mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.0 KiB
C++
66 lines
2.0 KiB
C++
/*
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* Copyright (C) 2016 Emlid Ltd. 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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#ifndef HAL_COMPASS_IST8310_I2C_ADDR
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#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E
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#endif
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class AP_Compass_IST8310 : 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 force_external = false,
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enum Rotation rotation = ROTATION_NONE);
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void read() override;
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static constexpr const char *name = "IST8310";
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private:
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AP_Compass_IST8310(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::Device> dev,
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bool force_external,
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enum Rotation rotation);
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void timer();
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bool init();
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void start_conversion();
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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AP_HAL::Device::PeriodicHandle _periodic_handle;
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AP_HAL::Util::perf_counter_t _perf_xfer_err;
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AP_HAL::Util::perf_counter_t _perf_bad_data;
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Vector3f _accum = Vector3f();
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uint32_t _accum_count = 0;
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enum Rotation _rotation;
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uint8_t _instance;
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bool _ignore_next_sample;
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bool _force_external;
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};
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