mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.1 KiB
C++
73 lines
2.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* Copyright (C) 2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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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_HAL/I2CDevice.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_Compass.h"
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#include "AP_Compass_Backend.h"
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class AP_Compass_BMM150 : public AP_Compass_Backend
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{
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public:
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static AP_Compass_Backend *probe(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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bool init() override;
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void read() override;
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static constexpr const char *name = "BMM150";
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private:
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AP_Compass_BMM150(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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/**
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* Device periodic callback to read data from the sensor.
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*/
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bool _update();
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bool _load_trim_values();
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int16_t _compensate_xy(int16_t xy, uint32_t rhall, int32_t txy1, int32_t txy2);
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int16_t _compensate_z(int16_t z, uint32_t rhall);
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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AP_HAL::Semaphore *_accum_sem;
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Vector3f _mag_accum = Vector3f();
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uint32_t _accum_count = 0;
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uint32_t _last_update_timestamp = 0;
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uint8_t _compass_instance;
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struct {
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int8_t x1;
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int8_t y1;
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int8_t x2;
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int8_t y2;
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uint16_t z1;
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int16_t z2;
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int16_t z3;
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int16_t z4;
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uint8_t xy1;
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int8_t xy2;
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uint16_t xyz1;
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} _dig;
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};
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