mirror of https://github.com/ArduPilot/ardupilot
79 lines
3.6 KiB
C++
79 lines
3.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AP_Compass_HMC5843_H
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#define AP_Compass_HMC5843_H
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#include <AP_HAL.h>
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#include "../AP_Common/AP_Common.h"
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#include "../AP_Math/AP_Math.h"
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#include "Compass.h"
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// orientations for DIYDrones magnetometer
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD ROTATION_NONE
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45
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#define AP_COMPASS_COMPONENTS_UP_PINS_RIGHT ROTATION_YAW_90
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#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135
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#define AP_COMPASS_COMPONENTS_UP_PINS_BACK ROTATION_YAW_180
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#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225
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#define AP_COMPASS_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_270
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_RIGHT ROTATION_ROLL_180_YAW_90
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK ROTATION_PITCH_180
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180_YAW_270
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315
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#define AP_COMPASS_APM2_SHIELD ROTATION_NONE
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// orientations for Sparkfun magnetometer
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD ROTATION_YAW_270
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_315
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_RIGHT ROTATION_NONE
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_45
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK ROTATION_YAW_90
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_135
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_180
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_225
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180_YAW_90
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_135
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_RIGHT ROTATION_PITCH_180
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_225
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK ROTATION_ROLL_180_YAW_270
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_315
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_45
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class AP_Compass_HMC5843 : public Compass
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{
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private:
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float calibration[3];
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bool _initialised;
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virtual bool read_raw(void);
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uint8_t _base_config;
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virtual bool re_initialise(void);
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bool read_register(uint8_t address, uint8_t *value);
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bool write_register(uint8_t address, uint8_t value);
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uint32_t _retry_time; // when unhealthy the millis() value to retry at
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AP_HAL::Semaphore* _i2c_sem;
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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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int16_t _mag_x_accum;
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int16_t _mag_y_accum;
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int16_t _mag_z_accum;
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uint8_t _accum_count;
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uint32_t _last_accum_time;
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public:
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AP_Compass_HMC5843() : Compass() {
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}
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bool init(void);
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bool read(void);
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void accumulate(void);
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};
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#endif
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