ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_SCHA63T.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
the BMI055 is unusual as it has separate chip-select for accel and
gyro, which means it needs two SPIDevice pointers
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
class AP_InertialSensor_SCHA63T : public AP_InertialSensor_Backend
{
public:
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
enum Rotation rotation);
/**
* Configure the sensors and start reading routine.
*/
void start() override;
bool update() override;
enum reg_scha63t {
RATE_XZ = 0x01,
RATE_Y = 0x03,
ACC_X = 0x04,
ACC_Y = 0x05,
ACC_Z = 0x06,
TEMP = 0x07,
S_SUM = 0x0E,
R_S1 = 0x10,
A_S1 = 0x12,
C_S1 = 0x14,
C_S2 = 0x15,
G_FILT_DYN = 0x16,
RESCTRL = 0x18,
MODE = 0x19,
A_FILT_DYN = 0x1A,
T_ID2 = 0x1C,
T_ID0 = 0x1D,
T_ID1 = 0x1E,
SEL_BANK = 0x1F,
};
#define G_FILT 0x2424 // Ry/Ry2 filter 300Hz 3rd order filter
#define HW_RES 0x0001 // HardReset
#define RES_EOI 0x0002 // End Of Initialization
#define MODE_NORM 0x0000 // Mode
#define A_FILT 0x0444 // Ax/Ay/Az filter 300Hz 3rd order filter
#define SEL_BANK 0x0000 // SelBnk
private:
AP_InertialSensor_SCHA63T(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
enum Rotation rotation);
/*
initialise driver
*/
bool init();
/*
read data from the FIFOs
*/
void read_accel();
void read_gyro();
bool RegisterRead(int tp, reg_scha63t reg, uint8_t* val);
bool RegisterWrite(int tp, reg_scha63t reg, uint16_t val);
void set_temperature(uint8_t instance, uint16_t temper);
uint8_t CalcTblCrc(uint8_t* ptr, short nLen);
bool check_startup();
AP_HAL::OwnPtr<AP_HAL::Device> dev_uno;
AP_HAL::OwnPtr<AP_HAL::Device> dev_due;
uint8_t accel_instance;
uint8_t gyro_instance;
enum Rotation rotation;
bool ret_scha63t; // this flag is not used yet
};