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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Compass/AP_Compass_MMC3416.h
Views: 1798
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/*

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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_Compass_config.h"

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#if AP_COMPASS_MMC3416_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/I2CDevice.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_MMC3416_I2C_ADDR

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# define HAL_COMPASS_MMC3416_I2C_ADDR 0x30

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#endif

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class AP_Compass_MMC3416 : 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::I2CDevice> dev,

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                                     bool force_external,

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                                     enum Rotation rotation);

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    void read() override;

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    static constexpr const char *name = "MMC3416";

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private:

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    AP_Compass_MMC3416(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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    enum {

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        STATE_REFILL1,

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        STATE_REFILL1_WAIT,

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        STATE_MEASURE_WAIT1,

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        STATE_REFILL2_WAIT,

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        STATE_MEASURE_WAIT2,

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        STATE_MEASURE_WAIT3,

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    } state;

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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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    void accumulate_field(Vector3f &field);

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    uint8_t compass_instance;

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    bool force_external;

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    Vector3f offset;

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    uint16_t measure_count;

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    bool have_initial_offset;

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    uint32_t refill_start_ms;

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    uint32_t last_sample_ms;

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    uint16_t data0[3];

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    enum Rotation rotation;

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};

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#endif  // AP_COMPASS_MMC3416_ENABLED

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