mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
/*
|
|
* 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_MMC5xx3_I2C_ADDR
|
|
# define HAL_COMPASS_MMC5xx3_I2C_ADDR 0x30
|
|
#endif
|
|
|
|
class AP_Compass_MMC5XX3 : public AP_Compass_Backend
|
|
{
|
|
public:
|
|
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
|
bool force_external,
|
|
enum Rotation rotation);
|
|
|
|
void read() override;
|
|
|
|
static constexpr const char *name = "MMC5983";
|
|
|
|
private:
|
|
AP_Compass_MMC5XX3(AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
|
bool force_external,
|
|
enum Rotation rotation);
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev;
|
|
|
|
enum class MMCState {
|
|
STATE_SET,
|
|
STATE_SET_MEASURE,
|
|
STATE_SET_WAIT,
|
|
STATE_RESET_MEASURE,
|
|
STATE_RESET_WAIT,
|
|
STATE_MEASURE,
|
|
} state;
|
|
|
|
/**
|
|
* Device periodic callback to read data from the sensor.
|
|
*/
|
|
bool init();
|
|
void timer();
|
|
void accumulate_field(Vector3f &field);
|
|
|
|
uint8_t compass_instance;
|
|
bool force_external;
|
|
Vector3f offset;
|
|
uint16_t measure_count;
|
|
bool have_initial_offset;
|
|
uint32_t refill_start_ms;
|
|
uint32_t last_sample_ms;
|
|
|
|
uint8_t data0[6];
|
|
|
|
enum Rotation rotation;
|
|
};
|