2014-10-14 01:48:33 -03:00
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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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2014-10-15 23:31:21 -03:00
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IMU driver backend class. Each supported gyro/accel sensor type
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needs to have an object derived from this class.
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Note that drivers can implement just gyros or just accels, and can
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also provide multiple gyro/accel instances.
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2014-10-14 01:48:33 -03:00
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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 AuxiliaryBus;
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2014-10-14 01:48:33 -03:00
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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);
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AP_InertialSensor_Backend(const AP_InertialSensor_Backend &that) = delete;
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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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2014-10-15 20:32:40 -03:00
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* accumulated sensor readings to the frontend structure via the
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* _publish_gyro() and _publish_accel() functions
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*/
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virtual bool update() = 0;
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2015-11-15 20:38:43 -04:00
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/*
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* optional function to accumulate more samples. This is needed for drivers that don't use a timer to gather samples
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*/
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virtual void accumulate() {}
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2015-08-05 10:01:52 -03:00
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/*
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* Configure and start all sensors. The empty implementation allows
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* subclasses to already start the sensors when it's detected
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*/
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virtual void start() { }
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/*
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* Return an AuxiliaryBus if backend has another bus it is able to export
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*/
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virtual AuxiliaryBus *get_auxiliary_bus() { return nullptr; }
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2014-10-15 23:14:56 -03:00
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/*
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return the product ID
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*/
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int16_t product_id(void) const { return _product_id; }
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int16_t get_id() const { return _id; }
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protected:
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// access to frontend
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AP_InertialSensor &_imu;
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2015-02-17 02:54:17 -04:00
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void _rotate_and_correct_accel(uint8_t instance, Vector3f &accel);
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void _rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro);
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2015-02-17 02:50:59 -04:00
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// rotate gyro vector, offset and publish
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void _publish_gyro(uint8_t instance, const Vector3f &gyro);
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2015-09-08 14:05:37 -03:00
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// this should be called every time a new gyro raw sample is available -
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// be it published or not
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// the sample is raw in the sense that it's not filtered yet, but it must
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// be rotated and corrected (_rotate_and_correct_gyro)
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2015-11-15 20:58:08 -04:00
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void _notify_new_gyro_raw_sample(uint8_t instance, const Vector3f &accel, uint64_t sample_us=0);
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2015-02-17 02:50:59 -04:00
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// rotate accel vector, scale, offset and publish
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void _publish_accel(uint8_t instance, const Vector3f &accel);
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2015-08-27 16:05:13 -03:00
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// this should be called every time a new accel raw sample is available -
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// be it published or not
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// the sample is raw in the sense that it's not filtered yet, but it must
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// be rotated and corrected (_rotate_and_correct_accel)
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void _notify_new_accel_raw_sample(uint8_t instance, const Vector3f &accel, uint64_t sample_us=0);
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2015-08-27 16:05:13 -03:00
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2015-06-09 17:47:16 -03:00
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// set accelerometer max absolute offset for calibration
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2015-06-29 21:51:43 -03:00
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void _set_accel_max_abs_offset(uint8_t instance, float offset);
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2015-06-09 17:47:16 -03:00
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2015-11-15 20:05:20 -04:00
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// get accelerometer raw sample rate
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AP_InertialSensor: use raw sample rate terminology
In order to avoid confusion between sample rate from sensor and sample rate
from the frontend class (AP_InertialSensor), use "raw sample rate" to refer to
the former.
The changes in the code were basically done with the following commands:
git grep -wl _accel_sample_rates | xargs sed -i "s,\<_accel_sample_rates\>,_accel_raw_sample_rates,g"
git grep -wl _set_accel_sample_rate | xargs sed -i "s,\<_set_accel_sample_rate\>,_set_accel_raw_sample_rate,g"
git grep -wl _accel_sample_rate | xargs sed -i "s,\<_accel_sample_rate\>,_accel_raw_sample_rate,g"
git grep -wl _gyro_sample_rates | xargs sed -i "s,\<_gyro_sample_rates\>,_gyro_raw_sample_rates,g"
git grep -wl _set_gyro_sample_rate | xargs sed -i "s,\<_set_gyro_sample_rate\>,_set_gyro_raw_sample_rate,g"
git grep -wl _gyro_sample_rate | xargs sed -i "s,\<_gyro_sample_rate\>,_gyro_raw_sample_rate,g"
And also with minor changes on indentation and comments.
2015-09-10 09:56:28 -03:00
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uint32_t _accel_raw_sample_rate(uint8_t instance) const {
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return _imu._accel_raw_sample_rates[instance];
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}
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2015-11-15 20:05:20 -04:00
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// get gyroscope raw sample rate
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AP_InertialSensor: use raw sample rate terminology
In order to avoid confusion between sample rate from sensor and sample rate
from the frontend class (AP_InertialSensor), use "raw sample rate" to refer to
the former.
The changes in the code were basically done with the following commands:
git grep -wl _accel_sample_rates | xargs sed -i "s,\<_accel_sample_rates\>,_accel_raw_sample_rates,g"
git grep -wl _set_accel_sample_rate | xargs sed -i "s,\<_set_accel_sample_rate\>,_set_accel_raw_sample_rate,g"
git grep -wl _accel_sample_rate | xargs sed -i "s,\<_accel_sample_rate\>,_accel_raw_sample_rate,g"
git grep -wl _gyro_sample_rates | xargs sed -i "s,\<_gyro_sample_rates\>,_gyro_raw_sample_rates,g"
git grep -wl _set_gyro_sample_rate | xargs sed -i "s,\<_set_gyro_sample_rate\>,_set_gyro_raw_sample_rate,g"
git grep -wl _gyro_sample_rate | xargs sed -i "s,\<_gyro_sample_rate\>,_gyro_raw_sample_rate,g"
And also with minor changes on indentation and comments.
2015-09-10 09:56:28 -03:00
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uint32_t _gyro_raw_sample_rate(uint8_t instance) const {
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return _imu._gyro_raw_sample_rates[instance];
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2015-09-10 08:56:34 -03:00
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}
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2015-03-16 23:32:54 -03:00
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// publish a temperature value
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void _publish_temperature(uint8_t instance, float temperature);
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2014-12-29 06:19:35 -04:00
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// set accelerometer error_count
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void _set_accel_error_count(uint8_t instance, uint32_t error_count);
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// set gyro error_count
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void _set_gyro_error_count(uint8_t instance, uint32_t error_count);
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2014-10-15 23:14:56 -03:00
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// backend should fill in its product ID from AP_PRODUCT_ID_*
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int16_t _product_id;
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2015-08-16 16:16:11 -03:00
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// backend unique identifier or -1 if backend doesn't identify itself
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int16_t _id = -1;
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2014-10-16 17:52:21 -03:00
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// return the default filter frequency in Hz for the sample rate
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2015-03-11 21:58:36 -03:00
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uint8_t _accel_filter_cutoff(void) const { return _imu._accel_filter_cutoff; }
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// return the default filter frequency in Hz for the sample rate
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uint8_t _gyro_filter_cutoff(void) const { return _imu._gyro_filter_cutoff; }
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2015-03-11 20:02:36 -03:00
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// return the requested sample rate in Hz
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uint16_t get_sample_rate_hz(void) const;
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2015-05-06 23:08:30 -03:00
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// access to frontend dataflash
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DataFlash_Class *get_dataflash(void) const {
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return _imu._log_raw_data? _imu._dataflash : NULL;
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}
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2015-11-15 20:05:20 -04:00
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// common gyro update function for all backends
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void update_gyro(uint8_t instance);
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// common accel update function for all backends
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void update_accel(uint8_t instance);
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// support for updating filter at runtime
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int8_t _last_accel_filter_hz[INS_MAX_INSTANCES];
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int8_t _last_gyro_filter_hz[INS_MAX_INSTANCES];
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2015-11-15 20:05:20 -04:00
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2014-10-15 20:32:40 -03:00
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// note that each backend is also expected to have a static detect()
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// function which instantiates an instance of the backend sensor
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// driver if the sensor is available
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};
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#endif // __AP_INERTIALSENSOR_BACKEND_H__
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