ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h

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#pragma once
/*
driver for the invensense range of IMUs, including:
MPU6000
MPU9250
ICM-20608
*/
#include <stdint.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/SPIDevice.h>
#include <AP_HAL/utility/OwnPtr.h>
#include <AP_Math/AP_Math.h>
#include <Filter/Filter.h>
#include <Filter/LowPassFilter.h>
#include <Filter/LowPassFilter2p.h>
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
#include "AuxiliaryBus.h"
class AP_Invensense_AuxiliaryBus;
class AP_Invensense_AuxiliaryBusSlave;
class AP_InertialSensor_Invensense : public AP_InertialSensor_Backend
{
friend AP_Invensense_AuxiliaryBus;
friend AP_Invensense_AuxiliaryBusSlave;
public:
virtual ~AP_InertialSensor_Invensense();
static AP_InertialSensor_Invensense &from(AP_InertialSensor_Backend &backend) {
return static_cast<AP_InertialSensor_Invensense&>(backend);
}
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation);
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
enum Rotation rotation);
/* update accel and gyro state */
bool update() override __RAMFUNC__; /* front end */
void accumulate() override; /* front end */
/*
* Return an AuxiliaryBus if the bus driver allows it
*/
AuxiliaryBus *get_auxiliary_bus() override;
void start() override;
// get a startup banner to output to the GCS
bool get_output_banner(char* banner, uint8_t banner_len) override;
enum Invensense_Type {
Invensense_MPU6000=0,
Invensense_MPU6500,
Invensense_MPU9250,
Invensense_ICM20608,
Invensense_ICM20602,
Invensense_ICM20601,
Invensense_ICM20789,
Invensense_ICM20689,
};
// acclerometers on Invensense sensors will return values up to
// 24G, but they are not guaranteed to be remotely linear past
// 16G
const uint16_t multiplier_accel = INT16_MAX/(26*GRAVITY_MSS);
private:
AP_InertialSensor_Invensense(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation);
/* Initialize sensor*/
bool _init();
bool _hardware_init();
bool _check_whoami();
void _set_filter_register(void);
void _fifo_reset(bool log_error) __RAMFUNC__;
bool _has_auxiliary_bus();
/* Read samples from FIFO (FIFO enabled) */
void _read_fifo() __RAMFUNC__;
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/* Check if there's data available by either reading DRDY pin or register */
bool _data_ready() __RAMFUNC__;
/* Poll for new data (non-blocking) */
void _poll_data() __RAMFUNC__;
// debug function to watch for register changes
void _check_register_change(void) __RAMFUNC__;
/* Read and write functions taking the differences between buses into
* account */
bool _block_read(uint8_t reg, uint8_t *buf, uint32_t size) __RAMFUNC__;
uint8_t _register_read(uint8_t reg) __RAMFUNC__;
void _register_write(uint8_t reg, uint8_t val, bool checked=false) __RAMFUNC__;
bool _accumulate(uint8_t *samples, uint8_t n_samples) __RAMFUNC__;
bool _accumulate_sensor_rate_sampling(uint8_t *samples, uint8_t n_samples) __RAMFUNC__;
bool _check_raw_temp(int16_t t2) __RAMFUNC__;
int16_t _raw_temp;
// instance numbers of accel and gyro data
uint8_t _gyro_instance;
uint8_t _accel_instance;
float temp_sensitivity = 1.0f/340; // degC/LSB
float temp_zero = 36.53f; // degC
float _temp_filtered;
float _accel_scale;
float _gyro_scale;
float _fifo_accel_scale;
float _fifo_gyro_scale;
LowPassFilter2pFloat _temp_filter;
uint32_t last_reset_ms;
uint8_t reset_count;
enum Rotation _rotation;
// enable checking of unexpected resets of offsets
bool _enable_offset_checking;
// ICM-20602 y offset register. See usage for explanation
uint8_t _saved_y_ofs_high;
AP_HAL::DigitalSource *_drdy_pin;
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
AP_Invensense_AuxiliaryBus *_auxiliary_bus;
// which sensor type this is
enum Invensense_Type _mpu_type;
// are we doing more than 1kHz sampling?
bool _fast_sampling;
// what downsampling rate are we using from the FIFO for gyros?
uint8_t _gyro_fifo_downsample_rate;
// what downsampling rate are we using from the FIFO for accels?
uint8_t _accel_fifo_downsample_rate;
// ratio of raw gyro to accel sample rate
uint8_t _gyro_to_accel_sample_ratio;
// what rate are we generating samples into the backend for gyros?
uint16_t _gyro_backend_rate_hz;
// what rate are we generating samples into the backend for accels?
uint16_t _accel_backend_rate_hz;
// Last status from register user control
uint8_t _last_stat_user_ctrl;
// buffer for fifo read
uint8_t *_fifo_buffer;
/*
accumulators for sensor_rate sampling
See description in _accumulate_sensor_rate_sampling()
*/
struct {
Vector3f accel;
Vector3f gyro;
uint8_t accel_count;
uint8_t gyro_count;
LowPassFilterVector3f accel_filter{4000, 188};
} _accum;
};
class AP_Invensense_AuxiliaryBusSlave : public AuxiliaryBusSlave
{
friend class AP_Invensense_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_Invensense_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 _mpu_addr;
const uint8_t _mpu_reg;
const uint8_t _mpu_ctrl;
const uint8_t _mpu_do;
uint8_t _ext_sens_data = 0;
};
class AP_Invensense_AuxiliaryBus : public AuxiliaryBus
{
friend class AP_InertialSensor_Invensense;
public:
AP_HAL::Semaphore *get_semaphore() override;
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb) override;
protected:
AP_Invensense_AuxiliaryBus(AP_InertialSensor_Invensense &backend, uint32_t devid);
AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance) override;
int _configure_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,
uint8_t size) override;
private:
void _configure_slaves();
static const uint8_t MAX_EXT_SENS_DATA = 24;
uint8_t _ext_sens_data = 0;
};
#ifndef INS_INVENSENSE_20789_I2C_ADDR
#define INS_INVENSENSE_20789_I2C_ADDR 0x68
#endif