Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Compass_config.h"
       4             : 
       5             : #if AP_COMPASS_AK8963_ENABLED
       6             : 
       7             : #include <AP_Common/AP_Common.h>
       8             : #include <AP_HAL/AP_HAL.h>
       9             : #include <AP_HAL/Device.h>
      10             : #include <AP_Math/AP_Math.h>
      11             : 
      12             : #include "AP_Compass.h"
      13             : #include "AP_Compass_Backend.h"
      14             : 
      15             : class AuxiliaryBus;
      16             : class AuxiliaryBusSlave;
      17             : class AP_InertialSensor;
      18             : class AP_AK8963_BusDriver;
      19             : 
      20             : class AP_Compass_AK8963 : public AP_Compass_Backend
      21             : {
      22             : public:
      23             :     /* Probe for AK8963 standalone on I2C bus */
      24             :     static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
      25             :                                      enum Rotation rotation);
      26             : 
      27             :     /* Probe for AK8963 on auxiliary bus of MPU9250, connected through I2C */
      28             :     static AP_Compass_Backend *probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::Device> dev,
      29             :                                              enum Rotation rotation);
      30             : 
      31             :     /* Probe for AK8963 on auxiliary bus of MPU9250, connected through SPI */
      32             :     static AP_Compass_Backend *probe_mpu9250(uint8_t mpu9250_instance,
      33             :                                              enum Rotation rotation);
      34             : 
      35             :     static constexpr const char *name = "AK8963";
      36             : 
      37             :     virtual ~AP_Compass_AK8963();
      38             : 
      39             :     void read() override;
      40             : 
      41             :     /* Must be public so the BusDriver can access its definition */
      42             :     struct PACKED sample_regs {
      43             :         int16_t val[3];
      44             :         uint8_t st2;
      45             :     };
      46             : 
      47             : private:
      48             :     AP_Compass_AK8963(AP_AK8963_BusDriver *bus,
      49             :                       enum Rotation rotation);
      50             : 
      51             :     bool init();
      52             :     void _make_factory_sensitivity_adjustment(Vector3f &field) const;
      53             :     void _make_adc_sensitivity_adjustment(Vector3f &field) const;
      54             : 
      55             :     bool _reset();
      56             :     bool _setup_mode();
      57             :     bool _check_id();
      58             :     bool _calibrate();
      59             : 
      60             :     void _update();
      61             : 
      62             :     AP_AK8963_BusDriver *_bus;
      63             : 
      64             :     float _magnetometer_ASA[3] {0, 0, 0};
      65             : 
      66             :     bool _initialized;
      67             :     enum Rotation _rotation;
      68             : };
      69             : 
      70             : class AP_AK8963_BusDriver
      71             : {
      72             : public:
      73           0 :     virtual ~AP_AK8963_BusDriver() { }
      74             : 
      75             :     virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) = 0;
      76             :     virtual bool register_read(uint8_t reg, uint8_t *val) = 0;
      77             :     virtual bool register_write(uint8_t reg, uint8_t val) = 0;
      78             : 
      79             :     virtual AP_HAL::Semaphore  *get_semaphore() = 0;
      80             : 
      81           0 :     virtual bool configure() { return true; }
      82           0 :     virtual bool start_measurements() { return true; }
      83             :     virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;
      84             : 
      85             :     // set device type within a device class
      86             :     virtual void set_device_type(uint8_t devtype) = 0;
      87             : 
      88             :     // return 24 bit bus identifier
      89             :     virtual uint32_t get_bus_id(void) const = 0;
      90             : };
      91             : 
      92             : class AP_AK8963_BusDriver_HALDevice: public AP_AK8963_BusDriver
      93             : {
      94             : public:
      95             :     AP_AK8963_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::Device> dev);
      96             : 
      97             :     virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
      98             :     virtual bool register_read(uint8_t reg, uint8_t *val) override;
      99             :     virtual bool register_write(uint8_t reg, uint8_t val) override;
     100             : 
     101             :     virtual AP_HAL::Semaphore  *get_semaphore() override;
     102             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
     103             : 
     104             :     // set device type within a device class
     105           0 :     void set_device_type(uint8_t devtype) override {
     106           0 :         _dev->set_device_type(devtype);
     107           0 :     }
     108             : 
     109             :     // return 24 bit bus identifier
     110           0 :     uint32_t get_bus_id(void) const override {
     111           0 :         return _dev->get_bus_id();
     112             :     }
     113             :     
     114             : private:
     115             :     AP_HAL::OwnPtr<AP_HAL::Device> _dev;
     116             : };
     117             : 
     118             : class AP_AK8963_BusDriver_Auxiliary : public AP_AK8963_BusDriver
     119             : {
     120             : public:
     121             :     AP_AK8963_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
     122             :                                   uint8_t backend_instance, uint8_t addr);
     123             :     ~AP_AK8963_BusDriver_Auxiliary();
     124             : 
     125             :     bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
     126             :     bool register_read(uint8_t reg, uint8_t *val) override;
     127             :     bool register_write(uint8_t reg, uint8_t val) override;
     128             : 
     129             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
     130             :     
     131             :     AP_HAL::Semaphore  *get_semaphore() override;
     132             : 
     133             :     bool configure() override;
     134             :     bool start_measurements() override;
     135             : 
     136             :     // set device type within a device class
     137             :     void set_device_type(uint8_t devtype) override;
     138             : 
     139             :     // return 24 bit bus identifier
     140             :     uint32_t get_bus_id(void) const override;
     141             :     
     142             : private:
     143             :     AuxiliaryBus *_bus;
     144             :     AuxiliaryBusSlave *_slave;
     145             :     bool _started;
     146             : };
     147             : 
     148             : #endif  // AP_COMPASS_AK8963_ENABLED