ardupilot/libraries/AP_Compass/AP_Compass_MAG3110.h

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2018-02-02 05:25:24 -04:00
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>
#include "AP_Compass.h"
#include "AP_Compass_Backend.h"
#ifndef HAL_MAG3110_I2C_ADDR
#define HAL_MAG3110_I2C_ADDR 0x0E
#endif
class AP_Compass_MAG3110 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation = ROTATION_NONE);
static constexpr const char *name = "MAG3110";
void read() override;
~AP_Compass_MAG3110() { }
private:
AP_Compass_MAG3110(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
bool init(enum Rotation rotation);
bool _read_sample();
bool _hardware_init();
void _update();
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
int32_t _mag_x;
int32_t _mag_y;
int32_t _mag_z;
float _mag_x_accum;
float _mag_y_accum;
float _mag_z_accum;
uint8_t _accum_count;
uint8_t _compass_instance;
bool _initialised;
};