ardupilot/libraries/AP_Compass/AP_Compass_IST8310.h

66 lines
2.0 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(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
void read() override;
static constexpr const char *name = "IST8310";
private:
AP_Compass_IST8310(Compass &compass,
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;
AP_HAL::Util::perf_counter_t _perf_xfer_err;
AP_HAL::Util::perf_counter_t _perf_bad_data;
Vector3f _accum = Vector3f();
uint32_t _accum_count = 0;
enum Rotation _rotation;
uint8_t _instance;
bool _ignore_next_sample;
bool _force_external;
};