ardupilot/libraries/AP_Compass/AP_Compass_BMM150.h

73 lines
2.1 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* 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;
};