ardupilot/libraries/AP_Compass/AP_Compass_LSM9DS1.h

48 lines
1.3 KiB
C++

#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>
#include "AP_Compass.h"
#include "AP_Compass_Backend.h"
class AP_Compass_LSM9DS1 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev);
bool init() override;
void read() override;
virtual ~AP_Compass_LSM9DS1() {}
private:
AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev, uint32_t dev_id);
bool _check_id(void);
bool _configure(void);
bool _set_scale(void);
void _update(void);
void _reset_filter(void);
Vector3f _get_filtered_field() const;
uint8_t _register_read(uint8_t reg);
void _register_write(uint8_t reg, uint8_t val);
void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits);
bool _block_read(uint8_t reg, uint8_t *buf, uint32_t size);
void _dump_registers();
AP_HAL::OwnPtr<AP_HAL::Device> _dev = nullptr;
uint32_t _dev_id = 0;
uint8_t _compass_instance = 0;
float _scaling = 0.0f;
float _mag_x_accum = 0.0f;
float _mag_y_accum = 0.0f;
float _mag_z_accum = 0.0f;
uint32_t _accum_count = 0;
uint32_t _last_update_timestamp;
uint32_t _last_accum_time;
};