mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.2 KiB
C
69 lines
2.2 KiB
C
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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IMU driver backend class
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*/
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#ifndef __AP_INERTIALSENSOR_BACKEND_H__
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#define __AP_INERTIALSENSOR_BACKEND_H__
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class AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_Backend(AP_InertialSensor &imu, Vector3f &gyro, Vector3f &accel);
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// we declare a virtual destructor so that drivers can
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// override with a custom destructor if need be.
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virtual ~AP_InertialSensor_Backend(void) {}
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/*
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* Update the sensor data. Called by the frontend to transfer
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* accumulated sensor readings to the frontend structure
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*/
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virtual bool update() = 0;
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/*
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* return true if at least one accel sample is available in the backend
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* since the last call to update()
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*/
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virtual bool accel_sample_available() = 0;
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/*
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* return true if at least one gyro sample is available in the backend
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* since the last call to update()
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*/
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virtual bool gyro_sample_available() = 0;
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protected:
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AP_InertialSensor &_imu; ///< access to frontend
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// references to instance vectors
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Vector3f &_gyro;
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Vector3f &_accel;
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// rotate gyro vector and offset
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void _rotate_and_offset_gyro(uint8_t instance, uint32_t now);
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// rotate accel vector, scale and offset
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void _rotate_and_offset_accel(uint8_t instance, uint32_t now);
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// note that each backend is also expected to have a detect()
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// function which instantiates an instance of the backend sensor
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// driver.
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};
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#endif // __AP_INERTIALSENSOR_BACKEND_H__
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