mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.3 KiB
C
56 lines
1.3 KiB
C
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#pragma once
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#include "SIM_config.h"
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#if AP_SIM_COMPASS_QMC5883L_ENABLED
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#include "SIM_I2CDevice.h"
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namespace SITL {
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class QMC5883L : public I2CDevice
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{
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public:
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QMC5883L();
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void update(const class Aircraft &aircraft) override;
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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private:
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union Registers {
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uint8_t byte[256];
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struct PACKED ByName {
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uint8_t DATA_OUTPUT_X_low;
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uint8_t DATA_OUTPUT_X_high;
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uint8_t DATA_OUTPUT_Y_low;
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uint8_t DATA_OUTPUT_Y_high;
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uint8_t DATA_OUTPUT_Z_low;
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uint8_t DATA_OUTPUT_Z_high;
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uint8_t REG_STATUS;
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uint8_t unused1[2]; // unused
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uint8_t REG_CONF1;
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uint8_t REG_CONF2;
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uint8_t ZEROX_ZEROB; // magic register number from driver
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uint8_t ZEROX_ZEROC; // magic register from driver should always be 0x01
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uint8_t REG_ID;
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uint8_t unused2[242];
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} byname;
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} registers;
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// 256 1-byte registers:
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assert_storage_size<Registers::ByName, 256> assert_storage_size_registers_reg;
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Bitmask<256> writable_registers;
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void reset();
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uint32_t cmd_take_reading_received_ms;
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};
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} // namespace SITL
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#endif // AP_SIM_COMPASS_QMC5883L_ENABLED
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