Book a Demo!
CoCalc Logo Icon
StoreFeaturesDocsShareSupportNewsAboutPoliciesSign UpSign In
Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Compass/AP_Compass_LSM303D.h
9580 views
1
#pragma once

2


3
#include "AP_Compass_config.h"

4


5
#if AP_COMPASS_LSM303D_ENABLED

6


7
#include <AP_Common/AP_Common.h>

8
#include <AP_HAL/AP_HAL.h>

9
#include <AP_HAL/Device.h>

10
#include <AP_Math/AP_Math.h>

11


12
#include "AP_Compass.h"

13
#include "AP_Compass_Backend.h"

14


15
class AP_Compass_LSM303D : public AP_Compass_Backend

16
{

17
public:

18
    static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,

19
                                     enum Rotation rotation);

20


21
    static constexpr const char *name = "LSM303D";

22


23
    void read() override;

24


25
    virtual ~AP_Compass_LSM303D() { }

26


27
private:

28
    AP_Compass_LSM303D(AP_HAL::OwnPtr<AP_HAL::Device> dev);

29


30
    bool init(enum Rotation rotation);

31
    uint8_t _register_read(uint8_t reg);

32
    void _register_write(uint8_t reg, uint8_t val);

33
    void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits);

34
    bool _block_read(uint8_t reg, uint8_t *buf, uint32_t size);

35


36
    bool _read_sample();

37


38
    bool _data_ready();

39
    bool _hardware_init();

40
    void _update();

41
    void _disable_i2c();

42
    bool _mag_set_range(uint8_t max_ga);

43
    bool _mag_set_samplerate(uint16_t frequency);

44


45
    AP_HAL::DigitalSource *_drdy_pin_m;

46
    AP_HAL::OwnPtr<AP_HAL::Device> _dev;

47


48
    float _mag_range_scale;

49
    int16_t _mag_x;

50
    int16_t _mag_y;

51
    int16_t _mag_z;

52


53
    bool _initialised;

54


55
    uint8_t _mag_range_ga;

56
    uint8_t _mag_samplerate;

57
    uint8_t _reg7_expected;

58
};

59


60
#endif  // AP_COMPASS_LSM303D_ENABLED

61


62