ardupilot/libraries/AP_Compass/AP_Compass_MMC5xx3.h

75 lines
2.0 KiB
C++

/*
* 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 <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_Math/AP_Math.h>
#include "AP_Compass.h"
#include "AP_Compass_Backend.h"
#ifndef HAL_COMPASS_MMC5xx3_I2C_ADDR
# define HAL_COMPASS_MMC5xx3_I2C_ADDR 0x30
#endif
class AP_Compass_MMC5XX3 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation);
void read() override;
static constexpr const char *name = "MMC5883";
private:
AP_Compass_MMC5XX3(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);
AP_HAL::OwnPtr<AP_HAL::Device> dev;
enum class MMCState {
STATE_SET,
STATE_SET_MEASURE,
STATE_SET_WAIT,
STATE_RESET_MEASURE,
STATE_RESET_WAIT,
STATE_MEASURE,
} state;
/**
* Device periodic callback to read data from the sensor.
*/
bool init();
void timer();
void accumulate_field(Vector3f &field);
uint8_t compass_instance;
bool force_external;
Vector3f offset;
uint16_t measure_count;
bool have_initial_offset;
uint32_t refill_start_ms;
uint32_t last_sample_ms;
uint16_t data0[3];
enum Rotation rotation;
};