ICM20948_AK09916.hpp
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/****************************************************************************
*
* Copyright (c) 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 ICM20948_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/px4_work_queue/ScheduledWorkItem.hpp>
class ICM20948;
namespace AKM_AK09916
{
class ICM20948_AK09916 : public px4::ScheduledWorkItem
{
public:
ICM20948_AK09916(ICM20948 &icm20948, enum Rotation rotation = ROTATION_NONE);
~ICM20948_AK09916() override;
bool Reset();
void PrintInfo();
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 {
AKM_AK09916::Register reg;
uint8_t set_bits{0};
uint8_t clear_bits{0};
};
void Run() override;
ICM20948 &_icm20948;
PX4Magnetometer _px4_mag;
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak09916: bad transfer")};
perf_counter_t _magnetic_sensor_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak09916: magnetic sensor overflow")};
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
int _failure_count{0};
enum class STATE : uint8_t {
RESET,
READ_WHO_AM_I,
WAIT_FOR_RESET,
READ,
} _state{STATE::RESET};
};
} // namespace AKM_AK09916