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92 lines
3.1 KiB
C++
92 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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class MPU9250;
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#pragma pack(push, 1)
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struct ak8963_regs {
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uint8_t st1;
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t st2;
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};
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#pragma pack(pop)
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/**
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* Helper class implementing the magnetometer driver node.
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*/
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class MPU9250_mag : public device::CDev
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{
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public:
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MPU9250_mag(MPU9250 *parent, const char *path);
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~MPU9250_mag();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int init();
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void set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = NULL);
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void passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size);
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void passthrough_write(uint8_t reg, uint8_t val);
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void read_block(uint8_t reg, uint8_t *val, uint8_t count);
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void ak8963_read(void);
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void ak8963_reset(void);
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bool ak8963_setup(void);
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bool ak8963_check_id(void);
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protected:
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friend class MPU9250;
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void measure(struct ak8963_regs data);
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int self_test(void);
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private:
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MPU9250 *_parent;
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orb_advert_t _mag_topic;
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int _mag_orb_class_instance;
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int _mag_class_instance;
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bool _mag_reading_data;
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unsigned _mag_call_interval;
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ringbuffer::RingBuffer *_mag_reports;
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struct mag_scale _mag_scale;
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float _mag_range_scale;
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unsigned _mag_sample_rate;
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perf_counter_t _mag_reads;
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/* do not allow to copy this class due to pointer data members */
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MPU9250_mag(const MPU9250_mag &);
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MPU9250_mag operator=(const MPU9250_mag &);
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};
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