ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Invensens...

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#pragma once
/*
driver for the invensensev3 range of IMUs
These are the ICM-4 series of IMUs
*/
#include <stdint.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/OwnPtr.h>
#include <AP_Math/AP_Math.h>
#include <Filter/LowPassFilter2p.h>
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
class AP_InertialSensor_Invensensev3 : public AP_InertialSensor_Backend
{
public:
virtual ~AP_InertialSensor_Invensensev3();
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation);
/* update accel and gyro state */
bool update() override;
void accumulate() override;
void start() override;
// get a startup banner to output to the GCS
bool get_output_banner(char* banner, uint8_t banner_len) override;
enum class Invensensev3_Type : uint8_t {
ICM40609 = 0,
ICM42688,
ICM42605,
ICM40605,
IIM42652,
ICM42670,
ICM45686
};
// acclerometers on Invensense sensors will return values up to 32G
const uint16_t multiplier_accel = INT16_MAX/(32*GRAVITY_MSS);
private:
AP_InertialSensor_Invensensev3(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation);
/* Initialize sensor*/
bool hardware_init();
bool check_whoami();
void set_filter_and_scaling(void);
void set_filter_and_scaling_icm42670(void);
void set_filter_and_scaling_icm456xy(void);
void fifo_reset();
/* Read samples from FIFO */
void read_fifo();
bool block_read(uint8_t reg, uint8_t *buf, uint32_t size);
uint8_t register_read(uint8_t reg);
void register_write(uint8_t reg, uint8_t val, bool checked=false);
uint8_t register_read_bank(uint8_t bank, uint8_t reg);
void register_write_bank(uint8_t bank, uint8_t reg, uint8_t val);
uint8_t register_read_bank_icm456xy(uint16_t bank_addr, uint16_t reg);
void register_write_bank_icm456xy(uint16_t bank_addr, uint16_t reg, uint8_t val);
bool accumulate_samples(const struct FIFOData *data, uint8_t n_samples);
// instance numbers of accel and gyro data
uint8_t gyro_instance;
uint8_t accel_instance;
// reset FIFO configure1 register
uint8_t fifo_config1;
// temp scaling for FIFO temperature
float temp_sensitivity;
const float temp_zero = 25; // degC
const enum Rotation rotation;
float accel_scale;
// are we doing more than 1kHz sampling?
bool fast_sampling;
// what rate are we generating samples into the backend for gyros and accels?
uint16_t backend_rate_hz;
// pre-calculated backend period
uint32_t backend_period_us;
AP_HAL::OwnPtr<AP_HAL::Device> dev;
AP_HAL::Device::PeriodicHandle periodic_handle;
// which sensor type this is
enum Invensensev3_Type inv3_type;
// buffer for fifo read
struct FIFOData *fifo_buffer;
float temp_filtered;
LowPassFilter2pFloat temp_filter;
};