mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 19:13:34 +08:00
Carlo Wood
04aa2bb3a4
These headers files were missing from the header files that I added them to; the fact that they were missing didn't lead to compile errors because by coincidence the missing headers are included in the source files before including these headers. But, after the reordering of header inclusions by Tools/fix_headers.sh, these cases will give rise to compiler errors.
160 lines
4.9 KiB
C++
160 lines
4.9 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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#pragma once
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#include "drivers/device/ringbuffer.h" // ringbuffer::RingBuffer
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#include "drivers/drv_mag.h" // mag_calibration_s
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#include "systemlib/perf_counter.h" // perf_counter_t
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/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
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#define MPU9250_MAG_RANGE_GA 1.5e-3f;
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/* we are using the continuous fixed sampling rate of 100Hz */
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#define MPU9250_AK8963_SAMPLE_RATE 100
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/* ak8963 register address and bit definitions */
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#define AK8963_I2C_ADDR 0x0C
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#define AK8963_DEVICE_ID 0x48
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#define AK8963REG_WIA 0x00
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#define AK8963REG_ST1 0x02
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#define AK8963REG_HXL 0x03
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#define AK8963REG_ASAX 0x10
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#define AK8963REG_CNTL1 0x0A
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#define AK8963REG_CNTL2 0x0B
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#define AK8963_SINGLE_MEAS_MODE 0x01
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#define AK8963_CONTINUOUS_MODE1 0x02
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#define AK8963_CONTINUOUS_MODE2 0x06
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#define AK8963_POWERDOWN_MODE 0x00
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#define AK8963_SELFTEST_MODE 0x08
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#define AK8963_FUZE_MODE 0x0F
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#define AK8963_16BIT_ADC 0x10
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#define AK8963_14BIT_ADC 0x00
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#define AK8963_RESET 0x01
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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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extern device::Device *AK8963_I2C_interface(int bus, bool external_bus);
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typedef device::Device *(*MPU9250_mag_constructor)(int, bool);
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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, device::Device *interface, 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_reset(void);
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bool ak8963_setup(void);
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bool ak8963_check_id(void);
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bool ak8963_read_adjustments(void);
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protected:
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Device *_interface;
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friend class MPU9250;
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/* Directly measure from the _interface if possible */
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void measure();
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/* Update the state with prefetched data (internally called by the regular measure() )*/
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void _measure(struct ak8963_regs data);
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uint8_t read_reg(unsigned reg);
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void write_reg(unsigned reg, uint8_t value);
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bool is_passthrough() { return _interface == nullptr; }
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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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ringbuffer::RingBuffer *_mag_reports;
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struct mag_calibration_s _mag_scale;
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float _mag_range_scale;
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perf_counter_t _mag_reads;
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perf_counter_t _mag_errors;
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perf_counter_t _mag_overruns;
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perf_counter_t _mag_overflows;
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perf_counter_t _mag_duplicates;
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float _mag_asa_x;
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float _mag_asa_y;
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float _mag_asa_z;
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bool check_duplicate(uint8_t *mag_data);
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// keep last mag reading for duplicate detection
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uint8_t _last_mag_data[6];
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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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