ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_MPU9250_H__
#define __AP_INERTIAL_SENSOR_MPU9250_H__
#include <stdint.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_Progmem/AP_Progmem.h>
#include <Filter/Filter.h>
#include <Filter/LowPassFilter2p.h>
#include "AP_InertialSensor.h"
// enable debug to see a register dump on startup
#define MPU9250_DEBUG 0
class AP_InertialSensor_MPU9250 : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_MPU9250(AP_InertialSensor &imu);
/* update accel and gyro state */
bool update();
bool gyro_sample_available(void) { return _have_sample_available; }
bool accel_sample_available(void) { return _have_sample_available; }
/* Put the MPU9250 in a known state so it can be
* used both for the InertialSensor and as for backend of other drivers.
*
* The SPI semaphore must be taken and timer_procs suspended.
*
* This method puts the bus in low speed. If the initialization is
* successful the bus is left on low speed so the caller can finish the
* initialization of its driver.
*/
static bool initialize_driver_state();
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
private:
static uint8_t _register_read(AP_HAL::SPIDeviceDriver *spi, uint8_t reg);
static void _register_write(AP_HAL::SPIDeviceDriver *spi, uint8_t reg,
uint8_t val);
bool _init_sensor(void);
void _read_data_transaction();
bool _data_ready();
void _poll_data(void);
uint8_t _register_read( uint8_t reg );
void _register_write( uint8_t reg, uint8_t val );
bool _hardware_init(void);
bool _sample_available();
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
// support for updating filter at runtime
int16_t _last_gyro_filter_hz;
int16_t _last_accel_filter_hz;
// change the filter frequency
void _set_accel_filter(uint8_t filter_hz);
void _set_gyro_filter(uint8_t filter_hz);
// This structure is used to pass data from the timer which reads
// the sensor to the main thread. The _shared_data_idx is used to
// prevent race conditions by ensuring the data is fully updated
// before being used by the consumer
struct {
Vector3f _accel_filtered;
Vector3f _gyro_filtered;
} _shared_data[2];
volatile uint8_t _shared_data_idx;
// Low Pass filters for gyro and accel
LowPassFilter2pVector3f _accel_filter;
LowPassFilter2pVector3f _gyro_filter;
// do we currently have a sample pending?
bool _have_sample_available;
// gyro and accel instances
uint8_t _gyro_instance;
uint8_t _accel_instance;
// The default rotation for the IMU, its value depends on how the IMU is
// placed by default on the system
enum Rotation _default_rotation;
#if MPU9250_DEBUG
static void _dump_registers(AP_HAL::SPIDeviceDriver *spi);
#endif
};
#endif // __AP_INERTIAL_SENSOR_MPU9250_H__