return 24 bit bus identifier
uint32_t get_bus_id(void) const override {
return _dev->get_bus_id();
}
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::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
AP_HAL::Semaphore *get_semaphore() override;
bool configure();
bool start_measurements();
// set device type within a device class
void set_device_type(uint8_t devtype) override;
// return 24 bit bus identifier
uint32_t get_bus_id(void) const override;
private:
AuxiliaryBus *_bus;
AuxiliaryBusSlave *_slave;
bool _started;
};