mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.2 KiB
C
74 lines
2.2 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 ADIS1647x is unusual as it uses 16 bit registers. It also needs
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to run as the only sensor on the SPI bus for good performance
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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_ADIS1647x : public AP_InertialSensor_Backend {
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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::Device> dev,
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enum Rotation rotation,
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uint8_t drdy_gpio);
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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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private:
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AP_InertialSensor_ADIS1647x(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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uint8_t drdy_gpio);
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/*
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initialise driver
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*/
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bool init();
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void read_sensor(void);
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void loop(void);
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bool check_product_id();
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// read a 16 bit register
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uint16_t read_reg16(uint8_t regnum) const;
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// write a 16 bit register
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void write_reg16(uint8_t regnum, uint16_t value) const;
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AP_HAL::OwnPtr<AP_HAL::Device> dev;
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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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uint8_t drdy_pin;
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uint16_t last_counter;
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bool done_first_read;
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float temp_sum;
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uint8_t temp_count;
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float accel_scale;
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float gyro_scale;
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};
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