mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.6 KiB
C++
59 lines
1.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include "Compass.h"
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#include "AP_Compass_Backend.h"
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class AP_Compass_LSM303D : public AP_Compass_Backend
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{
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private:
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bool _read_raw(void);
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uint8_t _register_read( uint8_t reg );
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void _register_write( uint8_t reg, uint8_t val );
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void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits);
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bool _data_ready();
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bool _hardware_init(void);
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void _collect_samples();
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void _update();
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void _disable_i2c(void);
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uint8_t _mag_set_range(uint8_t max_ga);
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uint8_t _mag_set_samplerate(uint16_t frequency);
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AP_HAL::SPIDeviceDriver *_spi = nullptr;
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AP_HAL::Semaphore *_spi_sem = nullptr;
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AP_HAL::DigitalSource *_drdy_pin_m = nullptr;
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float _scaling[3] = { 0 };
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bool _initialised = false;
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int16_t _mag_x = 0;
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int16_t _mag_y = 0;
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int16_t _mag_z = 0;
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float _mag_x_accum = 0.0f;
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float _mag_y_accum = 0.0f;
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float _mag_z_accum = 0.0f;
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uint32_t _last_accum_time = 0;
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uint32_t _last_update_timestamp = 0;
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uint8_t _accum_count = 0;
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uint8_t _compass_instance = 0;
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uint8_t _product_id = 0;
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uint8_t _mag_range_ga = 0;
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uint8_t _mag_samplerate = 0;
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uint8_t _reg7_expected = 0;
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float _mag_range_scale = 0.0f;
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public:
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AP_Compass_LSM303D(Compass &compass);
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bool init(void);
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void read(void);
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uint32_t get_dev_id();
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// detect the sensor
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static AP_Compass_Backend *detect_spi(Compass &compass);
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};
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