ardupilot/libraries/AP_Compass/AP_Compass_HMC5843.h

122 lines
3.1 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_Math/AP_Math.h>
#include "AP_Compass.h"
#include "AP_Compass_Backend.h"
class AuxiliaryBus;
class AuxiliaryBusSlave;
class AP_InertialSensor;
class AP_HMC5843_BusDriver;
class AP_Compass_HMC5843 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false);
static AP_Compass_Backend *probe_mpu6000(Compass &compass);
static constexpr const char *name = "HMC5843";
virtual ~AP_Compass_HMC5843();
bool init() override;
void read() override;
void accumulate() override;
private:
AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
bool force_external);
bool _detect_version();
bool _calibrate();
bool _setup_sampling_mode();
/* Read a single sample */
bool _read_sample();
AP_HMC5843_BusDriver *_bus;
float _scaling[3];
float _gain_scale;
uint32_t _last_accum_time;
// when unhealthy the millis() value to retry at
uint32_t _retry_time;
int16_t _mag_x;
int16_t _mag_y;
int16_t _mag_z;
int16_t _mag_x_accum;
int16_t _mag_y_accum;
int16_t _mag_z_accum;
uint8_t _accum_count;
uint8_t _base_config;
uint8_t _compass_instance;
uint8_t _gain_config;
uint8_t _product_id;
bool _initialised;
bool _force_external;
};
class AP_HMC5843_BusDriver
{
public:
virtual ~AP_HMC5843_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_HMC5843_BusDriver_HALDevice : public AP_HMC5843_BusDriver
{
public:
AP_HMC5843_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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;
private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};
class AP_HMC5843_BusDriver_Auxiliary : public AP_HMC5843_BusDriver
{
public:
AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
uint8_t addr);
virtual ~AP_HMC5843_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() override;
bool start_measurements() override;
private:
AuxiliaryBus *_bus;
AuxiliaryBusSlave *_slave;
bool _started;
};