ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include <stdint.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/SPIDevice.h>
#include <AP_Math/AP_Math.h>
#include <Filter/Filter.h>
#include <Filter/LowPassFilter2p.h>
#include "AP_InertialSensor_Backend.h"
#include "AP_InertialSensor.h"
#include "AuxiliaryBus.h"
class AP_MPU9250_AuxiliaryBus;
class AP_MPU9250_AuxiliaryBusSlave;
// enable debug to see a register dump on startup
#define MPU9250_DEBUG 0
class AP_InertialSensor_MPU9250 : public AP_InertialSensor_Backend
{
friend AP_MPU9250_AuxiliaryBus;
friend AP_MPU9250_AuxiliaryBusSlave;
public:
virtual ~AP_InertialSensor_MPU9250();
static AP_InertialSensor_MPU9250 &from(AP_InertialSensor_Backend &backend) {
return static_cast<AP_InertialSensor_MPU9250&>(backend);
}
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev);
/* update accel and gyro state */
bool update();
/*
* Return an AuxiliaryBus if the bus driver allows it
*/
AuxiliaryBus *get_auxiliary_bus() override;
void start() override;
private:
enum bus_type {
BUS_TYPE_I2C = 0,
BUS_TYPE_SPI,
};
AP_InertialSensor_MPU9250(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum bus_type bus_type,
uint8_t read_flag);
#if MPU9250_DEBUG
static void _dump_registers();
#endif
bool _init();
bool _hardware_init();
void _set_filter_register(uint16_t filter_hz);
bool _has_auxiliary_bus();
/* Read a single sample */
void _read_sample();
/* Check if there's data available by reading register */
bool _data_ready();
bool _data_ready(uint8_t int_status);
/* 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);
void _register_write_check(uint8_t reg, uint8_t val);
void _accumulate(uint8_t *sample);
// instance numbers of accel and gyro data
uint8_t _gyro_instance;
uint8_t _accel_instance;
const uint8_t _read_flag;
const enum bus_type _bus_type;
// The default rotation for the IMU, its value depends on how the IMU is
// placed by default on the system
enum Rotation _default_rotation;
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
AP_MPU9250_AuxiliaryBus *_auxiliary_bus;
};
class AP_MPU9250_AuxiliaryBusSlave : public AuxiliaryBusSlave
{
friend class AP_MPU9250_AuxiliaryBus;
public:
int passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size) override;
int passthrough_write(uint8_t reg, uint8_t val) override;
int read(uint8_t *buf) override;
protected:
AP_MPU9250_AuxiliaryBusSlave(AuxiliaryBus &bus, uint8_t addr, uint8_t instance);
int _set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = nullptr);
private:
const uint8_t _mpu9250_addr;
const uint8_t _mpu9250_reg;
const uint8_t _mpu9250_ctrl;
const uint8_t _mpu9250_do;
uint8_t _ext_sens_data = 0;
};
class AP_MPU9250_AuxiliaryBus : public AuxiliaryBus
{
friend class AP_InertialSensor_MPU9250;
public:
AP_HAL::Semaphore *get_semaphore() override;
protected:
AP_MPU9250_AuxiliaryBus(AP_InertialSensor_MPU9250 &backend);
AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance);
int _configure_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,
uint8_t size);
private:
void _configure_slaves();
static const uint8_t MAX_EXT_SENS_DATA = 24;
uint8_t _ext_sens_data = 0;
};