ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h

103 lines
3.6 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
IMU driver backend class. Each supported gyro/accel sensor type
needs to have an object derived from this class.
Note that drivers can implement just gyros or just accels, and can
also provide multiple gyro/accel instances.
*/
#ifndef __AP_INERTIALSENSOR_BACKEND_H__
#define __AP_INERTIALSENSOR_BACKEND_H__
class AP_InertialSensor_Backend
{
public:
AP_InertialSensor_Backend(AP_InertialSensor &imu);
// we declare a virtual destructor so that drivers can
// override with a custom destructor if need be.
virtual ~AP_InertialSensor_Backend(void) {}
/*
* Update the sensor data. Called by the frontend to transfer
* accumulated sensor readings to the frontend structure via the
* _publish_gyro() and _publish_accel() functions
*/
virtual bool update() = 0;
/*
* return true if at least one accel sample is available in the backend
* since the last call to update()
*/
virtual bool accel_sample_available() = 0;
/*
* return true if at least one gyro sample is available in the backend
* since the last call to update()
*/
virtual bool gyro_sample_available() = 0;
/*
return the product ID
*/
int16_t product_id(void) const { return _product_id; }
protected:
// access to frontend
AP_InertialSensor &_imu;
void _rotate_and_correct_accel(uint8_t instance, Vector3f &accel);
void _rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro);
void _publish_delta_velocity(uint8_t instance, const Vector3f &delta_velocity, float dt);
void _publish_delta_angle(uint8_t instance, const Vector3f &delta_angle);
// rotate gyro vector, offset and publish
void _publish_gyro(uint8_t instance, const Vector3f &gyro, bool rotate_and_correct = true);
// rotate accel vector, scale, offset and publish
void _publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct = true);
// publish a temperature value
void _publish_temperature(uint8_t instance, float temperature);
// set accelerometer error_count
void _set_accel_error_count(uint8_t instance, uint32_t error_count);
// set gyro error_count
void _set_gyro_error_count(uint8_t instance, uint32_t error_count);
// backend should fill in its product ID from AP_PRODUCT_ID_*
int16_t _product_id;
// return the default filter frequency in Hz for the sample rate
uint8_t _accel_filter_cutoff(void) const { return _imu._accel_filter_cutoff; }
// return the default filter frequency in Hz for the sample rate
uint8_t _gyro_filter_cutoff(void) const { return _imu._gyro_filter_cutoff; }
// return the requested sample rate in Hz
uint16_t get_sample_rate_hz(void) const;
// note that each backend is also expected to have a static detect()
// function which instantiates an instance of the backend sensor
// driver if the sensor is available
};
#endif // __AP_INERTIALSENSOR_BACKEND_H__