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42 lines
1.1 KiB
42 lines
1.1 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_LSM9DS1 : 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 = ROTATION_NONE); |
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static constexpr const char *name = "LSM9DS1"; |
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void read() override; |
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virtual ~AP_Compass_LSM9DS1() {} |
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private: |
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AP_Compass_LSM9DS1(AP_HAL::OwnPtr<AP_HAL::Device> dev, |
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enum Rotation rotation = ROTATION_NONE); |
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bool init(); |
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bool _check_id(void); |
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bool _configure(void); |
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bool _set_scale(void); |
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void _update(void); |
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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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void _dump_registers(); |
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AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
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uint8_t _compass_instance; |
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float _scaling; |
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enum Rotation _rotation; |
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};
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