mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.0 KiB
C++
72 lines
2.0 KiB
C++
/*
|
|
* Copyright (C) 2016 Intel Corporation. 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"
|
|
|
|
class AP_Compass_BMM150 : public AP_Compass_Backend
|
|
{
|
|
public:
|
|
static AP_Compass_Backend *probe(Compass &compass,
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
|
|
|
|
bool init() override;
|
|
void read() override;
|
|
|
|
static constexpr const char *name = "BMM150";
|
|
|
|
private:
|
|
AP_Compass_BMM150(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
|
|
|
|
/**
|
|
* Device periodic callback to read data from the sensor.
|
|
*/
|
|
bool _update();
|
|
bool _load_trim_values();
|
|
int16_t _compensate_xy(int16_t xy, uint32_t rhall, int32_t txy1, int32_t txy2);
|
|
int16_t _compensate_z(int16_t z, uint32_t rhall);
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
|
|
|
|
AP_HAL::Semaphore *_accum_sem;
|
|
Vector3f _mag_accum = Vector3f();
|
|
uint32_t _accum_count = 0;
|
|
uint32_t _last_update_timestamp = 0;
|
|
|
|
uint8_t _compass_instance;
|
|
|
|
struct {
|
|
int8_t x1;
|
|
int8_t y1;
|
|
int8_t x2;
|
|
int8_t y2;
|
|
uint16_t z1;
|
|
int16_t z2;
|
|
int16_t z3;
|
|
int16_t z4;
|
|
uint8_t xy1;
|
|
int8_t xy2;
|
|
uint16_t xyz1;
|
|
} _dig;
|
|
};
|