Line data    Source code

       1             : /*
       2             :  * This file is free software: you can redistribute it and/or modify it
       3             :  * under the terms of the GNU General Public License as published by the
       4             :  * Free Software Foundation, either version 3 of the License, or
       5             :  * (at your option) any later version.
       6             :  *
       7             :  * This file is distributed in the hope that it will be useful, but
       8             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      10             :  * See the GNU General Public License for more details.
      11             :  *
      12             :  * You should have received a copy of the GNU General Public License along
      13             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include "AP_Compass_config.h"
      18             : 
      19             : #if AP_COMPASS_AK09916_ENABLED
      20             : 
      21             : #include <AP_Common/AP_Common.h>
      22             : #include <AP_HAL/AP_HAL.h>
      23             : #include <AP_HAL/Device.h>
      24             : #include <AP_Math/AP_Math.h>
      25             : 
      26             : #include "AP_Compass.h"
      27             : #include "AP_Compass_Backend.h"
      28             : 
      29             : #ifndef HAL_COMPASS_AK09916_I2C_ADDR
      30             : # define HAL_COMPASS_AK09916_I2C_ADDR 0x0C
      31             : #endif
      32             : 
      33             : 
      34             : #ifndef HAL_COMPASS_ICM20948_I2C_ADDR
      35             : # define HAL_COMPASS_ICM20948_I2C_ADDR 0x69
      36             : #endif
      37             : 
      38             : #ifndef HAL_COMPASS_ICM20948_I2C_ADDR2
      39             : # define HAL_COMPASS_ICM20948_I2C_ADDR2 0x68
      40             : #endif
      41             : 
      42             : class AuxiliaryBus;
      43             : class AuxiliaryBusSlave;
      44             : class AP_InertialSensor;
      45             : class AP_AK09916_BusDriver;
      46             : 
      47             : class AP_Compass_AK09916 : public AP_Compass_Backend
      48             : {
      49             : public:
      50             :     /* Probe for AK09916 standalone on I2C bus */
      51             :     static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
      52             :                                      bool force_external,
      53             :                                      enum Rotation rotation);
      54             : 
      55             : #if AP_COMPASS_ICM20948_ENABLED
      56             :     /* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
      57             :     static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::Device> dev,
      58             :                                              AP_HAL::OwnPtr<AP_HAL::Device> dev_icm,
      59             :                                              bool force_external,
      60             :                                              enum Rotation rotation);
      61             : 
      62             :     /* Probe for AK09916 on auxiliary bus of ICM20948, connected through SPI by default */
      63             :     static AP_Compass_Backend *probe_ICM20948(uint8_t mpu9250_instance, enum Rotation rotation);
      64             :     static AP_Compass_Backend *probe_ICM20948_SPI(uint8_t mpu9250_instance,
      65             :                                              enum Rotation rotation);
      66             : 
      67             :         /* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
      68             :     static AP_Compass_Backend *probe_ICM20948_I2C(uint8_t mpu9250_instance,
      69             :                                              enum Rotation rotation);
      70             : #endif
      71             : 
      72             :     static constexpr const char *name = "AK09916";
      73             : 
      74             :     virtual ~AP_Compass_AK09916();
      75             : 
      76             :     void read() override;
      77             : 
      78             :     /* Must be public so the BusDriver can access its definition */
      79             :     struct PACKED sample_regs {
      80             :         uint8_t st1;
      81             :         int16_t val[3];
      82             :         uint8_t tmps;
      83             :         uint8_t st2;
      84             :     };
      85             : 
      86             : private:
      87             :     AP_Compass_AK09916(AP_AK09916_BusDriver *bus, bool force_external,
      88             :                        enum Rotation rotation);
      89             : 
      90             :     bool init();
      91             :     void _make_factory_sensitivity_adjustment(Vector3f &field) const;
      92             :     void _make_adc_sensitivity_adjustment(Vector3f &field) const;
      93             : 
      94             :     bool _reset();
      95             :     bool _setup_mode();
      96             :     bool _check_id();
      97             :     bool _calibrate();
      98             : 
      99             :     void _update();
     100             : 
     101             :     AP_AK09916_BusDriver *_bus;
     102             : 
     103             :     bool _force_external;
     104             :     bool _initialized;
     105             :     enum Rotation _rotation;
     106             :     enum AP_Compass_Backend::DevTypes _devtype;
     107             :     uint8_t no_data;
     108             : };
     109             : 
     110             : 
     111             : class AP_AK09916_BusDriver
     112             : {
     113             : public:
     114           0 :     virtual ~AP_AK09916_BusDriver() { }
     115             : 
     116             :     virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) = 0;
     117             :     virtual bool register_read(uint8_t reg, uint8_t *val) = 0;
     118             :     virtual bool register_write(uint8_t reg, uint8_t val, bool checked=false) = 0;
     119             : 
     120             :     virtual AP_HAL::Semaphore  *get_semaphore() = 0;
     121             : 
     122           0 :     virtual bool configure() { return true; }
     123           0 :     virtual bool start_measurements() { return true; }
     124             :     virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;
     125             : 
     126             :     // set device type within a device class
     127             :     virtual void set_device_type(uint8_t devtype) = 0;
     128             : 
     129             :     // return 24 bit bus identifier
     130             :     virtual uint32_t get_bus_id(void) const = 0;
     131             : 
     132             :     /**
     133             :      setup for register value checking. Frequency is how often to
     134             :      check registers. If set to 10 then every 10th call to
     135             :      check_next_register will check a register
     136             :      */
     137           0 :     virtual void setup_checked_registers(uint8_t num_regs) {}
     138           0 :     virtual void check_next_register(void) {}
     139             : };
     140             : 
     141             : class AP_AK09916_BusDriver_HALDevice: public AP_AK09916_BusDriver
     142             : {
     143             : public:
     144             :     AP_AK09916_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::Device> dev);
     145             : 
     146             :     virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
     147             :     virtual bool register_read(uint8_t reg, uint8_t *val) override;
     148             :     virtual bool register_write(uint8_t reg, uint8_t val, bool checked) override;
     149             : 
     150             :     virtual AP_HAL::Semaphore  *get_semaphore() override;
     151             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
     152             : 
     153             :     // set device type within a device class
     154           0 :     void set_device_type(uint8_t devtype) override {
     155           0 :         _dev->set_device_type(devtype);
     156           0 :     }
     157             : 
     158             :     // return 24 bit bus identifier
     159           0 :     uint32_t get_bus_id(void) const override {
     160           0 :         return _dev->get_bus_id();
     161             :     }
     162             : 
     163             :     /**
     164             :      setup for register value checking. Frequency is how often to
     165             :      check registers. If set to 10 then every 10th call to
     166             :      check_next_register will check a register
     167             :      */
     168           0 :     void setup_checked_registers(uint8_t num_regs) override {
     169           0 :         _dev->setup_checked_registers(num_regs);
     170           0 :     }
     171           0 :     void check_next_register(void) override {
     172           0 :         _dev->check_next_register();
     173           0 :     }
     174             :     
     175             : private:
     176             :     AP_HAL::OwnPtr<AP_HAL::Device> _dev;
     177             : };
     178             : 
     179             : class AP_AK09916_BusDriver_Auxiliary : public AP_AK09916_BusDriver
     180             : {
     181             : public:
     182             :     AP_AK09916_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
     183             :                                   uint8_t backend_instance, uint8_t addr);
     184             :     ~AP_AK09916_BusDriver_Auxiliary();
     185             : 
     186             :     bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
     187             :     bool register_read(uint8_t reg, uint8_t *val) override;
     188             :     bool register_write(uint8_t reg, uint8_t val, bool checked) override;
     189             : 
     190             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
     191             :     
     192             :     AP_HAL::Semaphore  *get_semaphore() override;
     193             : 
     194             :     bool configure() override;
     195             :     bool start_measurements() override;
     196             : 
     197             :     // set device type within a device class
     198             :     void set_device_type(uint8_t devtype) override;
     199             : 
     200             :     // return 24 bit bus identifier
     201             :     uint32_t get_bus_id(void) const override;
     202             :     
     203             : private:
     204             :     AuxiliaryBus *_bus;
     205             :     AuxiliaryBusSlave *_slave;
     206             :     bool _started;
     207             : };
     208             : 
     209             : #endif  // AP_COMPASS_AK09916_ENABLED