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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Compass/AP_Compass_QMC5883L.h
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/*

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 * Copyright (C) 2016  Emlid Ltd. All rights reserved.

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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_QMC5883L_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_COMPASS_QMC5883L_I2C_ADDR

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#define HAL_COMPASS_QMC5883L_I2C_ADDR 0x0D

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#endif

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/*

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  setup default orientations

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 */

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#ifndef HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL

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#define HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL ROTATION_ROLL_180

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#endif

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#ifndef HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL

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#define HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL ROTATION_ROLL_180_YAW_270

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#endif

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class AP_Compass_QMC5883L : 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,

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                                     enum Rotation rotation);

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    void read() override;

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    static constexpr const char *name = "QMC5883L";

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private:

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    AP_Compass_QMC5883L(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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    void _dump_registers();

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    bool _check_whoami();

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    void timer();

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    bool init();

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

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    enum Rotation _rotation;

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    bool _force_external;

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};

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#endif  // AP_COMPASS_QMC5883L_ENABLED

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