mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.5 KiB
C++
62 lines
1.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#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_LSM303D : 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 = "LSM303D";
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bool init() override;
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void read() override;
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virtual ~AP_Compass_LSM303D() { }
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private:
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AP_Compass_LSM303D(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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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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bool _read_sample();
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bool _data_ready();
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bool _hardware_init();
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void _update();
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void _disable_i2c();
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bool _mag_set_range(uint8_t max_ga);
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bool _mag_set_samplerate(uint16_t frequency);
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AP_HAL::DigitalSource *_drdy_pin_m;
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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float _mag_range_scale;
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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 _last_update_timestamp;
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int16_t _mag_x;
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int16_t _mag_y;
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int16_t _mag_z;
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uint8_t _accum_count;
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uint8_t _compass_instance;
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bool _initialised;
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uint8_t _mag_range_ga;
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uint8_t _mag_samplerate;
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uint8_t _reg7_expected;
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};
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