mirror of https://github.com/ArduPilot/ardupilot
100 lines
3.1 KiB
C
100 lines
3.1 KiB
C
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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the BMI055 is unusual as it has separate chip-select for accel and
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gyro, which means it needs two SPIDevice pointers
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.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_SCHA63T : public AP_InertialSensor_Backend
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{
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public:
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
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enum Rotation rotation);
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/**
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* Configure the sensors and start reading routine.
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*/
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void start() override;
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bool update() override;
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enum reg_scha63t {
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RATE_XZ = 0x01,
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RATE_Y = 0x03,
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ACC_X = 0x04,
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ACC_Y = 0x05,
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ACC_Z = 0x06,
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TEMP = 0x07,
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S_SUM = 0x0E,
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R_S1 = 0x10,
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A_S1 = 0x12,
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C_S1 = 0x14,
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C_S2 = 0x15,
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G_FILT_DYN = 0x16,
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RESCTRL = 0x18,
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MODE = 0x19,
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A_FILT_DYN = 0x1A,
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T_ID2 = 0x1C,
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T_ID0 = 0x1D,
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T_ID1 = 0x1E,
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SEL_BANK = 0x1F,
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};
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#define G_FILT 0x2424 // Ry/Ry2 filter 300Hz 3rd order filter
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#define HW_RES 0x0001 // HardReset
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#define RES_EOI 0x0002 // End Of Initialization
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#define MODE_NORM 0x0000 // Mode
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#define A_FILT 0x0444 // Ax/Ay/Az filter 300Hz 3rd order filter
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#define SEL_BANK 0x0000 // SelBnk
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private:
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AP_InertialSensor_SCHA63T(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
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AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
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enum Rotation rotation);
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/*
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initialise driver
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*/
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bool init();
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/*
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read data from the FIFOs
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*/
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void read_accel();
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void read_gyro();
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bool RegisterRead(int tp, reg_scha63t reg, uint8_t* val);
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bool RegisterWrite(int tp, reg_scha63t reg, uint16_t val);
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void set_temperature(uint8_t instance, uint16_t temper);
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uint8_t CalcTblCrc(uint8_t* ptr, short nLen);
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bool check_startup();
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AP_HAL::OwnPtr<AP_HAL::Device> dev_uno;
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AP_HAL::OwnPtr<AP_HAL::Device> dev_due;
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uint8_t accel_instance;
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uint8_t gyro_instance;
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enum Rotation rotation;
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bool ret_scha63t; // this flag is not used yet
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};
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