Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Compass_config.h"
       4             : 
       5             : #if AP_COMPASS_HMC5843_ENABLED
       6             : 
       7             : #ifndef HAL_COMPASS_HMC5843_I2C_ADDR
       8             : #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
       9             : #endif
      10             : 
      11             : #include <AP_Common/AP_Common.h>
      12             : #include <AP_HAL/AP_HAL.h>
      13             : #include <AP_HAL/Device.h>
      14             : 
      15             : #include "AP_Compass_Backend.h"
      16             : #include <AP_InertialSensor/AP_InertialSensor_config.h>
      17             : 
      18             : class AuxiliaryBus;
      19             : class AuxiliaryBusSlave;
      20             : class AP_InertialSensor;
      21             : class AP_HMC5843_BusDriver;
      22             : 
      23             : class AP_Compass_HMC5843 : public AP_Compass_Backend
      24             : {
      25             : public:
      26             :     static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
      27             :                                      bool force_external,
      28             :                                      enum Rotation rotation);
      29             : 
      30             : #if AP_INERTIALSENSOR_ENABLED
      31             :     static AP_Compass_Backend *probe_mpu6000(enum Rotation rotation);
      32             : #endif
      33             : 
      34             :     static constexpr const char *name = "HMC5843";
      35             : 
      36             :     virtual ~AP_Compass_HMC5843();
      37             : 
      38             :     void read() override;
      39             : 
      40             : private:
      41             :     AP_Compass_HMC5843(AP_HMC5843_BusDriver *bus,
      42             :                        bool force_external, enum Rotation rotation);
      43             : 
      44             :     bool init();
      45             :     bool _check_whoami();
      46             :     bool _calibrate();
      47             :     bool _setup_sampling_mode();
      48             : 
      49             :     void _timer();
      50             : 
      51             :     /* Read a single sample */
      52             :     bool _read_sample();
      53             : 
      54             :     // ask for a new sample
      55             :     void _take_sample();
      56             : 
      57             :     AP_HMC5843_BusDriver *_bus;
      58             : 
      59             :     Vector3f _scaling;
      60             :     float _gain_scale;
      61             : 
      62             :     int16_t _mag_x;
      63             :     int16_t _mag_y;
      64             :     int16_t _mag_z;
      65             : 
      66             :     enum Rotation _rotation;
      67             :     
      68             :     bool _initialised:1;
      69             :     bool _force_external:1;
      70             : };
      71             : 
      72             : class AP_HMC5843_BusDriver
      73             : {
      74             : public:
      75           0 :     virtual ~AP_HMC5843_BusDriver() { }
      76             : 
      77             :     virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) = 0;
      78             :     virtual bool register_read(uint8_t reg, uint8_t *val) = 0;
      79             :     virtual bool register_write(uint8_t reg, uint8_t val) = 0;
      80             : 
      81             :     virtual AP_HAL::Semaphore *get_semaphore() = 0;
      82             : 
      83           0 :     virtual bool configure() { return true; }
      84           0 :     virtual bool start_measurements() { return true; }
      85             : 
      86             :     virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;
      87             : 
      88             :     // set device type within a device class
      89             :     virtual void set_device_type(uint8_t devtype) = 0;
      90             : 
      91             :     // return 24 bit bus identifier
      92             :     virtual uint32_t get_bus_id(void) const = 0;
      93             : 
      94           0 :     virtual void set_retries(uint8_t retries) {}
      95             : };
      96             : 
      97             : class AP_HMC5843_BusDriver_HALDevice : public AP_HMC5843_BusDriver
      98             : {
      99             : public:
     100             :     AP_HMC5843_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::Device> dev);
     101             : 
     102             :     bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
     103             :     bool register_read(uint8_t reg, uint8_t *val) override;
     104             :     bool register_write(uint8_t reg, uint8_t val) override;
     105             : 
     106             :     AP_HAL::Semaphore *get_semaphore() override;
     107             : 
     108             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
     109             : 
     110             :     // set device type within a device class
     111           0 :     void set_device_type(uint8_t devtype) override {
     112           0 :         _dev->set_device_type(devtype);
     113           0 :     }
     114             : 
     115             :     // return 24 bit bus identifier
     116           0 :     uint32_t get_bus_id(void) const override {
     117           0 :         return _dev->get_bus_id();
     118             :     }
     119             : 
     120           0 :     void set_retries(uint8_t retries) override {
     121           0 :         return _dev->set_retries(retries);
     122             :     }
     123             :     
     124             : private:
     125             :     AP_HAL::OwnPtr<AP_HAL::Device> _dev;
     126             : };
     127             : 
     128             : #if AP_INERTIALSENSOR_ENABLED
     129             : class AP_HMC5843_BusDriver_Auxiliary : public AP_HMC5843_BusDriver
     130             : {
     131             : public:
     132             :     AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
     133             :                                    uint8_t addr);
     134             :     virtual ~AP_HMC5843_BusDriver_Auxiliary();
     135             : 
     136             :     bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
     137             :     bool register_read(uint8_t reg, uint8_t *val) override;
     138             :     bool register_write(uint8_t reg, uint8_t val) override;
     139             : 
     140             :     AP_HAL::Semaphore *get_semaphore() override;
     141             : 
     142             :     bool configure() override;
     143             :     bool start_measurements() override;
     144             : 
     145             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
     146             : 
     147             :     // set device type within a device class
     148             :     void set_device_type(uint8_t devtype) override;
     149             : 
     150             :     // return 24 bit bus identifier
     151             :     uint32_t get_bus_id(void) const override;
     152             :     
     153             : private:
     154             :     AuxiliaryBus *_bus;
     155             :     AuxiliaryBusSlave *_slave;
     156             :     bool _started;
     157             : };
     158             : #endif  // AP_INERTIALSENSOR_ENABLED
     159             : 
     160             : #endif // AP_COMPASS_HMC5843_ENABLED