mirror of https://github.com/ArduPilot/ardupilot
150 lines
4.1 KiB
C++
150 lines
4.1 KiB
C++
#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/Device.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::Device> dev,
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bool force_external = false,
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enum Rotation rotation = ROTATION_NONE);
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static AP_Compass_Backend *probe_mpu6000(Compass &compass,
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enum Rotation rotation = ROTATION_NONE);
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static constexpr const char *name = "HMC5843";
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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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private:
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AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
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bool force_external, enum Rotation rotation);
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bool _check_whoami();
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bool _calibrate();
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bool _setup_sampling_mode();
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bool _timer();
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/* Read a single sample */
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bool _read_sample();
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// ask for a new sample
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void _take_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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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 _compass_instance;
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enum Rotation _rotation;
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bool _initialised:1;
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bool _force_external:1;
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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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virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;
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// set device type within a device class
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virtual void set_device_type(uint8_t devtype) = 0;
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// return 24 bit bus identifier
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virtual uint32_t get_bus_id(void) const = 0;
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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::Device> 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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AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
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// set device type within a device class
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void set_device_type(uint8_t devtype) override {
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_dev->set_device_type(devtype);
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}
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// return 24 bit bus identifier
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uint32_t get_bus_id(void) const override {
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return _dev->get_bus_id();
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}
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private:
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AP_HAL::OwnPtr<AP_HAL::Device> _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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AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
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// set device type within a device class
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void set_device_type(uint8_t devtype) override;
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// return 24 bit bus identifier
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uint32_t get_bus_id(void) const 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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