#include <AP_Compass_BMM150.h>

Inheritance diagram for AP_Compass_BMM150:

Collaboration diagram for AP_Compass_BMM150:

Public Member Functions
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)

Static Public Attributes
static constexpr const char *	name = "BMM150"

Private Member Functions
	AP_Compass_BMM150 (Compass &compass, AP_HAL::OwnPtr< AP_HAL::Device > dev)

bool	init ()

void	_update ()

bool	_load_trim_values ()

int16_t	_compensate_xy (int16_t xy, uint32_t rhall, int32_t txy1, int32_t txy2)

int16_t	_compensate_z (int16_t z, uint32_t rhall)

Private Attributes
AP_HAL::OwnPtr< AP_HAL::Device >	_dev

Vector3f	_mag_accum

uint32_t	_accum_count

uint8_t	_compass_instance

struct {
int8_t x1

int8_t y1

int8_t x2

int8_t y2

uint16_t z1

int16_t z2

int16_t z3

int16_t z4

uint8_t xy1

int8_t xy2

uint16_t xyz1

}	_dig

uint32_t	_last_read_ms

AP_HAL::Util::perf_counter_t	_perf_err

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 27 of file AP_Compass_BMM150.h.

Constructor & Destructor Documentation

◆ AP_Compass_BMM150()

AP_Compass_BMM150::AP_Compass_BMM150	(	Compass &	compass,
		AP_HAL::OwnPtr< AP_HAL::Device >	dev
	)

private

Definition at line 81 of file AP_Compass_BMM150.cpp.

Referenced by probe().

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Member Function Documentation

◆ _compensate_xy()

int16_t AP_Compass_BMM150::_compensate_xy	(	int16_t	xy,
		uint32_t	rhall,
		int32_t	txy1,
		int32_t	txy2
	)

private

Definition at line 247 of file AP_Compass_BMM150.cpp.

Referenced by _update().

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◆ _compensate_z()

int16_t AP_Compass_BMM150::_compensate_z	(	int16_t	z,
		uint32_t	rhall
	)

private

Definition at line 266 of file AP_Compass_BMM150.cpp.

Referenced by _update().

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◆ _load_trim_values()

bool AP_Compass_BMM150::_load_trim_values ( )

private

Definition at line 88 of file AP_Compass_BMM150.cpp.

Referenced by init().

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◆ _update()

void AP_Compass_BMM150::_update ( )

private

Definition at line 287 of file AP_Compass_BMM150.cpp.

Referenced by init().

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◆ init()

bool AP_Compass_BMM150::init ( void )

private

Device periodic callback to read data from the sensor.

Definition at line 143 of file AP_Compass_BMM150.cpp.

Referenced by probe().

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◆ probe()

AP_Compass_Backend * AP_Compass_BMM150::probe	(	Compass &	compass,
		AP_HAL::OwnPtr< AP_HAL::I2CDevice >	dev
	)

static

Definition at line 66 of file AP_Compass_BMM150.cpp.

Referenced by Compass::_detect_backends().

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◆ read()

void AP_Compass_BMM150::read ( void )

overridevirtual

Implements AP_Compass_Backend.

Definition at line 345 of file AP_Compass_BMM150.cpp.

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Member Data Documentation

◆ _accum_count

uint32_t AP_Compass_BMM150::_accum_count

private

Definition at line 52 of file AP_Compass_BMM150.h.

Referenced by _update(), and read().

◆ _compass_instance

uint8_t AP_Compass_BMM150::_compass_instance

private

Definition at line 54 of file AP_Compass_BMM150.h.

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

◆ _dev

AP_HAL::OwnPtr<AP_HAL::Device> AP_Compass_BMM150::_dev

private

Definition at line 49 of file AP_Compass_BMM150.h.

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

◆ _dig

struct { ... } AP_Compass_BMM150::_dig

Referenced by _compensate_xy(), _compensate_z(), _load_trim_values(), and _update().

◆ _last_read_ms

uint32_t AP_Compass_BMM150::_last_read_ms

private

Definition at line 70 of file AP_Compass_BMM150.h.

Referenced by _update(), and init().

◆ _mag_accum

Vector3f AP_Compass_BMM150::_mag_accum

private

Definition at line 51 of file AP_Compass_BMM150.h.

Referenced by _update(), and read().

◆ _perf_err

AP_HAL::Util::perf_counter_t AP_Compass_BMM150::_perf_err

private

Definition at line 71 of file AP_Compass_BMM150.h.

Referenced by _update(), and init().

◆ name

constexpr const char* AP_Compass_BMM150::name = "BMM150"

static

Definition at line 35 of file AP_Compass_BMM150.h.

Referenced by Compass::_detect_backends().

◆ x1

int8_t AP_Compass_BMM150::x1

Definition at line 57 of file AP_Compass_BMM150.h.

Referenced by _update().

◆ x2

int8_t AP_Compass_BMM150::x2

Definition at line 59 of file AP_Compass_BMM150.h.

◆ xy1

uint8_t AP_Compass_BMM150::xy1

Definition at line 65 of file AP_Compass_BMM150.h.

◆ xy2

int8_t AP_Compass_BMM150::xy2

Definition at line 66 of file AP_Compass_BMM150.h.

◆ xyz1

uint16_t AP_Compass_BMM150::xyz1

Definition at line 67 of file AP_Compass_BMM150.h.

◆ y1

int8_t AP_Compass_BMM150::y1

Definition at line 58 of file AP_Compass_BMM150.h.

◆ y2

int8_t AP_Compass_BMM150::y2

Definition at line 60 of file AP_Compass_BMM150.h.

◆ z1

uint16_t AP_Compass_BMM150::z1

Definition at line 61 of file AP_Compass_BMM150.h.

◆ z2

int16_t AP_Compass_BMM150::z2

Definition at line 62 of file AP_Compass_BMM150.h.

◆ z3

int16_t AP_Compass_BMM150::z3

Definition at line 63 of file AP_Compass_BMM150.h.

◆ z4

int16_t AP_Compass_BMM150::z4

Definition at line 64 of file AP_Compass_BMM150.h.

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

libraries/AP_Compass/AP_Compass_BMM150.h
libraries/AP_Compass/AP_Compass_BMM150.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_BMM150()

Member Function Documentation

◆ _compensate_xy()

◆ _compensate_z()

◆ _load_trim_values()

◆ _update()

◆ init()

◆ probe()

◆ read()

Member Data Documentation

◆ _accum_count

◆ _compass_instance

◆ _dev

◆ _dig

◆ _last_read_ms

◆ _mag_accum

◆ _perf_err

◆ name

◆ x1

◆ x2

◆ xy1

◆ xy2

◆ xyz1

◆ y1

◆ y2

◆ z1

◆ z2

◆ z3

◆ z4