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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Compass/AP_Compass_AK8963.h
Views: 1798
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#pragma once

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#include "AP_Compass_config.h"

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#if AP_COMPASS_AK8963_ENABLED

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#include <AP_Common/AP_Common.h>

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#include <AP_HAL/AP_HAL.h>

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#include <AP_HAL/I2CDevice.h>

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#include <AP_HAL/SPIDevice.h>

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#include <AP_Math/AP_Math.h>

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#include "AP_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_AK8963_BusDriver;

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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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    /* Probe for AK8963 standalone on I2C bus */

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    static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,

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                                     enum Rotation rotation);

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    /* Probe for AK8963 on auxiliary bus of MPU9250, connected through I2C */

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    static AP_Compass_Backend *probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,

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                                             enum Rotation rotation);

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    /* Probe for AK8963 on auxiliary bus of MPU9250, connected through SPI */

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    static AP_Compass_Backend *probe_mpu9250(uint8_t mpu9250_instance,

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                                             enum Rotation rotation);

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    static constexpr const char *name = "AK8963";

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    virtual ~AP_Compass_AK8963();

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    void read() override;

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    /* Must be public so the BusDriver can access its definition */

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    struct PACKED sample_regs {

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        int16_t val[3];

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        uint8_t st2;

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    };

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private:

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    AP_Compass_AK8963(AP_AK8963_BusDriver *bus,

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                      enum Rotation rotation);

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    bool init();

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    void _make_factory_sensitivity_adjustment(Vector3f &field) const;

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    void _make_adc_sensitivity_adjustment(Vector3f &field) const;

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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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    AP_AK8963_BusDriver *_bus;

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    float _magnetometer_ASA[3] {0, 0, 0};

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    uint8_t _compass_instance;

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    bool _initialized;

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    enum Rotation _rotation;

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};

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class AP_AK8963_BusDriver

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{

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public:

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    virtual ~AP_AK8963_BusDriver() { }

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    virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) = 0;

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    virtual bool register_read(uint8_t reg, uint8_t *val) = 0;

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    virtual bool 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 bool configure() { return true; }

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    virtual bool start_measurements() { return true; }

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    virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;

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    // set device type within a device class

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    virtual void set_device_type(uint8_t devtype) = 0;

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    // return 24 bit bus identifier

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    virtual uint32_t get_bus_id(void) const = 0;

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};

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class AP_AK8963_BusDriver_HALDevice: public AP_AK8963_BusDriver

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{

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public:

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    AP_AK8963_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);

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    virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;

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    virtual bool register_read(uint8_t reg, uint8_t *val) override;

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    virtual bool register_write(uint8_t reg, uint8_t val) override;

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    virtual AP_HAL::Semaphore  *get_semaphore() override;

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    AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;

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    // set device type within a device class

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    void set_device_type(uint8_t devtype) override {

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        _dev->set_device_type(devtype);

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    }

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    // return 24 bit bus identifier

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    uint32_t get_bus_id(void) const override {

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        return _dev->get_bus_id();

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    }

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private:

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    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;

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};

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class AP_AK8963_BusDriver_Auxiliary : public AP_AK8963_BusDriver

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{

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public:

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    AP_AK8963_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,

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                                  uint8_t backend_instance, uint8_t addr);

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    ~AP_AK8963_BusDriver_Auxiliary();

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    bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;

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    bool register_read(uint8_t reg, uint8_t *val) override;

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    bool register_write(uint8_t reg, uint8_t val) override;

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    AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;

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    AP_HAL::Semaphore  *get_semaphore() override;

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    bool configure() override;

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    bool start_measurements() override;

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    // set device type within a device class

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    void set_device_type(uint8_t devtype) override;

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    // return 24 bit bus identifier

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    uint32_t get_bus_id(void) const override;

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private:

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    AuxiliaryBus *_bus;

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    AuxiliaryBusSlave *_slave;

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    bool _started;

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};

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#endif  // AP_COMPASS_AK8963_ENABLED

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