#include <AP_Compass_AK8963.h>

Inheritance diagram for AP_Compass_AK8963:

Collaboration diagram for AP_Compass_AK8963:

Public Member Functions
virtual	~AP_Compass_AK8963 ()

void	read () override

Public Member Functions inherited from AP_Compass_Backend
	AP_Compass_Backend (Compass &compass)

virtual	~AP_Compass_Backend (void)

virtual void	accumulate (void)

virtual void	handle_mag_msg (Vector3f &mag)

Static Public Member Functions
static AP_Compass_Backend *	probe (Compass &compass, AP_HAL::OwnPtr< AP_HAL::I2CDevice > dev, enum Rotation rotation=ROTATION_NONE)

static AP_Compass_Backend *	probe_mpu9250 (Compass &compass, AP_HAL::OwnPtr< AP_HAL::I2CDevice > dev, enum Rotation rotation=ROTATION_NONE)

static AP_Compass_Backend *	probe_mpu9250 (Compass &compass, uint8_t mpu9250_instance, enum Rotation rotation=ROTATION_NONE)

Static Public Attributes
static constexpr const char *	name = "AK8963"

Private Member Functions
	AP_Compass_AK8963 (Compass &compass, AP_AK8963_BusDriver *bus, enum Rotation rotation=ROTATION_NONE)

bool	init ()

void	_make_factory_sensitivity_adjustment (Vector3f &field) const

void	_make_adc_sensitivity_adjustment (Vector3f &field) const

bool	_reset ()

bool	_setup_mode ()

bool	_check_id ()

bool	_calibrate ()

void	_update ()

Private Attributes
AP_AK8963_BusDriver *	_bus

float	_magnetometer_ASA [3] {0, 0, 0}

float	_mag_x_accum

float	_mag_y_accum

float	_mag_z_accum

uint32_t	_accum_count

uint8_t	_compass_instance

bool	_initialized

enum Rotation	_rotation

Additional Inherited Members
Public Types inherited from AP_Compass_Backend
enum	DevTypes { DEVTYPE_HMC5883_OLD = 0x01, DEVTYPE_HMC5883 = 0x07, DEVTYPE_LSM303D = 0x02, DEVTYPE_AK8963 = 0x04, DEVTYPE_BMM150 = 0x05, DEVTYPE_LSM9DS1 = 0x06, DEVTYPE_LIS3MDL = 0x08, DEVTYPE_AK09916 = 0x09, DEVTYPE_IST8310 = 0x0A, DEVTYPE_ICM20948 = 0x0B, DEVTYPE_MMC3416 = 0x0C, DEVTYPE_QMC5883L = 0x0D, DEVTYPE_MAG3110 = 0x0E }

Protected Member Functions inherited from AP_Compass_Backend
void	rotate_field (Vector3f &mag, uint8_t instance)

void	publish_raw_field (const Vector3f &mag, uint8_t instance)

void	correct_field (Vector3f &mag, uint8_t i)

void	publish_filtered_field (const Vector3f &mag, uint8_t instance)

void	set_last_update_usec (uint32_t last_update, uint8_t instance)

uint8_t	register_compass (void) const

void	set_dev_id (uint8_t instance, uint32_t dev_id)

void	set_external (uint8_t instance, bool external)

bool	is_external (uint8_t instance)

void	set_rotation (uint8_t instance, enum Rotation rotation)

bool	field_ok (const Vector3f &field)

uint32_t	get_error_count () const

Protected Attributes inherited from AP_Compass_Backend
Compass &	_compass

AP_HAL::Semaphore *	_sem

Detailed Description

Definition at line 17 of file AP_Compass_AK8963.h.

Constructor & Destructor Documentation

◆ ~AP_Compass_AK8963()

AP_Compass_AK8963::~AP_Compass_AK8963 ( )

virtual

Definition at line 63 of file AP_Compass_AK8963.cpp.

◆ AP_Compass_AK8963()

AP_Compass_AK8963::AP_Compass_AK8963	(	Compass &	compass,
		AP_AK8963_BusDriver *	bus,
		enum Rotation	rotation = `ROTATION_NONE`
	)

private

Definition at line 55 of file AP_Compass_AK8963.cpp.

Referenced by probe(), and probe_mpu9250().

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Member Function Documentation

◆ _calibrate()

bool AP_Compass_AK8963::_calibrate ( )

private

Definition at line 288 of file AP_Compass_AK8963.cpp.

Referenced by init().

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◆ _check_id()

bool AP_Compass_AK8963::_check_id ( )

private

Definition at line 263 of file AP_Compass_AK8963.cpp.

Referenced by init().

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◆ _make_adc_sensitivity_adjustment()

void AP_Compass_AK8963::_make_adc_sensitivity_adjustment ( Vector3f & field ) const

private

Definition at line 200 of file AP_Compass_AK8963.cpp.

Referenced by _update().

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◆ _make_factory_sensitivity_adjustment()

void AP_Compass_AK8963::_make_factory_sensitivity_adjustment ( Vector3f & field ) const

private

Definition at line 207 of file AP_Compass_AK8963.cpp.

Referenced by _update().

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◆ _reset()

bool AP_Compass_AK8963::_reset ( )

private

Definition at line 282 of file AP_Compass_AK8963.cpp.

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◆ _setup_mode()

bool AP_Compass_AK8963::_setup_mode ( )

private

Definition at line 278 of file AP_Compass_AK8963.cpp.

Referenced by init().

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◆ _update()

void AP_Compass_AK8963::_update ( )

private

Definition at line 214 of file AP_Compass_AK8963.cpp.

Referenced by init().

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◆ init()

bool AP_Compass_AK8963::init ( void )

private

Definition at line 124 of file AP_Compass_AK8963.cpp.

Referenced by probe(), and probe_mpu9250().

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◆ probe()

AP_Compass_Backend * AP_Compass_AK8963::probe	(	Compass &	compass,
		AP_HAL::OwnPtr< AP_HAL::I2CDevice >	dev,
		enum Rotation	rotation = `ROTATION_NONE`
	)

static

Definition at line 68 of file AP_Compass_AK8963.cpp.

Referenced by Compass::_detect_backends(), and probe_mpu9250().

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◆ probe_mpu9250() [1/2]

AP_Compass_Backend * AP_Compass_AK8963::probe_mpu9250	(	Compass &	compass,
		AP_HAL::OwnPtr< AP_HAL::I2CDevice >	dev,
		enum Rotation	rotation = `ROTATION_NONE`
	)

static

Definition at line 89 of file AP_Compass_AK8963.cpp.

Referenced by Compass::_detect_backends().

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◆ probe_mpu9250() [2/2]

AP_Compass_Backend * AP_Compass_AK8963::probe_mpu9250	(	Compass &	compass,
		uint8_t	mpu9250_instance,
		enum Rotation	rotation = `ROTATION_NONE`
	)

static

Definition at line 104 of file AP_Compass_AK8963.cpp.

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◆ read()

void AP_Compass_AK8963::read ( void )

overridevirtual

Implements AP_Compass_Backend.

Definition at line 179 of file AP_Compass_AK8963.cpp.

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Member Data Documentation

◆ _accum_count

uint32_t AP_Compass_AK8963::_accum_count

private

Definition at line 61 of file AP_Compass_AK8963.h.

Referenced by _update(), and read().

◆ _bus

AP_AK8963_BusDriver* AP_Compass_AK8963::_bus

private

Definition at line 55 of file AP_Compass_AK8963.h.

Referenced by _calibrate(), _check_id(), _reset(), _setup_mode(), _update(), init(), and ~AP_Compass_AK8963().

◆ _compass_instance

uint8_t AP_Compass_AK8963::_compass_instance

private

Definition at line 63 of file AP_Compass_AK8963.h.

Referenced by _update(), init(), and read().

◆ _initialized

bool AP_Compass_AK8963::_initialized

private

Definition at line 64 of file AP_Compass_AK8963.h.

Referenced by init(), and read().

◆ _mag_x_accum

float AP_Compass_AK8963::_mag_x_accum

private

Definition at line 58 of file AP_Compass_AK8963.h.

Referenced by _update(), and read().

◆ _mag_y_accum

float AP_Compass_AK8963::_mag_y_accum

private

Definition at line 59 of file AP_Compass_AK8963.h.

Referenced by _update(), and read().

◆ _mag_z_accum

float AP_Compass_AK8963::_mag_z_accum

private

Definition at line 60 of file AP_Compass_AK8963.h.

Referenced by _update(), and read().

◆ _magnetometer_ASA

float AP_Compass_AK8963::_magnetometer_ASA[3] {0, 0, 0}

private

Definition at line 57 of file AP_Compass_AK8963.h.

Referenced by _calibrate(), and _make_factory_sensitivity_adjustment().

◆ _rotation

enum Rotation AP_Compass_AK8963::_rotation

private

Definition at line 65 of file AP_Compass_AK8963.h.

Referenced by init().

◆ name

constexpr const char* AP_Compass_AK8963::name = "AK8963"

static

Definition at line 34 of file AP_Compass_AK8963.h.

Referenced by Compass::_detect_backends().

The documentation for this class was generated from the following files:

libraries/AP_Compass/AP_Compass_AK8963.h
libraries/AP_Compass/AP_Compass_AK8963.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~AP_Compass_AK8963()

◆ AP_Compass_AK8963()

Member Function Documentation

◆ _calibrate()

◆ _check_id()

◆ _make_adc_sensitivity_adjustment()

◆ _make_factory_sensitivity_adjustment()

◆ _reset()

◆ _setup_mode()

◆ _update()

◆ init()

◆ probe()

◆ probe_mpu9250() [1/2]

◆ probe_mpu9250() [2/2]

◆ read()

Member Data Documentation

◆ _accum_count

◆ _bus

◆ _compass_instance

◆ _initialized

◆ _mag_x_accum

◆ _mag_y_accum

◆ _mag_z_accum

◆ _magnetometer_ASA

◆ _rotation

◆ name