mirror of https://github.com/ArduPilot/ardupilot
148 lines
4.9 KiB
C++
148 lines
4.9 KiB
C++
#pragma once
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/*
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driver for the invensensev3 range of IMUs
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These are the ICM-4 series of IMUs
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*/
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#include <stdint.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include <AP_Math/AP_Math.h>
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#include <Filter/LowPassFilter2p.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_Invensensev3 : public AP_InertialSensor_Backend
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{
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public:
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virtual ~AP_InertialSensor_Invensensev3();
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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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/* update accel and gyro state */
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bool update() override;
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void accumulate() override;
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void start() override;
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// get a startup banner to output to the GCS
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bool get_output_banner(char* banner, uint8_t banner_len) override;
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enum class Invensensev3_Type : uint8_t {
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ICM40609 = 0, // No HiRes
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ICM42688, // HiRes 19bit
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ICM42605, // No HiRes
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ICM40605, // No HiRes
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IIM42652, // HiRes 19bit
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ICM42670, // HiRes 19bit
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ICM45686 // HiRes 20bit
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};
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// acclerometers on Invensense sensors will return values up to 32G
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const uint16_t multiplier_accel = INT16_MAX/(32*GRAVITY_MSS);
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private:
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AP_InertialSensor_Invensensev3(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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/* Initialize sensor*/
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bool hardware_init();
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bool check_whoami();
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void set_filter_and_scaling(void);
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void set_filter_and_scaling_icm42670(void);
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void set_filter_and_scaling_icm456xy(void);
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void fifo_reset();
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uint16_t calculate_fast_sampling_backend_rate(uint16_t base_odr, uint16_t max_odr) const;
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/* Read samples from FIFO */
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void read_fifo();
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bool block_read(uint8_t reg, uint8_t *buf, uint32_t size);
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uint8_t register_read(uint8_t reg);
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void register_write(uint8_t reg, uint8_t val, bool checked=false);
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uint8_t register_read_bank(uint8_t bank, uint8_t reg);
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void register_write_bank(uint8_t bank, uint8_t reg, uint8_t val);
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uint8_t register_read_bank_icm456xy(uint16_t bank_addr, uint16_t reg);
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void register_write_bank_icm456xy(uint16_t bank_addr, uint16_t reg, uint8_t val);
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bool accumulate_samples(const struct FIFOData *data, uint8_t n_samples);
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bool accumulate_highres_samples(const struct FIFODataHighRes *data, uint8_t n_samples);
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// instance numbers of accel and gyro data
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uint8_t gyro_instance;
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uint8_t accel_instance;
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// reset FIFO configure1 register
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uint8_t fifo_config1;
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// temp scaling for FIFO temperature
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float temp_sensitivity;
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const float temp_zero = 25; // degC
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const enum Rotation rotation;
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static constexpr float SCALE_RANGE_16BIT = 32768; // 2^15;
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// HiRes support is either 20bit (19bit accel) or 19bit (18bit accel)
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static constexpr float SCALE_RANGE_20BIT = 524288; // 2^19;
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static constexpr float SCALE_RANGE_19BIT = 262144; // 2^18;
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/*
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gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==0)
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*/
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static constexpr float GYRO_SCALE_2000DPS = radians(1) / (SCALE_RANGE_16BIT / 2000.0);
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/*
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gyro as 8.2 LSB/DPS at scale factor of +/- 4000dps (FS_SEL==0)
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*/
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static constexpr float GYRO_SCALE_4000DPS = radians(1) / (SCALE_RANGE_16BIT / 4000.0);
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/*
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highres gyro is always 131 LSB/DPS modified by the data size transmitted
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*/
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static constexpr float GYRO_SCALE_HIGHRES_2000DPS = radians(1) / (SCALE_RANGE_20BIT / 2000.0);
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static constexpr float GYRO_SCALE_HIGHRES_4000DPS = radians(1) / (SCALE_RANGE_20BIT / 4000.0);
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/*
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Accel scale 16g (2048 LSB/g)
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*/
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static constexpr float ACCEL_SCALE_16G = (GRAVITY_MSS / (SCALE_RANGE_16BIT / 16));
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/*
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Accel scale 32g (1024 LSB/g)
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*/
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static constexpr float ACCEL_SCALE_32G = (GRAVITY_MSS / (SCALE_RANGE_16BIT / 32));
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/*
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highres accel is 16384 LSB/g on 45686 amd 8192 LSB/g on all others
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*/
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static constexpr float ACCEL_SCALE_HIGHRES_16G = (GRAVITY_MSS / (SCALE_RANGE_20BIT / 16));
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static constexpr float ACCEL_SCALE_HIGHRES_32G = (GRAVITY_MSS / (SCALE_RANGE_20BIT / 32));
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float accel_scale = ACCEL_SCALE_16G;
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float gyro_scale = GYRO_SCALE_2000DPS;
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// are we doing more than 1kHz sampling?
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bool fast_sampling;
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#if HAL_INS_HIGHRES_SAMPLE
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bool highres_sampling;
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#endif
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// what rate are we generating samples into the backend for gyros and accels?
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uint16_t backend_rate_hz;
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// pre-calculated backend period
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uint32_t backend_period_us;
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AP_HAL::OwnPtr<AP_HAL::Device> dev;
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AP_HAL::Device::PeriodicHandle periodic_handle;
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// which sensor type this is
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enum Invensensev3_Type inv3_type;
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// buffer for fifo read
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void* fifo_buffer;
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float temp_filtered;
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LowPassFilter2pFloat temp_filter;
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};
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