mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.2 KiB
C++
46 lines
1.2 KiB
C++
#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/Device.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_LSM9DS1 : 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::Device> dev);
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static constexpr const char *name = "LSM9DS1";
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bool init() override;
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void read() override;
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virtual ~AP_Compass_LSM9DS1() {}
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private:
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AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev, uint32_t dev_id);
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bool _check_id(void);
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bool _configure(void);
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bool _set_scale(void);
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bool _update(void);
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uint8_t _register_read(uint8_t reg);
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void _register_write(uint8_t reg, uint8_t val);
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void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits);
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bool _block_read(uint8_t reg, uint8_t *buf, uint32_t size);
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void _dump_registers();
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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uint32_t _dev_id;
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uint8_t _compass_instance;
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float _scaling;
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float _mag_x_accum;
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float _mag_y_accum;
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float _mag_z_accum;
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uint32_t _accum_count;
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};
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