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46 lines
926 B
46 lines
926 B
#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_MAG3110_I2C_ADDR |
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#define HAL_MAG3110_I2C_ADDR 0x0E |
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#endif |
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class AP_Compass_MAG3110 : 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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enum Rotation = ROTATION_NONE); |
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static constexpr const char *name = "MAG3110"; |
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void read() override; |
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~AP_Compass_MAG3110() { } |
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private: |
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AP_Compass_MAG3110(AP_HAL::OwnPtr<AP_HAL::Device> dev); |
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bool init(enum Rotation rotation); |
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bool _read_sample(); |
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bool _hardware_init(); |
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void _update(); |
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AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
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int32_t _mag_x; |
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int32_t _mag_y; |
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int32_t _mag_z; |
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uint8_t _compass_instance; |
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bool _initialised; |
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};
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