ardupilot/libraries/AP_Compass/AP_Compass_MAG3110.h

53 lines
1022 B
C++

#pragma once
#include "AP_Compass_config.h"
#if AP_COMPASS_MAG3110_ENABLED
#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"
#ifndef HAL_MAG3110_I2C_ADDR
#define HAL_MAG3110_I2C_ADDR 0x0E
#endif
class AP_Compass_MAG3110 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation);
static constexpr const char *name = "MAG3110";
void read() override;
~AP_Compass_MAG3110() { }
private:
AP_Compass_MAG3110(AP_HAL::OwnPtr<AP_HAL::Device> dev);
bool init(enum Rotation rotation);
bool _read_sample();
bool _hardware_init();
void _update();
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
int32_t _mag_x;
int32_t _mag_y;
int32_t _mag_z;
uint8_t _compass_instance;
bool _initialised;
};
#endif // AP_COMPASS_MAG3110_ENABLED