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72 lines
2.0 KiB
72 lines
2.0 KiB
/* |
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* Copyright (C) 2016 Intel Corporation. All rights reserved. |
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* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#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/I2CDevice.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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#define BMM150_I2C_ADDR_MIN 0x10 |
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#define BMM150_I2C_ADDR_MAX 0x13 |
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class AP_Compass_BMM150 : 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::I2CDevice> dev, bool force_external, enum Rotation rotation); |
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void read() override; |
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static constexpr const char *name = "BMM150"; |
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private: |
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AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, bool force_external, enum Rotation rotation); |
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/** |
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* Device periodic callback to read data from the sensor. |
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*/ |
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bool init(); |
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void _update(); |
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bool _load_trim_values(); |
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int16_t _compensate_xy(int16_t xy, uint32_t rhall, int32_t txy1, int32_t txy2) const; |
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int16_t _compensate_z(int16_t z, uint32_t rhall) const; |
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AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
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uint8_t _compass_instance; |
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struct { |
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int8_t x1; |
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int8_t y1; |
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int8_t x2; |
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int8_t y2; |
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uint16_t z1; |
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int16_t z2; |
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int16_t z3; |
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int16_t z4; |
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uint8_t xy1; |
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int8_t xy2; |
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uint16_t xyz1; |
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} _dig; |
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uint32_t _last_read_ms; |
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enum Rotation _rotation; |
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bool _force_external; |
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};
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