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 -*-
#ifndef __AP_INERTIAL_SENSOR_MPU9250_H__
#define __AP_INERTIAL_SENSOR_MPU9250_H__
#include <stdint.h>
#include <AP_HAL.h>
#include <AP_Math.h>
#include <AP_Progmem.h>
#include "AP_InertialSensor.h"
// enable debug to see a register dump on startup
#define MPU9250_DEBUG 0
class AP_InertialSensor_MPU9250 : public AP_InertialSensor
{
public:
AP_InertialSensor_MPU9250();
/* Concrete implementation of AP_InertialSensor functions: */
bool update();
float get_gyro_drift_rate();
// wait for a sample to be available, with timeout in milliseconds
bool wait_for_sample(uint16_t timeout_ms);
// get_delta_time returns the time period in seconds overwhich the sensor data was collected
float get_delta_time() const;
uint16_t error_count(void) const { return _error_count; }
bool healthy(void) const { return _error_count <= 4; }
bool get_gyro_health(uint8_t instance) const { return healthy(); }
bool get_accel_health(uint8_t instance) const { return healthy(); }
protected:
uint16_t _init_sensor( Sample_rate sample_rate );
private:
AP_HAL::DigitalSource *_drdy_pin;
bool _sample_available();
void _read_data_transaction();
bool _data_ready();
void _poll_data(void);
uint8_t _register_read( uint8_t reg );
void _register_write( uint8_t reg, uint8_t val );
bool _hardware_init(Sample_rate sample_rate);
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
uint16_t _num_samples;
static const float _gyro_scale;
uint32_t _last_sample_time_micros;
// ensure we can't initialise twice
bool _initialised;
int16_t _mpu9250_product_id;
// how many hardware samples before we report a sample to the caller
uint8_t _sample_shift;
// support for updating filter at runtime
uint8_t _last_filter_hz;
void _set_filter_register(uint8_t filter_hz, uint8_t default_filter);
uint16_t _error_count;
// accumulation in timer - must be read with timer disabled
// the sum of the values since last read
Vector3l _accel_sum;
Vector3l _gyro_sum;
volatile int16_t _sum_count;
public:
#if MPU9250_DEBUG
void _dump_registers(void);
#endif
};
#endif // __AP_INERTIAL_SENSOR_MPU9250_H__