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126 lines
3.8 KiB
126 lines
3.8 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef AP_Compass_AK8963_H |
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#define AP_Compass_AK8963_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 AP_AK8963_SerialBus |
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{ |
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public: |
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struct PACKED raw_value { |
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int16_t val[3]; |
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uint8_t st2; |
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}; |
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virtual ~AP_AK8963_SerialBus() { } |
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virtual void register_read(uint8_t address, uint8_t *value, uint8_t count) = 0; |
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uint8_t register_read(uint8_t address) { |
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uint8_t reg; |
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register_read(address, ®, 1); |
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return reg; |
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} |
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virtual void register_write(uint8_t address, uint8_t value) = 0; |
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virtual AP_HAL::Semaphore* get_semaphore() = 0; |
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virtual bool configure() = 0; |
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virtual bool start_measurements() = 0; |
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virtual void read_raw(struct raw_value *rv) = 0; |
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virtual uint32_t get_dev_id() = 0; |
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}; |
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class AP_Compass_AK8963 : public AP_Compass_Backend |
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{ |
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public: |
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static AP_Compass_Backend *detect_mpu9250(Compass &compass); |
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static AP_Compass_Backend *detect_i2c(Compass &compass, |
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AP_HAL::I2CDriver *i2c, |
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uint8_t addr); |
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AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus); |
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~AP_Compass_AK8963(); |
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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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private: |
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static AP_Compass_Backend *_detect(Compass &compass, AP_AK8963_SerialBus *bus); |
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void _make_factory_sensitivity_adjustment(Vector3f& field) const; |
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Vector3f _get_filtered_field() const; |
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void _reset_filter(); |
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bool _reset(); |
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bool _setup_mode(); |
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bool _check_id(); |
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bool _calibrate(); |
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void _update(); |
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void _dump_registers(); |
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bool _sem_take_blocking(); |
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bool _sem_take_nonblocking(); |
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bool _sem_give(); |
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float _magnetometer_ASA[3] {0, 0, 0}; |
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uint8_t _compass_instance; |
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float _mag_x_accum; |
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float _mag_y_accum; |
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float _mag_z_accum; |
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uint32_t _accum_count; |
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bool _initialized; |
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uint32_t _last_update_timestamp; |
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uint32_t _last_accum_time; |
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AP_AK8963_SerialBus *_bus = nullptr; |
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AP_HAL::Semaphore *_bus_sem; |
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}; |
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class AP_AK8963_SerialBus_MPU9250: public AP_AK8963_SerialBus |
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{ |
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public: |
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AP_AK8963_SerialBus_MPU9250(); |
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void register_read(uint8_t address, uint8_t *value, uint8_t count); |
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void register_write(uint8_t address, uint8_t value); |
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AP_HAL::Semaphore* get_semaphore(); |
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bool configure(); |
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bool start_measurements(); |
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void read_raw(struct raw_value *rv); |
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uint32_t get_dev_id(); |
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private: |
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void _read(uint8_t address, uint8_t *value, uint32_t count); |
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void _write(uint8_t address, const uint8_t *value, uint32_t count); |
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void _write(uint8_t address, const uint8_t value) { |
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_write(address, &value, 1); |
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} |
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AP_HAL::SPIDeviceDriver *_spi; |
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AP_HAL::Semaphore *_spi_sem; |
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}; |
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class AP_AK8963_SerialBus_I2C: public AP_AK8963_SerialBus |
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{ |
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public: |
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AP_AK8963_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr); |
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void register_read(uint8_t address, uint8_t *value, uint8_t count); |
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void register_write(uint8_t address, uint8_t value); |
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AP_HAL::Semaphore* get_semaphore(); |
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bool configure(){ return true; } |
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bool start_measurements() { return true; } |
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void read_raw(struct raw_value *rv); |
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uint32_t get_dev_id(); |
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private: |
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void _read(uint8_t address, uint8_t *value, uint32_t count); |
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void _write(uint8_t address, const uint8_t *value, uint32_t count); |
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void _write(uint8_t address, const uint8_t value) { |
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_write(address, &value, 1); |
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} |
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AP_HAL::I2CDriver *_i2c; |
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AP_HAL::Semaphore *_i2c_sem; |
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uint8_t _addr; |
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}; |
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#endif
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