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https://github.com/ArduPilot/ardupilot
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AP_InertialSensor: fix whitespace usage
This commit is contained in:
Lucas De Marchi
Andrew Tridgell
parent
bc26eaab63
commit
209e1924a5
@ -18,138 +18,137 @@ extern const AP_HAL::HAL& hal;
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#endif
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// MPU 6000 registers
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#define MPUREG_XG_OFFS_TC 0x00
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#define MPUREG_YG_OFFS_TC 0x01
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#define MPUREG_ZG_OFFS_TC 0x02
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#define MPUREG_X_FINE_GAIN 0x03
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#define MPUREG_Y_FINE_GAIN 0x04
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#define MPUREG_Z_FINE_GAIN 0x05
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#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte)
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#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte)
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#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte)
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#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte)
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#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte)
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#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte)
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#define MPUREG_PRODUCT_ID 0x0C // Product ID Register
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#define MPUREG_XG_OFFS_TC 0x00
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#define MPUREG_YG_OFFS_TC 0x01
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#define MPUREG_ZG_OFFS_TC 0x02
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#define MPUREG_X_FINE_GAIN 0x03
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#define MPUREG_Y_FINE_GAIN 0x04
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#define MPUREG_Z_FINE_GAIN 0x05
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#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte)
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#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte)
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#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte)
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#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte)
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#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte)
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#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte)
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#define MPUREG_PRODUCT_ID 0x0C // Product ID Register
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#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte)
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#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte)
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#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte)
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#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte)
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#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte)
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#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte)
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#define MPUREG_SMPLRT_DIV 0x19 // sample rate. Fsample= 1Khz/(<this value>+1) = 200Hz
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# define MPUREG_SMPLRT_1000HZ 0x00
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# define MPUREG_SMPLRT_500HZ 0x01
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# define MPUREG_SMPLRT_250HZ 0x03
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# define MPUREG_SMPLRT_200HZ 0x04
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# define MPUREG_SMPLRT_100HZ 0x09
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# define MPUREG_SMPLRT_50HZ 0x13
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#define MPUREG_CONFIG 0x1A
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#define MPUREG_GYRO_CONFIG 0x1B
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#define MPUREG_SMPLRT_DIV 0x19 // sample rate. Fsample= 1Khz/(<this value>+1) = 200Hz
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# define MPUREG_SMPLRT_1000HZ 0x00
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# define MPUREG_SMPLRT_500HZ 0x01
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# define MPUREG_SMPLRT_250HZ 0x03
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# define MPUREG_SMPLRT_200HZ 0x04
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# define MPUREG_SMPLRT_100HZ 0x09
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# define MPUREG_SMPLRT_50HZ 0x13
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#define MPUREG_CONFIG 0x1A
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#define MPUREG_GYRO_CONFIG 0x1B
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// bit definitions for MPUREG_GYRO_CONFIG
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# define BITS_GYRO_FS_250DPS 0x00
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# define BITS_GYRO_FS_500DPS 0x08
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# define BITS_GYRO_FS_1000DPS 0x10
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# define BITS_GYRO_FS_2000DPS 0x18
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# define BITS_GYRO_FS_MASK 0x18 // only bits 3 and 4 are used for gyro full scale so use this to mask off other bits
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# define BITS_GYRO_ZGYRO_SELFTEST 0x20
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# define BITS_GYRO_YGYRO_SELFTEST 0x40
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# define BITS_GYRO_XGYRO_SELFTEST 0x80
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#define MPUREG_ACCEL_CONFIG 0x1C
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#define MPUREG_MOT_THR 0x1F // detection threshold for Motion interrupt generation. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this
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#define MPUREG_MOT_DUR 0x20 // duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1 LSB = 1 ms
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#define MPUREG_ZRMOT_THR 0x21 // detection threshold for Zero Motion interrupt generation.
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#define MPUREG_ZRMOT_DUR 0x22 // duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms.
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#define MPUREG_FIFO_EN 0x23
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# define BIT_TEMP_FIFO_EN 0x80
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# define BIT_XG_FIFO_EN 0x40
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# define BIT_YG_FIFO_EN 0x20
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# define BIT_ZG_FIFO_EN 0x10
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# define BIT_ACCEL_FIFO_EN 0x08
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# define BIT_SLV2_FIFO_EN 0x04
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# define BIT_SLV1_FIFO_EN 0x02
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# define BIT_SLV0_FIFI_EN0 0x01
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#define MPUREG_INT_PIN_CFG 0x37
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# define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs
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# define BIT_LATCH_INT_EN 0x20 // latch data ready pin
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#define MPUREG_INT_ENABLE 0x38
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# define BITS_GYRO_FS_250DPS 0x00
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# define BITS_GYRO_FS_500DPS 0x08
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# define BITS_GYRO_FS_1000DPS 0x10
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# define BITS_GYRO_FS_2000DPS 0x18
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# define BITS_GYRO_FS_MASK 0x18 // only bits 3 and 4 are used for gyro full scale so use this to mask off other bits
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# define BITS_GYRO_ZGYRO_SELFTEST 0x20
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# define BITS_GYRO_YGYRO_SELFTEST 0x40
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# define BITS_GYRO_XGYRO_SELFTEST 0x80
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#define MPUREG_ACCEL_CONFIG 0x1C
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#define MPUREG_MOT_THR 0x1F // detection threshold for Motion interrupt generation. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this
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#define MPUREG_MOT_DUR 0x20 // duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1 LSB = 1 ms
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#define MPUREG_ZRMOT_THR 0x21 // detection threshold for Zero Motion interrupt generation.
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#define MPUREG_ZRMOT_DUR 0x22 // duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms.
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#define MPUREG_FIFO_EN 0x23
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# define BIT_TEMP_FIFO_EN 0x80
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# define BIT_XG_FIFO_EN 0x40
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# define BIT_YG_FIFO_EN 0x20
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# define BIT_ZG_FIFO_EN 0x10
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# define BIT_ACCEL_FIFO_EN 0x08
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# define BIT_SLV2_FIFO_EN 0x04
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# define BIT_SLV1_FIFO_EN 0x02
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# define BIT_SLV0_FIFI_EN0 0x01
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#define MPUREG_INT_PIN_CFG 0x37
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# define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs
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# define BIT_LATCH_INT_EN 0x20 // latch data ready pin
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#define MPUREG_INT_ENABLE 0x38
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// bit definitions for MPUREG_INT_ENABLE
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# define BIT_RAW_RDY_EN 0x01
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# define BIT_DMP_INT_EN 0x02 // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems
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# define BIT_UNKNOWN_INT_EN 0x04
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# define BIT_I2C_MST_INT_EN 0x08
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# define BIT_FIFO_OFLOW_EN 0x10
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# define BIT_ZMOT_EN 0x20
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# define BIT_MOT_EN 0x40
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# define BIT_FF_EN 0x80
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#define MPUREG_INT_STATUS 0x3A
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# define BIT_RAW_RDY_EN 0x01
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# define BIT_DMP_INT_EN 0x02 // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems
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# define BIT_UNKNOWN_INT_EN 0x04
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# define BIT_I2C_MST_INT_EN 0x08
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# define BIT_FIFO_OFLOW_EN 0x10
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# define BIT_ZMOT_EN 0x20
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# define BIT_MOT_EN 0x40
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# define BIT_FF_EN 0x80
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#define MPUREG_INT_STATUS 0x3A
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// bit definitions for MPUREG_INT_STATUS (same bit pattern as above because this register shows what interrupt actually fired)
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# define BIT_RAW_RDY_INT 0x01
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# define BIT_DMP_INT 0x02
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# define BIT_UNKNOWN_INT 0x04
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# define BIT_I2C_MST_INT 0x08
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# define BIT_FIFO_OFLOW_INT 0x10
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# define BIT_ZMOT_INT 0x20
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# define BIT_MOT_INT 0x40
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# define BIT_FF_INT 0x80
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#define MPUREG_ACCEL_XOUT_H 0x3B
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#define MPUREG_ACCEL_XOUT_L 0x3C
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#define MPUREG_ACCEL_YOUT_H 0x3D
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#define MPUREG_ACCEL_YOUT_L 0x3E
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#define MPUREG_ACCEL_ZOUT_H 0x3F
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#define MPUREG_ACCEL_ZOUT_L 0x40
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#define MPUREG_TEMP_OUT_H 0x41
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#define MPUREG_TEMP_OUT_L 0x42
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#define MPUREG_GYRO_XOUT_H 0x43
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#define MPUREG_GYRO_XOUT_L 0x44
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#define MPUREG_GYRO_YOUT_H 0x45
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#define MPUREG_GYRO_YOUT_L 0x46
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#define MPUREG_GYRO_ZOUT_H 0x47
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#define MPUREG_GYRO_ZOUT_L 0x48
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#define MPUREG_USER_CTRL 0x6A
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# define BIT_RAW_RDY_INT 0x01
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# define BIT_DMP_INT 0x02
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# define BIT_UNKNOWN_INT 0x04
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# define BIT_I2C_MST_INT 0x08
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# define BIT_FIFO_OFLOW_INT 0x10
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# define BIT_ZMOT_INT 0x20
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# define BIT_MOT_INT 0x40
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# define BIT_FF_INT 0x80
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#define MPUREG_ACCEL_XOUT_H 0x3B
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#define MPUREG_ACCEL_XOUT_L 0x3C
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#define MPUREG_ACCEL_YOUT_H 0x3D
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#define MPUREG_ACCEL_YOUT_L 0x3E
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#define MPUREG_ACCEL_ZOUT_H 0x3F
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#define MPUREG_ACCEL_ZOUT_L 0x40
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#define MPUREG_TEMP_OUT_H 0x41
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#define MPUREG_TEMP_OUT_L 0x42
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#define MPUREG_GYRO_XOUT_H 0x43
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#define MPUREG_GYRO_XOUT_L 0x44
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#define MPUREG_GYRO_YOUT_H 0x45
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#define MPUREG_GYRO_YOUT_L 0x46
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#define MPUREG_GYRO_ZOUT_H 0x47
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#define MPUREG_GYRO_ZOUT_L 0x48
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#define MPUREG_USER_CTRL 0x6A
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// bit definitions for MPUREG_USER_CTRL
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# define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp)
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# define BIT_USER_CTRL_I2C_MST_RESET 0x02 // reset I2C Master (only applicable if I2C_MST_EN bit is set)
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# define BIT_USER_CTRL_FIFO_RESET 0x04 // Reset (i.e. clear) FIFO buffer
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# define BIT_USER_CTRL_DMP_RESET 0x08 // Reset DMP
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# define BIT_USER_CTRL_I2C_IF_DIS 0x10 // Disable primary I2C interface and enable hal.spi->interface
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# define BIT_USER_CTRL_I2C_MST_EN 0x20 // Enable MPU to act as the I2C Master to external slave sensors
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# define BIT_USER_CTRL_FIFO_EN 0x40 // Enable FIFO operations
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# define BIT_USER_CTRL_DMP_EN 0x80 // Enable DMP operations
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#define MPUREG_PWR_MGMT_1 0x6B
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# define BIT_PWR_MGMT_1_CLK_INTERNAL 0x00 // clock set to internal 8Mhz oscillator
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# define BIT_PWR_MGMT_1_CLK_XGYRO 0x01 // PLL with X axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_YGYRO 0x02 // PLL with Y axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_ZGYRO 0x03 // PLL with Z axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_EXT32KHZ 0x04 // PLL with external 32.768kHz reference
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# define BIT_PWR_MGMT_1_CLK_EXT19MHZ 0x05 // PLL with external 19.2MHz reference
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# define BIT_PWR_MGMT_1_CLK_STOP 0x07 // Stops the clock and keeps the timing generator in reset
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# define BIT_PWR_MGMT_1_TEMP_DIS 0x08 // disable temperature sensor
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# define BIT_PWR_MGMT_1_CYCLE 0x20 // put sensor into cycle mode. cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL
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# define BIT_PWR_MGMT_1_SLEEP 0x40 // put sensor into low power sleep mode
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# define BIT_PWR_MGMT_1_DEVICE_RESET 0x80 // reset entire device
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#define MPUREG_PWR_MGMT_2 0x6C // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode
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#define MPUREG_BANK_SEL 0x6D // DMP bank selection register (used to indirectly access DMP registers)
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#define MPUREG_MEM_START_ADDR 0x6E // DMP memory start address (used to indirectly write to dmp memory)
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#define MPUREG_MEM_R_W 0x6F // DMP related register
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#define MPUREG_DMP_CFG_1 0x70 // DMP related register
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#define MPUREG_DMP_CFG_2 0x71 // DMP related register
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#define MPUREG_FIFO_COUNTH 0x72
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#define MPUREG_FIFO_COUNTL 0x73
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#define MPUREG_FIFO_R_W 0x74
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#define MPUREG_WHOAMI 0x75
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# define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp)
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# define BIT_USER_CTRL_I2C_MST_RESET 0x02 // reset I2C Master (only applicable if I2C_MST_EN bit is set)
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# define BIT_USER_CTRL_FIFO_RESET 0x04 // Reset (i.e. clear) FIFO buffer
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# define BIT_USER_CTRL_DMP_RESET 0x08 // Reset DMP
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# define BIT_USER_CTRL_I2C_IF_DIS 0x10 // Disable primary I2C interface and enable hal.spi->interface
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# define BIT_USER_CTRL_I2C_MST_EN 0x20 // Enable MPU to act as the I2C Master to external slave sensors
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# define BIT_USER_CTRL_FIFO_EN 0x40 // Enable FIFO operations
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# define BIT_USER_CTRL_DMP_EN 0x80 // Enable DMP operations
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#define MPUREG_PWR_MGMT_1 0x6B
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# define BIT_PWR_MGMT_1_CLK_INTERNAL 0x00 // clock set to internal 8Mhz oscillator
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# define BIT_PWR_MGMT_1_CLK_XGYRO 0x01 // PLL with X axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_YGYRO 0x02 // PLL with Y axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_ZGYRO 0x03 // PLL with Z axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_EXT32KHZ 0x04 // PLL with external 32.768kHz reference
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# define BIT_PWR_MGMT_1_CLK_EXT19MHZ 0x05 // PLL with external 19.2MHz reference
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# define BIT_PWR_MGMT_1_CLK_STOP 0x07 // Stops the clock and keeps the timing generator in reset
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# define BIT_PWR_MGMT_1_TEMP_DIS 0x08 // disable temperature sensor
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# define BIT_PWR_MGMT_1_CYCLE 0x20 // put sensor into cycle mode. cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL
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# define BIT_PWR_MGMT_1_SLEEP 0x40 // put sensor into low power sleep mode
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# define BIT_PWR_MGMT_1_DEVICE_RESET 0x80 // reset entire device
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#define MPUREG_PWR_MGMT_2 0x6C // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode
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#define MPUREG_BANK_SEL 0x6D // DMP bank selection register (used to indirectly access DMP registers)
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#define MPUREG_MEM_START_ADDR 0x6E // DMP memory start address (used to indirectly write to dmp memory)
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#define MPUREG_MEM_R_W 0x6F // DMP related register
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#define MPUREG_DMP_CFG_1 0x70 // DMP related register
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#define MPUREG_DMP_CFG_2 0x71 // DMP related register
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#define MPUREG_FIFO_COUNTH 0x72
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#define MPUREG_FIFO_COUNTL 0x73
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#define MPUREG_FIFO_R_W 0x74
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#define MPUREG_WHOAMI 0x75
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// Configuration bits MPU 3000 and MPU 6000 (not revised)?
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#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
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#define BITS_DLPF_CFG_188HZ 0x01
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#define BITS_DLPF_CFG_98HZ 0x02
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#define BITS_DLPF_CFG_42HZ 0x03
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#define BITS_DLPF_CFG_20HZ 0x04
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#define BITS_DLPF_CFG_10HZ 0x05
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#define BITS_DLPF_CFG_5HZ 0x06
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#define BITS_DLPF_CFG_188HZ 0x01
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#define BITS_DLPF_CFG_98HZ 0x02
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#define BITS_DLPF_CFG_42HZ 0x03
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#define BITS_DLPF_CFG_20HZ 0x04
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#define BITS_DLPF_CFG_10HZ 0x05
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#define BITS_DLPF_CFG_5HZ 0x06
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#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
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#define BITS_DLPF_CFG_MASK 0x07
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#define BITS_DLPF_CFG_MASK 0x07
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// Product ID Description for MPU6000
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// high 4 bits low 4 bits
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@ -30,18 +30,18 @@
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class AP_MPU6000_BusDriver
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{
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public:
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virtual void init(bool &fifo_mode, uint8_t &max_samples) = 0;
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virtual void read8(uint8_t reg, uint8_t *val) = 0;
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virtual void write8(uint8_t reg, uint8_t val) = 0;
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enum bus_speed {
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SPEED_LOW, SPEED_HIGH
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};
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virtual void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed) = 0;
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virtual void read_burst(uint8_t* samples,
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AP_HAL::DigitalSource *_drdy_pin,
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uint8_t &n_samples) = 0;
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virtual AP_HAL::Semaphore* get_semaphore() = 0;
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public:
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virtual void init(bool &fifo_mode, uint8_t &max_samples) = 0;
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virtual void read8(uint8_t reg, uint8_t *val) = 0;
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virtual void write8(uint8_t reg, uint8_t val) = 0;
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enum bus_speed {
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SPEED_LOW, SPEED_HIGH
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};
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virtual void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed) = 0;
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virtual void read_burst(uint8_t* samples,
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AP_HAL::DigitalSource *_drdy_pin,
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uint8_t &n_samples) = 0;
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virtual AP_HAL::Semaphore* get_semaphore() = 0;
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};
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class AP_InertialSensor_MPU6000 : public AP_InertialSensor_Backend
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@ -67,21 +67,21 @@ private:
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uint8_t _accel_instance;
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AP_HAL::DigitalSource *_drdy_pin;
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bool _init_sensor(void);
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bool _sample_available();
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void _read_data_transaction();
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bool _data_ready();
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void _poll_data(void);
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uint8_t _register_read( uint8_t reg);
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void _register_write( uint8_t reg, uint8_t val );
|
||||
void _register_write_check(uint8_t reg, uint8_t val);
|
||||
bool _hardware_init(void);
|
||||
void _accumulate(uint8_t *samples, uint8_t n_samples);
|
||||
bool _init_sensor(void);
|
||||
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 );
|
||||
void _register_write_check(uint8_t reg, uint8_t val);
|
||||
bool _hardware_init(void);
|
||||
void _accumulate(uint8_t *samples, uint8_t n_samples);
|
||||
|
||||
AP_MPU6000_BusDriver *_bus;
|
||||
AP_HAL::Semaphore *_bus_sem;
|
||||
|
||||
static const float _gyro_scale;
|
||||
static const float _gyro_scale;
|
||||
|
||||
// support for updating filter at runtime
|
||||
int8_t _last_accel_filter_hz;
|
||||
@ -96,7 +96,7 @@ private:
|
||||
Vector3f _accel_filtered;
|
||||
Vector3f _gyro_filtered;
|
||||
|
||||
// Low Pass filters for gyro and accel
|
||||
// Low Pass filters for gyro and accel
|
||||
LowPassFilter2pVector3f _accel_filter;
|
||||
LowPassFilter2pVector3f _gyro_filter;
|
||||
#else
|
||||
@ -112,42 +112,42 @@ private:
|
||||
|
||||
class AP_MPU6000_BusDriver_SPI : public AP_MPU6000_BusDriver
|
||||
{
|
||||
public:
|
||||
AP_MPU6000_BusDriver_SPI(void);
|
||||
void init(bool &fifo_mode, uint8_t &max_samples);
|
||||
void read8(uint8_t reg, uint8_t *val);
|
||||
void write8(uint8_t reg, uint8_t val);
|
||||
void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed);
|
||||
void read_burst(uint8_t* samples,
|
||||
AP_HAL::DigitalSource *_drdy_pin,
|
||||
uint8_t &n_samples);
|
||||
AP_HAL::Semaphore* get_semaphore();
|
||||
public:
|
||||
AP_MPU6000_BusDriver_SPI(void);
|
||||
void init(bool &fifo_mode, uint8_t &max_samples);
|
||||
void read8(uint8_t reg, uint8_t *val);
|
||||
void write8(uint8_t reg, uint8_t val);
|
||||
void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed);
|
||||
void read_burst(uint8_t* samples,
|
||||
AP_HAL::DigitalSource *_drdy_pin,
|
||||
uint8_t &n_samples);
|
||||
AP_HAL::Semaphore* get_semaphore();
|
||||
|
||||
private:
|
||||
AP_HAL::SPIDeviceDriver *_spi;
|
||||
AP_HAL::Semaphore *_spi_sem;
|
||||
// count of bus errors
|
||||
uint16_t _error_count;
|
||||
private:
|
||||
AP_HAL::SPIDeviceDriver *_spi;
|
||||
AP_HAL::Semaphore *_spi_sem;
|
||||
// count of bus errors
|
||||
uint16_t _error_count;
|
||||
};
|
||||
|
||||
class AP_MPU6000_BusDriver_I2C : public AP_MPU6000_BusDriver
|
||||
{
|
||||
public:
|
||||
AP_MPU6000_BusDriver_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
|
||||
void init(bool &fifo_mode, uint8_t &max_samples);
|
||||
void read8(uint8_t reg, uint8_t *val);
|
||||
void write8(uint8_t reg, uint8_t val);
|
||||
void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed);
|
||||
void read_burst(uint8_t* samples,
|
||||
AP_HAL::DigitalSource *_drdy_pin,
|
||||
uint8_t &n_samples);
|
||||
AP_HAL::Semaphore* get_semaphore();
|
||||
public:
|
||||
AP_MPU6000_BusDriver_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
|
||||
void init(bool &fifo_mode, uint8_t &max_samples);
|
||||
void read8(uint8_t reg, uint8_t *val);
|
||||
void write8(uint8_t reg, uint8_t val);
|
||||
void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed);
|
||||
void read_burst(uint8_t* samples,
|
||||
AP_HAL::DigitalSource *_drdy_pin,
|
||||
uint8_t &n_samples);
|
||||
AP_HAL::Semaphore* get_semaphore();
|
||||
|
||||
private:
|
||||
uint8_t _addr;
|
||||
AP_HAL::I2CDriver *_i2c;
|
||||
AP_HAL::Semaphore *_i2c_sem;
|
||||
uint8_t _rx[MAX_DATA_READ];
|
||||
private:
|
||||
uint8_t _addr;
|
||||
AP_HAL::I2CDriver *_i2c;
|
||||
AP_HAL::Semaphore *_i2c_sem;
|
||||
uint8_t _rx[MAX_DATA_READ];
|
||||
};
|
||||
|
||||
#endif // __AP_INERTIAL_SENSOR_MPU6000_H__
|
||||
|
||||
Loading…
Reference in New Issue
Block a user