mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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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/I2CDevice.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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#ifndef HAL_COMPASS_MMC5xx3_I2C_ADDR
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# define HAL_COMPASS_MMC5xx3_I2C_ADDR 0x30
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#endif
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class AP_Compass_MMC5XX3 : public AP_Compass_Backend
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{
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public:
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static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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bool force_external,
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enum Rotation rotation);
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void read() override;
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static constexpr const char *name = "MMC5883";
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private:
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AP_Compass_MMC5XX3(AP_HAL::OwnPtr<AP_HAL::Device> dev,
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bool force_external,
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enum Rotation rotation);
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AP_HAL::OwnPtr<AP_HAL::Device> dev;
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enum class MMCState {
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STATE_SET,
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STATE_SET_MEASURE,
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STATE_SET_WAIT,
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STATE_RESET_MEASURE,
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STATE_RESET_WAIT,
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STATE_MEASURE,
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} state;
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/**
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* Device periodic callback to read data from the sensor.
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*/
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bool init();
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void timer();
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void accumulate_field(Vector3f &field);
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uint8_t compass_instance;
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bool force_external;
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Vector3f offset;
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uint16_t measure_count;
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bool have_initial_offset;
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uint32_t refill_start_ms;
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uint32_t last_sample_ms;
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uint16_t data0[3];
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enum Rotation rotation;
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};
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