You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
51 lines
1.2 KiB
51 lines
1.2 KiB
#pragma once |
|
|
|
#include <AP_Common/AP_Common.h> |
|
#include <AP_HAL/AP_HAL.h> |
|
#include <AP_HAL/I2CDevice.h> |
|
#include <AP_HAL/SPIDevice.h> |
|
|
|
#include "AP_Compass.h" |
|
#include "AP_Compass_Backend.h" |
|
|
|
class AP_Compass_BMM150 : public AP_Compass_Backend |
|
{ |
|
public: |
|
static AP_Compass_Backend *probe(Compass &compass, |
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); |
|
|
|
bool init() override; |
|
void read() override; |
|
|
|
static constexpr const char *name = "BMM150"; |
|
|
|
private: |
|
|
|
AP_Compass_BMM150(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev); |
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
|
|
|
Vector3f _mag_accum = Vector3f(); |
|
uint32_t _accum_count = 0; |
|
uint32_t _last_update_timestamp = 0; |
|
|
|
uint8_t _compass_instance; |
|
|
|
void _update(); |
|
|
|
int8_t _dig_x1; |
|
int8_t _dig_y1; |
|
int8_t _dig_x2; |
|
int8_t _dig_y2; |
|
uint16_t _dig_z1; |
|
int16_t _dig_z2; |
|
int16_t _dig_z3; |
|
int16_t _dig_z4; |
|
uint8_t _dig_xy1; |
|
int8_t _dig_xy2; |
|
uint16_t _dig_xyz1; |
|
bool _load_trim_values(); |
|
|
|
int16_t _compensate_xy(int16_t xy, uint32_t rhall, int32_t txy1, int32_t txy2); |
|
int16_t _compensate_z(int16_t z, uint32_t rhall); |
|
};
|
|
|