mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.7 KiB
C++
59 lines
1.7 KiB
C++
/*
|
|
* Copyright (C) 2016 Emlid Ltd. All rights reserved.
|
|
*
|
|
* This file is free software: you can redistribute it and/or modify it
|
|
* under the terms of the GNU General Public License as published by the
|
|
* Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This file is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/I2CDevice.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
|
|
#include "AP_Compass.h"
|
|
#include "AP_Compass_Backend.h"
|
|
|
|
#ifndef HAL_COMPASS_IST8310_I2C_ADDR
|
|
#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E
|
|
#endif
|
|
|
|
class AP_Compass_IST8310 : public AP_Compass_Backend
|
|
{
|
|
public:
|
|
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
|
|
bool force_external,
|
|
enum Rotation rotation);
|
|
|
|
void read() override;
|
|
|
|
static constexpr const char *name = "IST8310";
|
|
|
|
private:
|
|
AP_Compass_IST8310(AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
|
bool force_external,
|
|
enum Rotation rotation);
|
|
|
|
void timer();
|
|
bool init();
|
|
void start_conversion();
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
|
|
AP_HAL::Device::PeriodicHandle _periodic_handle;
|
|
|
|
enum Rotation _rotation;
|
|
uint8_t _instance;
|
|
bool _ignore_next_sample;
|
|
bool _force_external;
|
|
};
|