ardupilot/libraries/AP_Compass/AP_Compass_HMC5843.h

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef AP_Compass_HMC5843_H
#define AP_Compass_HMC5843_H

#include <AP_HAL.h>
#include "../AP_Common/AP_Common.h"
#include "../AP_Math/AP_Math.h"

#include "Compass.h"

// orientations for DIYDrones magnetometer
#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD ROTATION_NONE
#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45
#define AP_COMPASS_COMPONENTS_UP_PINS_RIGHT ROTATION_YAW_90
#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135
#define AP_COMPASS_COMPONENTS_UP_PINS_BACK ROTATION_YAW_180
#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225
#define AP_COMPASS_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_270
#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315
#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180
#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45
#define AP_COMPASS_COMPONENTS_DOWN_PINS_RIGHT ROTATION_ROLL_180_YAW_90
#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135
#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK ROTATION_PITCH_180
#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225
#define AP_COMPASS_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180_YAW_270
#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315
#define AP_COMPASS_APM2_SHIELD ROTATION_NONE

// orientations for Sparkfun magnetometer
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD ROTATION_YAW_270
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_315
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_RIGHT ROTATION_NONE
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_45
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK ROTATION_YAW_90
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_135
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_180
#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_225
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180_YAW_90
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_135
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_RIGHT ROTATION_PITCH_180
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_225
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK ROTATION_ROLL_180_YAW_270
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_315
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180
#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_45

class AP_Compass_HMC5843 : public Compass
{
private:
    float               calibration[3];
    bool                _initialised;
    virtual bool        read_raw(void);
    uint8_t             _base_config;
    virtual bool        re_initialise(void);
    bool                read_register(uint8_t address, uint8_t *value);
    bool                write_register(uint8_t address, uint8_t value);
    uint32_t            _retry_time; // when unhealthy the millis() value to retry at
    AP_HAL::Semaphore*  _i2c_sem;

    int16_t			    _mag_x;
    int16_t			    _mag_y;
    int16_t			    _mag_z;
    int16_t             _mag_x_accum;
    int16_t             _mag_y_accum;
    int16_t             _mag_z_accum;
    uint8_t			    _accum_count;
    uint32_t            _last_accum_time;

public:
    AP_Compass_HMC5843() : Compass() {
    }
    bool        init(void);
    bool        read(void);
    void        accumulate(void);

};
#endif