/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /* * Copyright (C) 2016 Intel Corporation. All rights reserved. * * This file is free software: you can redistribute it and/or modify it * under the terms of the GNU General Public License as published by the * Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This file is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * See the GNU General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program. If not, see . */ #pragma once #include #include #include #include #include "AP_Compass.h" #include "AP_Compass_Backend.h" class AP_Compass_BMM150 : public AP_Compass_Backend { public: static AP_Compass_Backend *probe(Compass &compass, AP_HAL::OwnPtr dev); bool init() override; void read() override; static constexpr const char *name = "BMM150"; private: AP_Compass_BMM150(Compass &compass, AP_HAL::OwnPtr dev); void _update(); bool _load_trim_values(); int16_t _compensate_xy(int16_t xy, uint32_t rhall, int32_t txy1, int32_t txy2); int16_t _compensate_z(int16_t z, uint32_t rhall); AP_HAL::OwnPtr _dev; Vector3f _mag_accum = Vector3f(); uint32_t _accum_count = 0; uint32_t _last_update_timestamp = 0; uint8_t _compass_instance; struct { int8_t x1; int8_t y1; int8_t x2; int8_t y2; uint16_t z1; int16_t z2; int16_t z3; int16_t z4; uint8_t xy1; int8_t xy2; uint16_t xyz1; } _dig; };