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65 lines
3.2 KiB
65 lines
3.2 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef AP_Compass_HMC5843_H |
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#define AP_Compass_HMC5843_H |
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#include "../AP_Common/AP_Common.h" |
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#include "../AP_Math/AP_Math.h" |
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#include "Compass.h" |
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// orientations for DIYDrones magnetometer |
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD ROTATION_NONE |
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45 |
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#define AP_COMPASS_COMPONENTS_UP_PINS_RIGHT ROTATION_YAW_90 |
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#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135 |
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#define AP_COMPASS_COMPONENTS_UP_PINS_BACK ROTATION_YAW_180 |
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#define AP_COMPASS_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225 |
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#define AP_COMPASS_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_270 |
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315 |
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180 |
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45 |
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_RIGHT ROTATION_ROLL_180_YAW_90 |
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135 |
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK ROTATION_PITCH_180 |
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225 |
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180_YAW_270 |
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#define AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315 |
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#define AP_COMPASS_APM2_SHIELD ROTATION_NONE |
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// orientations for Sparkfun magnetometer |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD ROTATION_YAW_270 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_315 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_RIGHT ROTATION_NONE |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_45 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK ROTATION_YAW_90 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_135 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_180 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_225 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180_YAW_90 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_135 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_RIGHT ROTATION_PITCH_180 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_225 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK ROTATION_ROLL_180_YAW_270 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_315 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180 |
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#define AP_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_45 |
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class AP_Compass_HMC5843 : public Compass |
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{ |
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private: |
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float calibration[3]; |
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virtual bool read_raw(void); |
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uint8_t _base_config; |
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virtual bool re_initialise(void); |
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bool read_register(uint8_t address, uint8_t *value); |
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bool write_register(uint8_t address, byte value); |
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uint32_t _retry_time; // when unhealthy the millis() value to retry at |
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public: |
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AP_Compass_HMC5843(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {} |
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virtual bool init(void); |
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virtual bool read(void); |
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virtual void set_orientation(const Matrix3f &rotation_matrix); |
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}; |
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#endif
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