ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Revo.h

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#pragma once
/*
copied from AP_InertialSensor_Invensense
driver for the invensense range of IMUs, including:
MPU6000
MPU9250
ICM-20608
*/
#include <stdint.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/SPIDevice.h>
#include <AP_HAL/utility/OwnPtr.h>
#include <AP_Math/AP_Math.h>
#include <Filter/Filter.h>
#include <Filter/LowPassFilter.h>
#include <Filter/LowPassFilter2p.h>
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
#include "AuxiliaryBus.h"
typedef struct MPU_Item {
uint64_t time;
uint16_t ax;
uint16_t ay;
uint16_t az;
uint16_t temp;
uint16_t gx;
uint16_t gy;
uint16_t gz;
} mpu_item;
typedef struct {
uint32_t t;
uint16_t read_ptr;
uint16_t write_ptr;
} mpu_log_item;
class AP_Invensense_AuxiliaryBus;
class AP_InertialSensor_Revo : public AP_InertialSensor_Backend
{
friend AP_Invensense_AuxiliaryBus;
public:
virtual ~AP_InertialSensor_Revo();
static AP_InertialSensor_Revo &from(AP_InertialSensor_Backend &backend) {
return static_cast<AP_InertialSensor_Revo&>(backend);
}
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation = ROTATION_NONE);
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
enum Rotation rotation = ROTATION_NONE);
/* update accel and gyro state */
bool update() override;
void accumulate() override;
void start() override;
void _isr();
void _ioc();
enum Invensense_Type {
Invensense_MPU6000=0,
Invensense_MPU6500,
Invensense_MPU9250,
Invensense_ICM20608,
Invensense_ICM20602,
};
private:
AP_InertialSensor_Revo(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation);
/* Initialize sensor*/
bool _init();
bool _hardware_init();
bool _check_whoami();
void _start(); // used for start and restart
void _set_filter_register(void);
/* Read samples from FIFO in RAM */
void _read_fifo();
/* Check if there's data available by either reading DRDY pin or register */
bool _data_ready();
/* Poll for new data (non-blocking) */
void _poll_data();
/* Read and write functions taking the differences between buses into
* account */
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);
bool _accumulate(uint8_t *samples, uint8_t n_samples);
bool _accumulate_fast_sampling(uint8_t *samples, uint8_t n_samples);
bool _check_raw_temp(int16_t t2);
int16_t _raw_temp;
// instance numbers of accel and gyro data
uint8_t _gyro_instance;
uint8_t _accel_instance;
uint16_t _error_count;
float temp_sensitivity = 1.0/340; // degC/LSB
float temp_zero = 36.53; // degC
float _temp_filtered;
float _accel_scale;
LowPassFilter2pFloat _temp_filter;
enum Rotation _rotation;
AP_HAL::DigitalSource *_drdy_pin;
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
// which sensor type this is
enum Invensense_Type _mpu_type;
uint8_t product_id;
// are we doing more than 1kHz sampling?
bool _fast_sampling;
// Last status from register user control
uint8_t _last_stat_user_ctrl;
// buffer for fifo read
uint8_t *_fifo_buffer;
/*
accumulators for fast sampling
See description in _accumulate_fast_sampling()
*/
struct {
Vector3f accel;
Vector3f gyro;
uint8_t count;
LowPassFilterVector3f accel_filter{4000, 188};
LowPassFilterVector3f gyro_filter{8000, 188};
} _accum;
uint16_t read_ptr;
volatile uint16_t write_ptr; // changed in interrupt
uint16_t nodata_count;
void * task_handle;
float accel_len;
uint32_t last_sample;
Vector3f gyro_mean;
//#define MPU_DEBUG_LOG
#ifdef MPU_DEBUG_LOG
#define MPU_LOG_SIZE 512
static mpu_log_item mpu_log[MPU_LOG_SIZE];
static uint16_t mpu_log_ptr;
#endif
};