#include <AP_Compass_MMC3416.h>

Inheritance diagram for AP_Compass_MMC3416:

Collaboration diagram for AP_Compass_MMC3416:

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, bool force_external=false, enum Rotation rotation=ROTATION_NONE)

Static Public Attributes
static constexpr const char *	name = "MMC3416"

Private Types
enum	{ STATE_REFILL1, STATE_REFILL1_WAIT, STATE_MEASURE_WAIT1, STATE_REFILL2_WAIT, STATE_MEASURE_WAIT2, STATE_MEASURE_WAIT3 }

Private Member Functions
	AP_Compass_MMC3416 (Compass &compass, AP_HAL::OwnPtr< AP_HAL::Device > dev, bool force_external, enum Rotation rotation)

bool	init ()

void	timer ()

void	accumulate_field (Vector3f &field)

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

enum AP_Compass_MMC3416:: { ... }	state

uint8_t	compass_instance

Vector3f	accum

uint16_t	accum_count

bool	force_external

Vector3f	offset

uint16_t	measure_count

bool	have_initial_offset

uint32_t	refill_start_ms

uint32_t	last_sample_ms

uint16_t	data0 [3]

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 29 of file AP_Compass_MMC3416.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
STATE_REFILL1
STATE_REFILL1_WAIT
STATE_MEASURE_WAIT1
STATE_REFILL2_WAIT
STATE_MEASURE_WAIT2
STATE_MEASURE_WAIT3

Definition at line 48 of file AP_Compass_MMC3416.h.

Constructor & Destructor Documentation

◆ AP_Compass_MMC3416()

AP_Compass_MMC3416::AP_Compass_MMC3416	(	Compass &	compass,
		AP_HAL::OwnPtr< AP_HAL::Device >	dev,
		bool	force_external,
		enum Rotation	rotation
	)

private

Definition at line 61 of file AP_Compass_MMC3416.cpp.

Referenced by probe().

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Member Function Documentation

◆ accumulate_field()

void AP_Compass_MMC3416::accumulate_field ( Vector3f & field )

private

Definition at line 288 of file AP_Compass_MMC3416.cpp.

Referenced by timer().

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◆ init()

bool AP_Compass_MMC3416::init ( void )

private

Device periodic callback to read data from the sensor.

Definition at line 72 of file AP_Compass_MMC3416.cpp.

Referenced by probe().

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◆ probe()

AP_Compass_Backend * AP_Compass_MMC3416::probe	(	Compass &	compass,
		AP_HAL::OwnPtr< AP_HAL::I2CDevice >	dev,
		bool	force_external = `false`,
		enum Rotation	rotation = `ROTATION_NONE`
	)

static

Definition at line 44 of file AP_Compass_MMC3416.cpp.

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◆ read()

void AP_Compass_MMC3416::read ( void )

overridevirtual

Implements AP_Compass_Backend.

Definition at line 315 of file AP_Compass_MMC3416.cpp.

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◆ timer()

void AP_Compass_MMC3416::timer ( void )

private

Definition at line 123 of file AP_Compass_MMC3416.cpp.

Referenced by init().

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Member Data Documentation

◆ accum

Vector3f AP_Compass_MMC3416::accum

private

Definition at line 65 of file AP_Compass_MMC3416.h.

Referenced by accumulate_field(), and read().

◆ accum_count

uint16_t AP_Compass_MMC3416::accum_count

private

Definition at line 66 of file AP_Compass_MMC3416.h.

Referenced by accumulate_field(), and read().

◆ compass_instance

uint8_t AP_Compass_MMC3416::compass_instance

private

Definition at line 64 of file AP_Compass_MMC3416.h.

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

◆ data0

uint16_t AP_Compass_MMC3416::data0[3]

private

Definition at line 74 of file AP_Compass_MMC3416.h.

Referenced by timer().

◆ dev

AP_HAL::OwnPtr<AP_HAL::Device> AP_Compass_MMC3416::dev

private

Definition at line 46 of file AP_Compass_MMC3416.h.

Referenced by init(), and timer().

◆ force_external

bool AP_Compass_MMC3416::force_external

private

Definition at line 67 of file AP_Compass_MMC3416.h.

Referenced by init().

◆ have_initial_offset

bool AP_Compass_MMC3416::have_initial_offset

private

Definition at line 70 of file AP_Compass_MMC3416.h.

Referenced by timer().

◆ last_sample_ms

uint32_t AP_Compass_MMC3416::last_sample_ms

private

Definition at line 72 of file AP_Compass_MMC3416.h.

Referenced by accumulate_field(), and timer().

◆ measure_count

uint16_t AP_Compass_MMC3416::measure_count

private

Definition at line 69 of file AP_Compass_MMC3416.h.

Referenced by timer().

◆ name

constexpr const char* AP_Compass_MMC3416::name = "MMC3416"

static

Definition at line 39 of file AP_Compass_MMC3416.h.

◆ offset

Vector3f AP_Compass_MMC3416::offset

private

Definition at line 68 of file AP_Compass_MMC3416.h.

Referenced by timer().

◆ refill_start_ms

uint32_t AP_Compass_MMC3416::refill_start_ms

private

Definition at line 71 of file AP_Compass_MMC3416.h.

Referenced by timer().

◆ rotation

enum Rotation AP_Compass_MMC3416::rotation

private

Definition at line 76 of file AP_Compass_MMC3416.h.

Referenced by init().

◆ state

enum { ... } AP_Compass_MMC3416::state

Referenced by timer().

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

libraries/AP_Compass/AP_Compass_MMC3416.h
libraries/AP_Compass/AP_Compass_MMC3416.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ AP_Compass_MMC3416()

Member Function Documentation

◆ accumulate_field()

◆ init()

◆ probe()

◆ read()

◆ timer()

Member Data Documentation

◆ accum

◆ accum_count

◆ compass_instance

◆ data0

◆ dev

◆ force_external

◆ have_initial_offset

◆ last_sample_ms

◆ measure_count

◆ name

◆ offset

◆ refill_start_ms

◆ rotation

◆ state