mirror of https://github.com/ArduPilot/ardupilot
107 lines
3.5 KiB
C++
107 lines
3.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Compass driver backend class. Each supported compass sensor type
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needs to have an object derived from this class.
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*/
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#pragma once
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#include "AP_Compass.h"
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class Compass; // forward declaration
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class AP_Compass_Backend
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{
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public:
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AP_Compass_Backend(Compass &compass);
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// we declare a virtual destructor so that drivers can
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// override with a custom destructor if need be.
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virtual ~AP_Compass_Backend(void) {}
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// initialize the magnetometers
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virtual bool init(void) = 0;
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// read sensor data
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virtual void read(void) = 0;
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// accumulate a reading from the magnetometer. Optional in
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// backends
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virtual void accumulate(void) {};
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/*
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device driver IDs. These are used to fill in the devtype field
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of the device ID, which shows up as COMPASS*ID* parameters to
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users. The values are chosen for compatibility with existing PX4
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drivers.
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If a change is made to a driver that would make existing
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calibration values invalid then this number must be changed.
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*/
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enum DevTypes {
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DEVTYPE_HMC5883_OLD = 0x01,
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DEVTYPE_HMC5883 = 0x07,
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DEVTYPE_LSM303D = 0x02,
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DEVTYPE_AK8963 = 0x04,
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DEVTYPE_BMM150 = 0x05,
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DEVTYPE_LSM9DS1 = 0x06,
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};
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protected:
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/*
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* A compass measurement is expected to pass through the following functions:
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* 1. rotate_field - this rotates the measurement in-place from sensor frame
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* to body frame
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* 2. publish_raw_field - this provides an uncorrected point-sample for
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* calibration libraries
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* 3. correct_field - this corrects the measurement in-place for hard iron,
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* soft iron, motor interference, and non-orthagonality errors
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* 4. publish_filtered_field - legacy filtered magnetic field
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*
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* All those functions expect the mag field to be in milligauss.
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*/
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void rotate_field(Vector3f &mag, uint8_t instance);
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void publish_raw_field(const Vector3f &mag, uint32_t time_us, uint8_t instance);
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void correct_field(Vector3f &mag, uint8_t i);
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void publish_filtered_field(const Vector3f &mag, uint8_t instance);
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void set_last_update_usec(uint32_t last_update, uint8_t instance);
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// register a new compass instance with the frontend
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uint8_t register_compass(void) const;
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// set dev_id for an instance
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void set_dev_id(uint8_t instance, uint32_t dev_id);
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// set external state for an instance
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void set_external(uint8_t instance, bool external);
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// tell if instance is an external compass
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bool is_external(uint8_t instance);
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// set rotation of an instance
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void set_rotation(uint8_t instance, enum Rotation rotation);
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// access to frontend
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Compass &_compass;
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// semaphore for access to shared frontend data
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AP_HAL::Semaphore *_sem;
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private:
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void apply_corrections(Vector3f &mag, uint8_t i);
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};
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