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60 lines
1.7 KiB
60 lines
1.7 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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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/Device.h> |
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#include <AP_Math/AP_Math.h> |
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#include "AP_Compass.h" |
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#include "AP_Compass_Backend.h" |
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#ifndef HAL_COMPASS_LIS3MDL_I2C_ADDR |
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# define HAL_COMPASS_LIS3MDL_I2C_ADDR 0x1c |
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#endif |
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#ifndef HAL_COMPASS_LIS3MDL_I2C_ADDR2 |
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# define HAL_COMPASS_LIS3MDL_I2C_ADDR2 0x1e |
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#endif |
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class AP_Compass_LIS3MDL : public AP_Compass_Backend |
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{ |
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public: |
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static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev, |
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bool force_external = false, |
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enum Rotation rotation = ROTATION_NONE); |
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void read() override; |
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static constexpr const char *name = "LIS3MDL"; |
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private: |
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AP_Compass_LIS3MDL(AP_HAL::OwnPtr<AP_HAL::Device> dev, |
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bool force_external, |
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enum Rotation rotation); |
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AP_HAL::OwnPtr<AP_HAL::Device> dev; |
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/** |
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* Device periodic callback to read data from the sensor. |
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*/ |
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bool init(); |
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void timer(); |
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uint8_t compass_instance; |
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bool force_external; |
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enum Rotation rotation; |
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};
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