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47 lines
1.4 KiB
47 lines
1.4 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_HAL.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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#include "AP_Compass_Backend.h" |
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class AP_Compass_HMC5843 : public AP_Compass_Backend |
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{ |
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private: |
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float calibration[3]; |
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bool _initialised; |
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bool read_raw(void); |
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uint8_t _base_config; |
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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, uint8_t value); |
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uint32_t _retry_time; // when unhealthy the millis() value to retry at |
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AP_HAL::Semaphore* _i2c_sem; |
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int16_t _mag_x; |
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int16_t _mag_y; |
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int16_t _mag_z; |
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int16_t _mag_x_accum; |
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int16_t _mag_y_accum; |
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int16_t _mag_z_accum; |
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uint8_t _accum_count; |
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uint32_t _last_accum_time; |
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uint8_t _compass_instance; |
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uint8_t _product_id; |
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public: |
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AP_Compass_HMC5843(Compass &compass); |
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bool init(void); |
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void read(void); |
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void accumulate(void); |
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// detect the sensor |
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static AP_Compass_Backend *detect(Compass &compass); |
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}; |
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#endif
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