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55 lines
1.3 KiB
55 lines
1.3 KiB
#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/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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class AP_Compass_LSM303D : 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 = "LSM303D"; |
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void read() override; |
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virtual ~AP_Compass_LSM303D() { } |
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private: |
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AP_Compass_LSM303D(AP_HAL::OwnPtr<AP_HAL::Device> dev); |
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bool init(enum Rotation rotation); |
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uint8_t _register_read(uint8_t reg); |
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void _register_write(uint8_t reg, uint8_t val); |
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void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits); |
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bool _block_read(uint8_t reg, uint8_t *buf, uint32_t size); |
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bool _read_sample(); |
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bool _data_ready(); |
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bool _hardware_init(); |
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void _update(); |
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void _disable_i2c(); |
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bool _mag_set_range(uint8_t max_ga); |
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bool _mag_set_samplerate(uint16_t frequency); |
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AP_HAL::DigitalSource *_drdy_pin_m; |
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AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
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float _mag_range_scale; |
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int16_t _mag_x; |
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int16_t _mag_y; |
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int16_t _mag_z; |
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uint8_t _compass_instance; |
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bool _initialised; |
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uint8_t _mag_range_ga; |
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uint8_t _mag_samplerate; |
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uint8_t _reg7_expected; |
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};
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