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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Compass/AP_Compass_MAG3110.h
Views: 1798
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#pragma once

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#include "AP_Compass_config.h"

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#if AP_COMPASS_MAG3110_ENABLED

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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);

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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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#endif  // AP_COMPASS_MAG3110_ENABLED

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