mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.7 KiB
C
57 lines
1.7 KiB
C
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL/SPIDevice.h>
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#include <Filter/Filter.h>
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#include <Filter/LowPassFilter2p.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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class AP_InertialSensor_RST : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_RST(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
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enum Rotation rotation_a,
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enum Rotation rotation_g);
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virtual ~AP_InertialSensor_RST();
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// probe the sensor on SPI bus
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
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enum Rotation rotation_a,
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enum Rotation rotation_g);
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/* update accel and gyro state */
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bool update() override;
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void start(void) override;
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private:
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bool _init_sensor();
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bool _init_gyro();
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bool _init_accel();
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void gyro_measure();
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void accel_measure();
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev_gyro;//i3g4250d
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev_accel;//iis328dq
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float _gyro_scale;
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float _accel_scale;
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// gyro and accel instances
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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enum Rotation _rotation_g;
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enum Rotation _rotation_a;
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};
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#endif
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