mirror of https://github.com/ArduPilot/ardupilot
86 lines
2.5 KiB
C
86 lines
2.5 KiB
C
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_MPU9250_H__
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#define __AP_INERTIAL_SENSOR_MPU9250_H__
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#include <stdint.h>
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#include <AP_HAL.h>
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#include <AP_Math.h>
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#include <AP_Progmem.h>
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#include "AP_InertialSensor.h"
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// enable debug to see a register dump on startup
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#define MPU9250_DEBUG 0
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class AP_InertialSensor_MPU9250 : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_MPU9250();
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/* Concrete implementation of AP_InertialSensor functions: */
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bool update();
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float get_gyro_drift_rate();
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// wait for a sample to be available, with timeout in milliseconds
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bool wait_for_sample(uint16_t timeout_ms);
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// get_delta_time returns the time period in seconds overwhich the sensor data was collected
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float get_delta_time() const;
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uint16_t error_count(void) const { return _error_count; }
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bool healthy(void) const { return _error_count <= 4; }
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bool get_gyro_health(uint8_t instance) const { return healthy(); }
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bool get_accel_health(uint8_t instance) const { return healthy(); }
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protected:
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uint16_t _init_sensor( Sample_rate sample_rate );
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private:
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AP_HAL::DigitalSource *_drdy_pin;
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bool _sample_available();
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void _read_data_transaction();
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bool _data_ready();
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void _poll_data(void);
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uint8_t _register_read( uint8_t reg );
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void _register_write( uint8_t reg, uint8_t val );
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bool _hardware_init(Sample_rate sample_rate);
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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uint16_t _num_samples;
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static const float _gyro_scale;
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uint32_t _last_sample_time_micros;
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// ensure we can't initialise twice
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bool _initialised;
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int16_t _mpu9250_product_id;
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// how many hardware samples before we report a sample to the caller
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uint8_t _sample_shift;
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// support for updating filter at runtime
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uint8_t _last_filter_hz;
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void _set_filter_register(uint8_t filter_hz, uint8_t default_filter);
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uint16_t _error_count;
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// accumulation in timer - must be read with timer disabled
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// the sum of the values since last read
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Vector3l _accel_sum;
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Vector3l _gyro_sum;
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volatile int16_t _sum_count;
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public:
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#if MPU9250_DEBUG
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void _dump_registers(void);
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#endif
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};
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#endif // __AP_INERTIAL_SENSOR_MPU9250_H__
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