mirror of https://github.com/ArduPilot/ardupilot
53 lines
1022 B
C++
53 lines
1022 B
C++
#pragma once
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#include "AP_Compass_config.h"
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#if AP_COMPASS_MAG3110_ENABLED
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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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#ifndef HAL_MAG3110_I2C_ADDR
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#define HAL_MAG3110_I2C_ADDR 0x0E
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#endif
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class AP_Compass_MAG3110 : 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::Device> dev,
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enum Rotation rotation);
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static constexpr const char *name = "MAG3110";
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void read() override;
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~AP_Compass_MAG3110() { }
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private:
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AP_Compass_MAG3110(AP_HAL::OwnPtr<AP_HAL::Device> dev);
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bool init(enum Rotation rotation);
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bool _read_sample();
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bool _hardware_init();
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void _update();
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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int32_t _mag_x;
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int32_t _mag_y;
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int32_t _mag_z;
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uint8_t _compass_instance;
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bool _initialised;
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};
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#endif // AP_COMPASS_MAG3110_ENABLED
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