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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Compass/AP_Compass_HMC5843.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_HMC5843_ENABLED

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#ifndef HAL_COMPASS_HMC5843_I2C_ADDR

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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E

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#endif

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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/Device.h>

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#include "AP_Compass_Backend.h"

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#include <AP_InertialSensor/AP_InertialSensor_config.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_HMC5843_BusDriver;

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class AP_Compass_HMC5843 : public AP_Compass_Backend

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{

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public:

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

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                                     bool force_external,

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                                     enum Rotation rotation);

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#if AP_INERTIALSENSOR_ENABLED

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    static AP_Compass_Backend *probe_mpu6000(enum Rotation rotation);

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#endif

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    static constexpr const char *name = "HMC5843";

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    virtual ~AP_Compass_HMC5843();

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    void read() override;

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private:

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    AP_Compass_HMC5843(AP_HMC5843_BusDriver *bus,

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                       bool force_external, enum Rotation rotation);

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    bool init();

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    bool _check_whoami();

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    bool _calibrate();

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    bool _setup_sampling_mode();

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    void _timer();

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    /* Read a single sample */

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    bool _read_sample();

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    // ask for a new sample

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    void _take_sample();

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    AP_HMC5843_BusDriver *_bus;

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    Vector3f _scaling;

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    float _gain_scale;

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    int16_t _mag_x;

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    int16_t _mag_y;

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    int16_t _mag_z;

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    uint8_t _compass_instance;

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    enum Rotation _rotation;

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    bool _initialised:1;

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    bool _force_external:1;

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};

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class AP_HMC5843_BusDriver

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{

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public:

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    virtual ~AP_HMC5843_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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    virtual void set_retries(uint8_t retries) {}

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};

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class AP_HMC5843_BusDriver_HALDevice : public AP_HMC5843_BusDriver

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{

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public:

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    AP_HMC5843_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::Device> dev);

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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::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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    void set_retries(uint8_t retries) override {

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        return _dev->set_retries(retries);

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    }

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private:

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    AP_HAL::OwnPtr<AP_HAL::Device> _dev;

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};

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#if AP_INERTIALSENSOR_ENABLED

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class AP_HMC5843_BusDriver_Auxiliary : public AP_HMC5843_BusDriver

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{

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public:

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    AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,

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                                   uint8_t addr);

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    virtual ~AP_HMC5843_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::Semaphore *get_semaphore() override;

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    bool configure() override;

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    bool start_measurements() 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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    // 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_INERTIALSENSOR_ENABLED

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#endif // AP_COMPASS_HMC5843_ENABLED

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