mirror of https://github.com/ArduPilot/ardupilot
117 lines
2.9 KiB
C++
117 lines
2.9 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_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_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_HMC5843_BusDriver;
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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 *probe(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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static AP_Compass_Backend *probe_mpu6000(Compass &compass);
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virtual ~AP_Compass_HMC5843();
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bool init() override;
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void read() override;
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void accumulate() override;
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private:
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AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus);
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bool _detect_version();
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bool _calibrate();
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bool _setup_sampling_mode();
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/* Read a single sample */
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bool _read_sample();
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AP_HMC5843_BusDriver *_bus;
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float _scaling[3];
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float _gain_scale;
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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 _gain_config;
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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_BusDriver
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{
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public:
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virtual ~AP_HMC5843_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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};
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class AP_HMC5843_BusDriver_HALDevice : public AP_HMC5843_BusDriver
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{
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public:
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AP_HMC5843_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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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::Semaphore *get_semaphore() override;
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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_HMC5843_BusDriver_Auxiliary : public AP_HMC5843_BusDriver
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{
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public:
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AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
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uint8_t addr);
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virtual ~AP_HMC5843_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::Semaphore *get_semaphore() 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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