AK09916.hpp
3.86 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
/****************************************************************************
*
* Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file AK09916.hpp
*
* Driver for the AKM AK09916 connected via I2C.
*
*/
#pragma once
#include "AKM_AK09916_registers.hpp"
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/i2c.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
using namespace AKM_AK09916;
class AK09916 : public device::I2C, public I2CSPIDriver<AK09916>
{
public:
AK09916(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
~AK09916() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
void print_status() override;
private:
struct TransferBuffer {
uint8_t ST1;
uint8_t HXL;
uint8_t HXH;
uint8_t HYL;
uint8_t HYH;
uint8_t HZL;
uint8_t HZH;
uint8_t TMPS;
uint8_t ST2;
};
struct register_config_t {
Register reg;
uint8_t set_bits{0};
uint8_t clear_bits{0};
};
int probe() override;
bool Reset();
bool Configure();
bool RegisterCheck(const register_config_t ®_cfg);
uint8_t RegisterRead(Register reg);
void RegisterWrite(Register reg, uint8_t value);
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
PX4Magnetometer _px4_mag;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
perf_counter_t _magnetic_sensor_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": magnetic sensor overflow")};
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
unsigned _consecutive_failures{0};
enum class STATE : uint8_t {
RESET,
WAIT_FOR_RESET,
CONFIGURE,
READ,
} _state{STATE::RESET};
uint8_t _checked_register{0};
static constexpr uint8_t size_register_cfg{1};
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ Register::CNTL2, CNTL2_BIT::MODE3, 0 },
};
};