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https://github.com/ArduPilot/ardupilot
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13f0aa5ecd
_copy_to_frontend function takes care of abstracting this code from the driver. For now the function takes care of the offset and rotation that is common.
56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Compass driver backend class. Each supported compass sensor type
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needs to have an object derived from this class.
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*/
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#ifndef __AP_COMPASS_BACKEND_H__
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#define __AP_COMPASS_BACKEND_H__
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#include "Compass.h"
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class Compass; // forward declaration
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class AP_Compass_Backend
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{
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public:
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AP_Compass_Backend(Compass &compass);
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// we declare a virtual destructor so that drivers can
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// override with a custom destructor if need be.
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virtual ~AP_Compass_Backend(void) {}
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// initialize the magnetometers
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virtual bool init(void) = 0;
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// read sensor data
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virtual bool read(void) = 0;
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// accumulate a reading from the magnetometer
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virtual void accumulate(void) = 0;
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int16_t product_id; /// product id
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protected:
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virtual bool read_raw(void) = 0;
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virtual bool re_initialise(void) = 0;
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Compass &_compass; ///< access to frontend
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void _copy_to_frontend(uint8_t instance);
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};
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#endif // __AP_COMPASS_BACKEND_H__
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