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66 lines
2.0 KiB
66 lines
2.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Compass driver backend class. Each supported compass sensor type |
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needs to have an object derived from this class. |
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*/ |
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#ifndef __AP_COMPASS_BACKEND_H__ |
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#define __AP_COMPASS_BACKEND_H__ |
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#include "Compass.h" |
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class Compass; // forward declaration |
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class AP_Compass_Backend |
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{ |
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public: |
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AP_Compass_Backend(Compass &compass); |
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// we declare a virtual destructor so that drivers can |
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// override with a custom destructor if need be. |
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virtual ~AP_Compass_Backend(void) {} |
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// initialize the magnetometers |
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virtual bool init(void) = 0; |
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// read sensor data |
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virtual void read(void) = 0; |
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// accumulate a reading from the magnetometer. Optional in |
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// backends |
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virtual void accumulate(void) {}; |
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protected: |
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// publish a magnetic field vector to the frontend |
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void publish_field(const Vector3f &mag, uint8_t instance); |
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// register a new compass instance with the frontend |
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uint8_t register_compass(void) const; |
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// set dev_id for an instance |
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void set_dev_id(uint8_t instance, uint32_t dev_id); |
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// set external state for an instance |
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void set_external(uint8_t instance, bool external); |
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// access to frontend |
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Compass &_compass; |
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private: |
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void apply_corrections(Vector3f &mag, uint8_t i); |
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}; |
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#endif // __AP_COMPASS_BACKEND_H__
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