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52 lines
1.2 KiB
52 lines
1.2 KiB
9 years ago
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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_HAL/SPIDevice.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_BMM150 : public AP_Compass_Backend
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{
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public:
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static AP_Compass_Backend *probe(Compass &compass,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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bool init() override;
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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(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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Vector3f _mag_accum = Vector3f();
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uint32_t _accum_count = 0;
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uint32_t _last_update_timestamp = 0;
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uint8_t _compass_instance;
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void _update();
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int8_t _dig_x1;
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int8_t _dig_y1;
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int8_t _dig_x2;
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int8_t _dig_y2;
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uint16_t _dig_z1;
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int16_t _dig_z2;
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int16_t _dig_z3;
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int16_t _dig_z4;
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uint8_t _dig_xy1;
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int8_t _dig_xy2;
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uint16_t _dig_xyz1;
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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);
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int16_t _compensate_z(int16_t z, uint32_t rhall);
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};
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