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AP_Compass: HMC5883: reorganize header

This commit is contained in:
Lucas De Marchi 2016-02-26 14:42:26 -03:00
parent 37056e8738
commit a46ca4c810
1 changed files with 43 additions and 42 deletions
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85
libraries/AP_Compass/AP_Compass_HMC5843.h
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@ -15,43 +15,7 @@ class AP_HMC5843_SerialBus;
class AP_Compass_HMC5843 : public AP_Compass_Backend
{
private:
static AP_Compass_Backend *_detect(Compass &compass,
AP_HMC5843_SerialBus *bus);
AP_HMC5843_SerialBus *_bus;
AP_HAL::Semaphore *_bus_sem = nullptr;
float _scaling[3] = {0};
bool _initialised;
bool read_raw(void);
uint8_t _base_config;
bool re_initialise(void);
bool read_register(uint8_t address, uint8_t *value);
bool write_register(uint8_t address, uint8_t value);
bool _calibrate(uint8_t calibration_gain,
uint16_t expected_x,
uint16_t expected_yz);
bool _detect_version();
uint32_t _retry_time; // when unhealthy the millis() value to retry at
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;
uint8_t _compass_instance;
uint8_t _product_id;
float _gain_multiple;
public:
// detect the sensor
static AP_Compass_Backend *detect_i2c(Compass &compass,
AP_HAL::I2CDriver *i2c);
static AP_Compass_Backend *detect_mpu6000(Compass &compass);
@ -59,9 +23,46 @@ public:
AP_Compass_HMC5843(Compass &compass, AP_HMC5843_SerialBus *bus);
~AP_Compass_HMC5843();
bool init(void);
void read(void);
void accumulate(void);
bool init();
void read();
void accumulate();
private:
static AP_Compass_Backend *_detect(Compass &compass,
AP_HMC5843_SerialBus *bus);
bool read_raw();
bool re_initialise();
bool read_register(uint8_t address, uint8_t *value);
bool write_register(uint8_t address, uint8_t value);
bool _calibrate(uint8_t calibration_gain, uint16_t expected_x,
uint16_t expected_yz);
bool _detect_version();
AP_HMC5843_SerialBus *_bus;
AP_HAL::Semaphore *_bus_sem;
float _scaling[3];
float _gain_multiple;
uint32_t _last_accum_time;
// when unhealthy the millis() value to retry at
uint32_t _retry_time;
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;
uint8_t _base_config;
uint8_t _compass_instance;
uint8_t _product_id;
bool _initialised;
};
class AP_HMC5843_SerialBus
@ -115,7 +116,7 @@ public:
bool start_measurements() override;
private:
AuxiliaryBus *_bus = nullptr;
AuxiliaryBusSlave *_slave = nullptr;
bool _started = false;
AuxiliaryBus *_bus;
AuxiliaryBusSlave *_slave;
bool _started;
};