mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.2 KiB
C
85 lines
2.2 KiB
C
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#pragma once
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/*
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driver for the invensensev3 range of IMUs
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These are the ICM-4 series of IMUs
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*/
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#include <stdint.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include <AP_Math/AP_Math.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_Invensensev3 : public AP_InertialSensor_Backend
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{
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public:
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virtual ~AP_InertialSensor_Invensensev3();
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::Device> dev,
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enum Rotation rotation);
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/* update accel and gyro state */
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bool update() override;
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void accumulate() override;
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void start() override;
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enum class Invensensev3_Type : uint8_t {
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ICM40609 = 0,
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ICM42688,
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ICM42605,
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};
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// acclerometers on Invensense sensors will return values up to 32G
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const uint16_t multiplier_accel = INT16_MAX/(32*GRAVITY_MSS);
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private:
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AP_InertialSensor_Invensensev3(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::Device> dev,
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enum Rotation rotation);
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/* Initialize sensor*/
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bool hardware_init();
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bool check_whoami();
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void set_filter_and_scaling(void);
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void fifo_reset();
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/* Read samples from FIFO */
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void read_fifo();
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bool block_read(uint8_t reg, uint8_t *buf, uint32_t size);
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uint8_t register_read(uint8_t reg);
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void register_write(uint8_t reg, uint8_t val, bool checked=false);
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bool accumulate_samples(const struct FIFOData *data, uint8_t n_samples);
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// instance numbers of accel and gyro data
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uint8_t gyro_instance;
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uint8_t accel_instance;
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// temp scaling for FIFO temperature
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const float temp_sensitivity = 1.0f/2.07;
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const float temp_zero = 25; // degC
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const enum Rotation rotation;
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float accel_scale;
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AP_HAL::OwnPtr<AP_HAL::Device> dev;
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// which sensor type this is
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enum Invensensev3_Type inv3_type;
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// buffer for fifo read
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struct FIFOData *fifo_buffer;
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float temp_filtered;
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LowPassFilter2pFloat temp_filter;
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};
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