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121 lines
3.7 KiB
121 lines
3.7 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef AP_Compass_HMC5843_H |
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#define AP_Compass_HMC5843_H |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Math/AP_Math.h> |
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#include "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_SerialBus; |
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class AP_Compass_HMC5843 : public AP_Compass_Backend |
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{ |
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private: |
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static AP_Compass_Backend *_detect(Compass &compass, |
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AP_HMC5843_SerialBus *bus); |
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AP_HMC5843_SerialBus *_bus; |
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AP_HAL::Semaphore *_bus_sem = nullptr; |
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float _scaling[3] = {0}; |
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bool _initialised; |
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bool read_raw(void); |
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uint8_t _base_config; |
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bool re_initialise(void); |
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bool read_register(uint8_t address, uint8_t *value); |
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bool write_register(uint8_t address, uint8_t value); |
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bool _calibrate(uint8_t calibration_gain, uint16_t expected_x, uint16_t expected_yz, float gain_multiple); |
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bool _detect_version(); |
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uint32_t _retry_time; // when unhealthy the millis() value to retry at |
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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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uint32_t _last_accum_time; |
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uint8_t _compass_instance; |
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uint8_t _product_id; |
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public: |
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// detect the sensor |
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static AP_Compass_Backend *detect_i2c(Compass &compass, |
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AP_HAL::I2CDriver *i2c); |
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static AP_Compass_Backend *detect_mpu6000(Compass &compass); |
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AP_Compass_HMC5843(Compass &compass, AP_HMC5843_SerialBus *bus); |
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~AP_Compass_HMC5843(); |
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bool init(void); |
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void read(void); |
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void accumulate(void); |
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}; |
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class AP_HMC5843_SerialBus |
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{ |
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public: |
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struct PACKED raw_value { |
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uint8_t val[6]; |
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}; |
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virtual ~AP_HMC5843_SerialBus() { }; |
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virtual void set_high_speed(bool val) = 0; |
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virtual uint8_t register_read(uint8_t reg, uint8_t *buf, uint8_t size) = 0; |
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uint8_t register_read(uint8_t reg, uint8_t *val) |
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{ |
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return register_read(reg, val, 1); |
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} |
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virtual uint8_t 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 uint8_t read_raw(struct raw_value *rv) = 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_SerialBus_I2C : public AP_HMC5843_SerialBus |
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{ |
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public: |
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AP_HMC5843_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr); |
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void set_high_speed(bool val) override; |
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uint8_t register_read(uint8_t reg, uint8_t *buf, uint8_t size) override; |
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uint8_t register_write(uint8_t reg, uint8_t val) override; |
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AP_HAL::Semaphore* get_semaphore() override; |
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uint8_t read_raw(struct raw_value *rv) override; |
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private: |
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AP_HAL::I2CDriver *_i2c; |
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uint8_t _addr; |
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}; |
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class AP_HMC5843_SerialBus_MPU6000 : public AP_HMC5843_SerialBus |
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{ |
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public: |
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AP_HMC5843_SerialBus_MPU6000(AP_InertialSensor &ins, uint8_t addr); |
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~AP_HMC5843_SerialBus_MPU6000(); |
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void set_high_speed(bool val) override; |
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uint8_t register_read(uint8_t reg, uint8_t *buf, uint8_t size) override; |
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uint8_t register_write(uint8_t reg, uint8_t val) override; |
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AP_HAL::Semaphore* get_semaphore() override; |
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uint8_t read_raw(struct raw_value *rv) 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 = nullptr; |
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AuxiliaryBusSlave *_slave = nullptr; |
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bool _started = false; |
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}; |
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#endif
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