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58 lines
1.6 KiB
58 lines
1.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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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_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_LSM303D : public AP_Compass_Backend |
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{ |
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private: |
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bool _read_raw(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 _data_ready(); |
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bool _hardware_init(void); |
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void _collect_samples(); |
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void _update(); |
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void _disable_i2c(void); |
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uint8_t _mag_set_range(uint8_t max_ga); |
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uint8_t _mag_set_samplerate(uint16_t frequency); |
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AP_HAL::SPIDeviceDriver *_spi = nullptr; |
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AP_HAL::Semaphore *_spi_sem = nullptr; |
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AP_HAL::DigitalSource *_drdy_pin_m = nullptr; |
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float _scaling[3] = { 0 }; |
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bool _initialised = false; |
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int16_t _mag_x = 0; |
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int16_t _mag_y = 0; |
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int16_t _mag_z = 0; |
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float _mag_x_accum = 0.0f; |
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float _mag_y_accum = 0.0f; |
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float _mag_z_accum = 0.0f; |
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uint32_t _last_accum_time = 0; |
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uint32_t _last_update_timestamp = 0; |
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uint8_t _accum_count = 0; |
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uint8_t _compass_instance = 0; |
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uint8_t _product_id = 0; |
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uint8_t _mag_range_ga = 0; |
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uint8_t _mag_samplerate = 0; |
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uint8_t _reg7_expected = 0; |
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float _mag_range_scale = 0.0f; |
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public: |
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AP_Compass_LSM303D(Compass &compass); |
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bool init(void); |
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void read(void); |
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uint32_t get_dev_id(); |
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// detect the sensor |
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static AP_Compass_Backend *detect_spi(Compass &compass); |
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};
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