You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
58 lines
1.7 KiB
58 lines
1.7 KiB
/* |
|
* 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(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, |
|
bool force_external, |
|
enum Rotation rotation); |
|
|
|
void read() override; |
|
|
|
static constexpr const char *name = "IST8310"; |
|
|
|
private: |
|
AP_Compass_IST8310(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; |
|
|
|
enum Rotation _rotation; |
|
uint8_t _instance; |
|
bool _ignore_next_sample; |
|
bool _force_external; |
|
};
|
|
|